4899817366

Build Type

github

Committed by GitHub

Commit Message

Merge c0bb90862 into e4e9c71dd

Pull Request Pull Request #1772: Refactor MAVLinkParameters into client and server classes

Run Details

2192 of 2192 new or added lines in 34 files covered. (100.0%)

7708 of 24812 relevant lines covered (31.07%)

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70.83

/src/mavsdk/plugins/param_server/param_server_impl.cpp

#include "param_server_impl.h"

namespace mavsdk {

ParamServerImpl::ParamServerImpl(std::shared_ptr<ServerComponent> server_component) :
    ServerPluginImplBase(server_component)
{
    // FIXME: this plugin should support various component IDs
    _server_component_impl->register_plugin(this);
}

ParamServerImpl::~ParamServerImpl()
{
    _server_component_impl->unregister_plugin(this);
}

void ParamServerImpl::init() {}

void ParamServerImpl::deinit() {}

std::pair<ParamServer::Result, int32_t> ParamServerImpl::retrieve_param_int(std::string name) const
{
    auto result =
        _server_component_impl->mavlink_parameter_receiver().retrieve_server_param_int(name);

    if (result.first == MavlinkParameterReceiver::Result::Success) {
        return {ParamServer::Result::Success, result.second};
    } else {
        return {ParamServer::Result::NotFound, -1};
    }
}

ParamServer::Result ParamServerImpl::provide_param_int(std::string name, int32_t value)
{
    if (name.size() > 16) {
        return ParamServer::Result::ParamNameTooLong;
    }
    _server_component_impl->mavlink_parameter_receiver().provide_server_param_int(name, value);
    return ParamServer::Result::Success;
}

std::pair<ParamServer::Result, float> ParamServerImpl::retrieve_param_float(std::string name) const
{
    const auto result =
        _server_component_impl->mavlink_parameter_receiver().retrieve_server_param_float(name);

    if (result.first == MavlinkParameterReceiver::Result::Success) {
        return {ParamServer::Result::Success, result.second};
    } else {
        return {ParamServer::Result::NotFound, NAN};
    }
}

ParamServer::Result ParamServerImpl::provide_param_float(std::string name, float value)
{
    if (name.size() > 16) {
        return ParamServer::Result::ParamNameTooLong;
    }
    _server_component_impl->mavlink_parameter_receiver().provide_server_param_float(name, value);
    return ParamServer::Result::Success;
}

std::pair<ParamServer::Result, std::string>
ParamServerImpl::retrieve_param_custom(std::string name) const
{
    const auto result =
        _server_component_impl->mavlink_parameter_receiver().retrieve_server_param_custom(name);

    if (result.first == MavlinkParameterReceiver::Result::Success) {
        return {ParamServer::Result::Success, result.second};
    } else {
        return {ParamServer::Result::NotFound, {}};
    }
}

ParamServer::Result
ParamServerImpl::provide_param_custom(std::string name, const std::string& value)
{
    if (name.size() > 16) {
        return ParamServer::Result::ParamNameTooLong;
    }
    _server_component_impl->mavlink_parameter_receiver().provide_server_param_custom(name, value);
    return ParamServer::Result::Success;
}

ParamServer::AllParams ParamServerImpl::retrieve_all_params() const
{
    auto tmp = _server_component_impl->mavlink_parameter_receiver().retrieve_all_server_params();

    ParamServer::AllParams res{};

    for (auto const& param_pair : tmp) {
        if (param_pair.second.is<float>()) {
            ParamServer::FloatParam tmp_param;
            tmp_param.name = param_pair.first;
            tmp_param.value = param_pair.second.get<float>();
            res.float_params.push_back(tmp_param);
        } else if (param_pair.second.is<int32_t>()) {
            ParamServer::IntParam tmp_param;
            tmp_param.name = param_pair.first;
            tmp_param.value = param_pair.second.get<int32_t>();
            res.int_params.push_back(tmp_param);
        }
    }

    return res;
}

ParamServer::Result ParamServerImpl::result_from_mavlink_parameter_receiver_result(
    MavlinkParameterReceiver::Result result)
{
    switch (result) {
        case MavlinkParameterReceiver::Result::Success:
            return ParamServer::Result::Success;
        case MavlinkParameterReceiver::Result::NotFound:
            return ParamServer::Result::NotFound;
        case MavlinkParameterReceiver::Result::ParamNameTooLong:
            return ParamServer::Result::ParamNameTooLong;
        case MavlinkParameterReceiver::Result::WrongType:
            return ParamServer::Result::WrongType;
        case MavlinkParameterReceiver::Result::ParamValueTooLong:
            return ParamServer::Result::ParamValueTooLong;
        default:
            LogErr() << "Unknown param error";
            return ParamServer::Result::Unknown;
    }
}

} // namespace mavsdk

1	#include "param_server_impl.h"
2
3	namespace mavsdk {
4
5	ParamServerImpl::ParamServerImpl(std::shared_ptr<ServerComponent> server_component) :	6✔
6	ServerPluginImplBase(server_component)	6✔
7	{
8	// FIXME: this plugin should support various component IDs
9	_server_component_impl->register_plugin(this);	6✔
10	}	6✔
11
12	ParamServerImpl::~ParamServerImpl()	6✔
13	{
14	_server_component_impl->unregister_plugin(this);	6✔
15	}	6✔
16
17	void ParamServerImpl::init() {}	6✔
18
19	void ParamServerImpl::deinit() {}	6✔
20
21	std::pair<ParamServer::Result, int32_t> ParamServerImpl::retrieve_param_int(std::string name) const	2✔
22	{
23	auto result =	2✔
24	_server_component_impl->mavlink_parameter_receiver().retrieve_server_param_int(name);	2✔
25
26	if (result.first == MavlinkParameterReceiver::Result::Success) {	2✔
27	return {ParamServer::Result::Success, result.second};	2✔
28	} else {
29	return {ParamServer::Result::NotFound, -1};	×
30	}
31	}
32
33	ParamServer::Result ParamServerImpl::provide_param_int(std::string name, int32_t value)	8✔
34	{
35	if (name.size() > 16) {	8✔
36	return ParamServer::Result::ParamNameTooLong;	×
37	}
38	_server_component_impl->mavlink_parameter_receiver().provide_server_param_int(name, value);	8✔
39	return ParamServer::Result::Success;	8✔
40	}
41
42	std::pair<ParamServer::Result, float> ParamServerImpl::retrieve_param_float(std::string name) const	2✔
43	{
44	const auto result =	2✔
45	_server_component_impl->mavlink_parameter_receiver().retrieve_server_param_float(name);	2✔
46
47	if (result.first == MavlinkParameterReceiver::Result::Success) {	2✔
48	return {ParamServer::Result::Success, result.second};	2✔
49	} else {
50	return {ParamServer::Result::NotFound, NAN};	×
51	}
52	}
53
54	ParamServer::Result ParamServerImpl::provide_param_float(std::string name, float value)	8✔
55	{
56	if (name.size() > 16) {	8✔
57	return ParamServer::Result::ParamNameTooLong;	×
58	}
59	_server_component_impl->mavlink_parameter_receiver().provide_server_param_float(name, value);	8✔
60	return ParamServer::Result::Success;	8✔
61	}
62
63	std::pair<ParamServer::Result, std::string>
64	ParamServerImpl::retrieve_param_custom(std::string name) const	2✔
65	{
66	const auto result =	2✔
67	_server_component_impl->mavlink_parameter_receiver().retrieve_server_param_custom(name);	4✔
68
69	if (result.first == MavlinkParameterReceiver::Result::Success) {	2✔
70	return {ParamServer::Result::Success, result.second};	2✔
71	} else {
72	return {ParamServer::Result::NotFound, {}};	×
73	}
74	}
75
76	ParamServer::Result
77	ParamServerImpl::provide_param_custom(std::string name, const std::string& value)	8✔
78	{
79	if (name.size() > 16) {	8✔
80	return ParamServer::Result::ParamNameTooLong;	×
81	}
82	_server_component_impl->mavlink_parameter_receiver().provide_server_param_custom(name, value);	8✔
83	return ParamServer::Result::Success;	8✔
84	}
85
86	ParamServer::AllParams ParamServerImpl::retrieve_all_params() const	2✔
87	{
88	auto tmp = _server_component_impl->mavlink_parameter_receiver().retrieve_all_server_params();	4✔
89
90	ParamServer::AllParams res{};	2✔
91
92	for (auto const& param_pair : tmp) {	6✔
93	if (param_pair.second.is<float>()) {	4✔
94	ParamServer::FloatParam tmp_param;	4✔
95	tmp_param.name = param_pair.first;	2✔
96	tmp_param.value = param_pair.second.get<float>();	2✔
97	res.float_params.push_back(tmp_param);	2✔
98	} else if (param_pair.second.is<int32_t>()) {	2✔
99	ParamServer::IntParam tmp_param;	4✔
100	tmp_param.name = param_pair.first;	2✔
101	tmp_param.value = param_pair.second.get<int32_t>();	2✔
102	res.int_params.push_back(tmp_param);	2✔
103	}
104	}
105
106	return res;	2✔
107	}
108
109	ParamServer::Result ParamServerImpl::result_from_mavlink_parameter_receiver_result(	×
110	MavlinkParameterReceiver::Result result)
111	{
112	switch (result) {	×
113	case MavlinkParameterReceiver::Result::Success:	×
114	return ParamServer::Result::Success;	×
115	case MavlinkParameterReceiver::Result::NotFound:	×
116	return ParamServer::Result::NotFound;	×
117	case MavlinkParameterReceiver::Result::ParamNameTooLong:	×
118	return ParamServer::Result::ParamNameTooLong;	×
119	case MavlinkParameterReceiver::Result::WrongType:	×
120	return ParamServer::Result::WrongType;	×
121	case MavlinkParameterReceiver::Result::ParamValueTooLong:	×
122	return ParamServer::Result::ParamValueTooLong;	×
123	default:	×
124	LogErr() << "Unknown param error";	×
125	return ParamServer::Result::Unknown;	×
126	}
127	}
128
129	} // namespace mavsdk

mavlink / MAVSDK / 4899817366

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