6568658631

Committed 19 Oct 2023 01:31AM UTC coverage: 31.23% (+0.02%) from 31.215%

Build # 6568658631

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2155 from mavlink/pr-static-fixes

Threading fixes, MAVLink sequence number cleanup

Run Details

1386 of 1386 new or added lines in 46 files covered. (100.0%)

7906 of 25315 relevant lines covered (31.23%)

23.54 hits per line

Source File
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0.0

/src/mavsdk/plugins/rtk/rtk_impl.cpp

#include "rtk_impl.h"
#include "unused.h"

namespace mavsdk {

RtkImpl::RtkImpl(System& system) : PluginImplBase(system)
{
    _system_impl->register_plugin(this);
}

RtkImpl::RtkImpl(std::shared_ptr<System> system) : PluginImplBase(std::move(system))
{
    _system_impl->register_plugin(this);
}

RtkImpl::~RtkImpl()
{
    _system_impl->unregister_plugin(this);
}

void RtkImpl::init() {}

void RtkImpl::deinit() {}

void RtkImpl::enable() {}

void RtkImpl::disable() {}

Rtk::Result RtkImpl::send_rtcm_data(Rtk::RtcmData rtcm_data)
{
    constexpr size_t field_len = MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN;

    const size_t num_packets_required =
        rtcm_data.data.size() / field_len + (rtcm_data.data.size() % field_len == 0 ? 0 : 1);

    // The maximum is 4 times the 180 bytes because we only have two bits to
    // denote the fragment ID.
    if (num_packets_required > 4) {
        return Rtk::Result::TooLong;
    }

    // Copy length before we change it.
    size_t bytes_to_send = rtcm_data.data.size();

    // The mavlink helpers memcpy, so we need to make sure we're not
    // copying from where we shouldn't.
    rtcm_data.data.resize(num_packets_required * field_len);

    for (size_t i = 0; i < num_packets_required; ++i) {
        const uint8_t flags =
            (num_packets_required > 1 ? 0x1 : 0x0) | ((i & 0x3) << 1) | ((_sequence & 0x1F) << 3);

        if (!_system_impl->queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
                mavlink_message_t message;
                mavlink_msg_gps_rtcm_data_pack_chan(
                    mavlink_address.system_id,
                    mavlink_address.component_id,
                    channel,
                    &message,
                    flags,
                    static_cast<uint8_t>(std::min(field_len, bytes_to_send)),
                    reinterpret_cast<const uint8_t*>(rtcm_data.data.c_str() + (i * field_len)));
                return message;
            })) {
            ++_sequence;
            return Rtk::Result::ConnectionError;
        }

        bytes_to_send -= field_len;
    }

    ++_sequence;
    return Rtk::Result::Success;
}

} // namespace mavsdk

1	#include "rtk_impl.h"
2	#include "unused.h"
3
4	namespace mavsdk {
5
6	RtkImpl::RtkImpl(System& system) : PluginImplBase(system)	×
7	{
8	_system_impl->register_plugin(this);	×
9	}	×
10
11	RtkImpl::RtkImpl(std::shared_ptr<System> system) : PluginImplBase(std::move(system))	×
12	{
13	_system_impl->register_plugin(this);	×
14	}	×
15
16	RtkImpl::~RtkImpl()	×
17	{
18	_system_impl->unregister_plugin(this);	×
19	}	×
20
21	void RtkImpl::init() {}	×
22
23	void RtkImpl::deinit() {}	×
24
25	void RtkImpl::enable() {}	×
26
27	void RtkImpl::disable() {}	×
28
29	Rtk::Result RtkImpl::send_rtcm_data(Rtk::RtcmData rtcm_data)	×
30	{
31	constexpr size_t field_len = MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN;	×
32
33	const size_t num_packets_required =
34	rtcm_data.data.size() / field_len + (rtcm_data.data.size() % field_len == 0 ? 0 : 1);	×
35
36	// The maximum is 4 times the 180 bytes because we only have two bits to
37	// denote the fragment ID.
38	if (num_packets_required > 4) {	×
39	return Rtk::Result::TooLong;	×
40	}
41
42	// Copy length before we change it.
43	size_t bytes_to_send = rtcm_data.data.size();	×
44
45	// The mavlink helpers memcpy, so we need to make sure we're not
46	// copying from where we shouldn't.
47	rtcm_data.data.resize(num_packets_required * field_len);	×
48
49	for (size_t i = 0; i < num_packets_required; ++i) {	×
50	const uint8_t flags =	×
51	(num_packets_required > 1 ? 0x1 : 0x0) \| ((i & 0x3) << 1) \| ((_sequence & 0x1F) << 3);	×
52
53	if (!_system_impl->queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {	×
54	mavlink_message_t message;
55	mavlink_msg_gps_rtcm_data_pack_chan(	×
56	mavlink_address.system_id,	×
57	mavlink_address.component_id,	×
58	channel,
59	&message,
60	flags,	×
61	static_cast<uint8_t>(std::min(field_len, bytes_to_send)),	×
62	reinterpret_cast<const uint8_t>(rtcm_data.data.c_str() + (i field_len)));	×
63	return message;	×
64	})) {
65	++_sequence;	×
66	return Rtk::Result::ConnectionError;	×
67	}
68
69	bytes_to_send -= field_len;	×
70	}
71
72	++_sequence;	×
73	return Rtk::Result::Success;	×
74	}
75
76	} // namespace mavsdk

mavlink / MAVSDK / 6568658631

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