5227557003

pending completion

Build # 5227557003

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2077 from mavlink/pr-remove-always-connected

core: remove always connected flag

Run Details

10 of 10 new or added lines in 3 files covered. (100.0%)

7689 of 24891 relevant lines covered (30.89%)

21.06 hits per line

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18.75

/src/mavsdk/core/ping.cpp

#include "log.h"
#include "ping.h"
#include "system_impl.h"

namespace mavsdk {

Ping::Ping(SystemImpl& system_impl) : _system_impl(system_impl)
{
    _system_impl.register_mavlink_message_handler(
        MAVLINK_MSG_ID_PING,
        [this](const mavlink_message_t& message) { Ping::process_ping(message); },
        this);
}

Ping::~Ping()
{
    _system_impl.unregister_all_mavlink_message_handlers(this);
}

void Ping::run_once()
{
    mavlink_message_t message;

    mavlink_msg_ping_pack(
        _system_impl.get_own_system_id(),
        _system_impl.get_own_component_id(),
        &message,
        _system_impl.get_time().elapsed_us(),
        _ping_sequence,
        0,
        0); // to all

    _system_impl.send_message(message);
}

void Ping::process_ping(const mavlink_message_t& message)
{
    mavlink_ping_t ping;
    mavlink_msg_ping_decode(&message, &ping);

    if (ping.target_system == 0 && ping.target_component == 0) {
        // Response to ping request.
        mavlink_message_t response_message;
        mavlink_msg_ping_pack(
            _system_impl.get_own_system_id(),
            _system_impl.get_own_component_id(),
            &response_message,
            ping.time_usec,
            ping.seq,
            message.sysid,
            message.compid);

        _system_impl.send_message(response_message);

    } else {
        // Answer from ping request.
        if (ping.seq != _ping_sequence) {
            LogWarn() << "Ignoring unknown ping sequence";
            return;
        }

        if (message.compid != MAV_COMP_ID_AUTOPILOT1) {
            // We're currently only interested in the ping of the autopilot.
            return;
        }

        _last_ping_time_us = _system_impl.get_time().elapsed_us() - ping.time_usec;
    }
}

} // namespace mavsdk

1	#include "log.h"
2	#include "ping.h"
3	#include "system_impl.h"
4
5	namespace mavsdk {
6
7	Ping::Ping(SystemImpl& system_impl) : _system_impl(system_impl)	20✔
8	{
9	_system_impl.register_mavlink_message_handler(	20✔
10	MAVLINK_MSG_ID_PING,
11	[this](const mavlink_message_t& message) { Ping::process_ping(message); },	×
12	this);
13	}	20✔
14
15	Ping::~Ping()	40✔
16	{
17	_system_impl.unregister_all_mavlink_message_handlers(this);	20✔
18	}	20✔
19
20	void Ping::run_once()	×
21	{
22	mavlink_message_t message;	×
23
24	mavlink_msg_ping_pack(	×
25	_system_impl.get_own_system_id(),	×
26	_system_impl.get_own_component_id(),	×
27	&message,
28	_system_impl.get_time().elapsed_us(),	×
29	_ping_sequence,
30	0,
31	0); // to all
32
33	_system_impl.send_message(message);	×
34	}	×
35
36	void Ping::process_ping(const mavlink_message_t& message)	×
37	{
38	mavlink_ping_t ping;	×
39	mavlink_msg_ping_decode(&message, &ping);	×
40
41	if (ping.target_system == 0 && ping.target_component == 0) {	×
42	// Response to ping request.
43	mavlink_message_t response_message;	×
44	mavlink_msg_ping_pack(	×
45	_system_impl.get_own_system_id(),	×
46	_system_impl.get_own_component_id(),	×
47	&response_message,
48	ping.time_usec,
49	ping.seq,
50	message.sysid,	×
51	message.compid);	×
52
53	_system_impl.send_message(response_message);	×
54
55	} else {
56	// Answer from ping request.
57	if (ping.seq != _ping_sequence) {	×
58	LogWarn() << "Ignoring unknown ping sequence";	×
59	return;	×
60	}
61
62	if (message.compid != MAV_COMP_ID_AUTOPILOT1) {	×
63	// We're currently only interested in the ping of the autopilot.
64	return;	×
65	}
66
67	_last_ping_time_us = _system_impl.get_time().elapsed_us() - ping.time_usec;	×
68	}
69	}
70
71	} // namespace mavsdk

mavlink / MAVSDK / 5227557003

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