11452150858

Committed 22 Oct 2024 02:32AM UTC coverage: 37.403% (+0.02%) from 37.381%

Build # 11452150858

Build Type

push

github

Committed by

web-flow

Commit Message

camera_server: prevent double ack+message (#2430)

It turns out we were sending the ack and message for storage information
as well as capture status twice, once directly in the request handler
callback, and once the MAVSDK user would call the respond function.

We should only call it in the respond function, not in the callback.

Run Details

11105 of 29690 relevant lines covered (37.4%)

255.6 hits per line

Source File
Press 'n' to go to next uncovered line, 'b' for previous

0.0

/src/mavsdk/core/flight_mode.cpp


#include "autopilot.h"
#include "flight_mode.h"
#include "mavlink_include.h"
#include "ardupilot_custom_mode.h"
#include "px4_custom_mode.h"
#include "mavlink_command_sender.h"

namespace mavsdk {

FlightMode
to_flight_mode_from_custom_mode(Autopilot autopilot, MAV_TYPE mav_type, uint32_t custom_mode)
{
    if (autopilot == Autopilot::ArduPilot) {
        switch (mav_type) {
            case MAV_TYPE::MAV_TYPE_SURFACE_BOAT:
            case MAV_TYPE::MAV_TYPE_GROUND_ROVER:
                return to_flight_mode_from_ardupilot_rover_mode(custom_mode);
            case MAV_TYPE::MAV_TYPE_FIXED_WING:
                return to_flight_mode_from_ardupilot_plane_mode(custom_mode);
            default:
                return to_flight_mode_from_ardupilot_copter_mode(custom_mode);
        }
    } else {
        return to_flight_mode_from_px4_mode(custom_mode);
    }
}

FlightMode to_flight_mode_from_ardupilot_rover_mode(uint32_t custom_mode)
{
    switch (static_cast<ardupilot::RoverMode>(custom_mode)) {
        case ardupilot::RoverMode::Auto:
            return FlightMode::Mission;
        case ardupilot::RoverMode::Acro:
            return FlightMode::Acro;
        case ardupilot::RoverMode::Hold:
            return FlightMode::Hold;
        case ardupilot::RoverMode::RTL:
            return FlightMode::ReturnToLaunch;
        case ardupilot::RoverMode::Manual:
            return FlightMode::Manual;
        case ardupilot::RoverMode::Follow:
            return FlightMode::FollowMe;
        case ardupilot::RoverMode::Guided:
            return FlightMode::Offboard;
        default:
            return FlightMode::Unknown;
    }
}
FlightMode to_flight_mode_from_ardupilot_copter_mode(uint32_t custom_mode)
{
    switch (static_cast<ardupilot::CopterMode>(custom_mode)) {
        case ardupilot::CopterMode::Auto:
            return FlightMode::Mission;
        case ardupilot::CopterMode::Acro:
            return FlightMode::Acro;
        case ardupilot::CopterMode::AltHold:
            return FlightMode::Altctl;
        case ardupilot::CopterMode::PosHold:
            return FlightMode::Posctl;
        case ardupilot::CopterMode::FlowHold:
        case ardupilot::CopterMode::Loiter:
            return FlightMode::Hold;
        case ardupilot::CopterMode::Rtl:
        case ardupilot::CopterMode::AutoRtl:
            return FlightMode::ReturnToLaunch;
        case ardupilot::CopterMode::Land:
            return FlightMode::Land;
        case ardupilot::CopterMode::Follow:
            return FlightMode::FollowMe;
        case ardupilot::CopterMode::Guided:
            return FlightMode::Offboard;
        case ardupilot::CopterMode::Stabilize:
            return FlightMode::Stabilized;
        case ardupilot::CopterMode::Unknown:
            return FlightMode::Unknown;
        default:
            return FlightMode::Unknown;
    }
}
FlightMode to_flight_mode_from_ardupilot_plane_mode(uint32_t custom_mode)
{
    switch (static_cast<ardupilot::PlaneMode>(custom_mode)) {
        case ardupilot::PlaneMode::Manual:
            return FlightMode::Manual;
        case ardupilot::PlaneMode::Auto:
            return FlightMode::Mission;
        case ardupilot::PlaneMode::Acro:
            return FlightMode::Acro;
        case ardupilot::PlaneMode::Autotune:
            return FlightMode::Altctl;
        case ardupilot::PlaneMode::Fbwa:
            return FlightMode::FBWA;
        case ardupilot::PlaneMode::Guided:
            return FlightMode::Guided;
        case ardupilot::PlaneMode::Loiter:
            return FlightMode::Hold;
        case ardupilot::PlaneMode::Rtl:
            return FlightMode::ReturnToLaunch;
        case ardupilot::PlaneMode::Stabilize:
            return FlightMode::Stabilized;
        case ardupilot::PlaneMode::Unknown:
            return FlightMode::Unknown;
        default:
            return FlightMode::Unknown;
    }
}

FlightMode to_flight_mode_from_px4_mode(uint32_t custom_mode)
{
    px4::px4_custom_mode px4_custom_mode;
    px4_custom_mode.data = custom_mode;

    switch (px4_custom_mode.main_mode) {
        case px4::PX4_CUSTOM_MAIN_MODE_OFFBOARD:
            return FlightMode::Offboard;
        case px4::PX4_CUSTOM_MAIN_MODE_MANUAL:
            return FlightMode::Manual;
        case px4::PX4_CUSTOM_MAIN_MODE_POSCTL:
            return FlightMode::Posctl;
        case px4::PX4_CUSTOM_MAIN_MODE_ALTCTL:
            return FlightMode::Altctl;
        case px4::PX4_CUSTOM_MAIN_MODE_RATTITUDE:
            return FlightMode::Rattitude;
        case px4::PX4_CUSTOM_MAIN_MODE_ACRO:
            return FlightMode::Acro;
        case px4::PX4_CUSTOM_MAIN_MODE_STABILIZED:
            return FlightMode::Stabilized;
        case px4::PX4_CUSTOM_MAIN_MODE_AUTO:
            switch (px4_custom_mode.sub_mode) {
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_READY:
                    return FlightMode::Ready;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:
                    return FlightMode::Takeoff;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
                    return FlightMode::Hold;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
                    return FlightMode::Mission;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_RTL:
                    return FlightMode::ReturnToLaunch;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_LAND:
                    return FlightMode::Land;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
                    return FlightMode::FollowMe;
                default:
                    return FlightMode::Unknown;
            }
        default:
            return FlightMode::Unknown;
    }
}

} // namespace mavsdk

1
2	#include "autopilot.h"
3	#include "flight_mode.h"
4	#include "mavlink_include.h"
5	#include "ardupilot_custom_mode.h"
6	#include "px4_custom_mode.h"
7	#include "mavlink_command_sender.h"
8
9	namespace mavsdk {
10
11	FlightMode
12	to_flight_mode_from_custom_mode(Autopilot autopilot, MAV_TYPE mav_type, uint32_t custom_mode)	×
13	{
14	if (autopilot == Autopilot::ArduPilot) {	×
15	switch (mav_type) {	×
16	case MAV_TYPE::MAV_TYPE_SURFACE_BOAT:	×
17	case MAV_TYPE::MAV_TYPE_GROUND_ROVER:
18	return to_flight_mode_from_ardupilot_rover_mode(custom_mode);	×
19	case MAV_TYPE::MAV_TYPE_FIXED_WING:	×
20	return to_flight_mode_from_ardupilot_plane_mode(custom_mode);	×
21	default:	×
22	return to_flight_mode_from_ardupilot_copter_mode(custom_mode);	×
23	}
24	} else {
25	return to_flight_mode_from_px4_mode(custom_mode);	×
26	}
27	}
28
29	FlightMode to_flight_mode_from_ardupilot_rover_mode(uint32_t custom_mode)	×
30	{
31	switch (static_cast<ardupilot::RoverMode>(custom_mode)) {	×
32	case ardupilot::RoverMode::Auto:	×
33	return FlightMode::Mission;	×
34	case ardupilot::RoverMode::Acro:	×
35	return FlightMode::Acro;	×
36	case ardupilot::RoverMode::Hold:	×
37	return FlightMode::Hold;	×
38	case ardupilot::RoverMode::RTL:	×
39	return FlightMode::ReturnToLaunch;	×
40	case ardupilot::RoverMode::Manual:	×
41	return FlightMode::Manual;	×
42	case ardupilot::RoverMode::Follow:	×
43	return FlightMode::FollowMe;	×
44	case ardupilot::RoverMode::Guided:	×
45	return FlightMode::Offboard;	×
46	default:	×
47	return FlightMode::Unknown;	×
48	}
49	}
50	FlightMode to_flight_mode_from_ardupilot_copter_mode(uint32_t custom_mode)	×
51	{
52	switch (static_cast<ardupilot::CopterMode>(custom_mode)) {	×
53	case ardupilot::CopterMode::Auto:	×
54	return FlightMode::Mission;	×
55	case ardupilot::CopterMode::Acro:	×
56	return FlightMode::Acro;	×
57	case ardupilot::CopterMode::AltHold:	×
58	return FlightMode::Altctl;	×
59	case ardupilot::CopterMode::PosHold:	×
60	return FlightMode::Posctl;	×
61	case ardupilot::CopterMode::FlowHold:	×
62	case ardupilot::CopterMode::Loiter:
63	return FlightMode::Hold;	×
64	case ardupilot::CopterMode::Rtl:	×
65	case ardupilot::CopterMode::AutoRtl:
66	return FlightMode::ReturnToLaunch;	×
67	case ardupilot::CopterMode::Land:	×
68	return FlightMode::Land;	×
69	case ardupilot::CopterMode::Follow:	×
70	return FlightMode::FollowMe;	×
71	case ardupilot::CopterMode::Guided:	×
72	return FlightMode::Offboard;	×
73	case ardupilot::CopterMode::Stabilize:	×
74	return FlightMode::Stabilized;	×
75	case ardupilot::CopterMode::Unknown:	×
76	return FlightMode::Unknown;	×
77	default:	×
78	return FlightMode::Unknown;	×
79	}
80	}
81	FlightMode to_flight_mode_from_ardupilot_plane_mode(uint32_t custom_mode)	×
82	{
83	switch (static_cast<ardupilot::PlaneMode>(custom_mode)) {	×
84	case ardupilot::PlaneMode::Manual:	×
85	return FlightMode::Manual;	×
86	case ardupilot::PlaneMode::Auto:	×
87	return FlightMode::Mission;	×
88	case ardupilot::PlaneMode::Acro:	×
89	return FlightMode::Acro;	×
90	case ardupilot::PlaneMode::Autotune:	×
91	return FlightMode::Altctl;	×
92	case ardupilot::PlaneMode::Fbwa:	×
93	return FlightMode::FBWA;	×
94	case ardupilot::PlaneMode::Guided:	×
95	return FlightMode::Guided;	×
96	case ardupilot::PlaneMode::Loiter:	×
97	return FlightMode::Hold;	×
98	case ardupilot::PlaneMode::Rtl:	×
99	return FlightMode::ReturnToLaunch;	×
100	case ardupilot::PlaneMode::Stabilize:	×
101	return FlightMode::Stabilized;	×
102	case ardupilot::PlaneMode::Unknown:	×
103	return FlightMode::Unknown;	×
104	default:	×
105	return FlightMode::Unknown;	×
106	}
107	}
108
109	FlightMode to_flight_mode_from_px4_mode(uint32_t custom_mode)	×
110	{
111	px4::px4_custom_mode px4_custom_mode;
112	px4_custom_mode.data = custom_mode;	×
113
114	switch (px4_custom_mode.main_mode) {	×
115	case px4::PX4_CUSTOM_MAIN_MODE_OFFBOARD:	×
116	return FlightMode::Offboard;	×
117	case px4::PX4_CUSTOM_MAIN_MODE_MANUAL:	×
118	return FlightMode::Manual;	×
119	case px4::PX4_CUSTOM_MAIN_MODE_POSCTL:	×
120	return FlightMode::Posctl;	×
121	case px4::PX4_CUSTOM_MAIN_MODE_ALTCTL:	×
122	return FlightMode::Altctl;	×
123	case px4::PX4_CUSTOM_MAIN_MODE_RATTITUDE:	×
124	return FlightMode::Rattitude;	×
125	case px4::PX4_CUSTOM_MAIN_MODE_ACRO:	×
126	return FlightMode::Acro;	×
127	case px4::PX4_CUSTOM_MAIN_MODE_STABILIZED:	×
128	return FlightMode::Stabilized;	×
129	case px4::PX4_CUSTOM_MAIN_MODE_AUTO:	×
130	switch (px4_custom_mode.sub_mode) {	×
131	case px4::PX4_CUSTOM_SUB_MODE_AUTO_READY:	×
132	return FlightMode::Ready;	×
133	case px4::PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:	×
134	return FlightMode::Takeoff;	×
135	case px4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER:	×
136	return FlightMode::Hold;	×
137	case px4::PX4_CUSTOM_SUB_MODE_AUTO_MISSION:	×
138	return FlightMode::Mission;	×
139	case px4::PX4_CUSTOM_SUB_MODE_AUTO_RTL:	×
140	return FlightMode::ReturnToLaunch;	×
141	case px4::PX4_CUSTOM_SUB_MODE_AUTO_LAND:	×
142	return FlightMode::Land;	×
143	case px4::PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:	×
144	return FlightMode::FollowMe;	×
145	default:	×
146	return FlightMode::Unknown;	×
147	}
148	default:	×
149	return FlightMode::Unknown;	×
150	}
151	}
152
153	} // namespace mavsdk

mavlink / MAVSDK / 11452150858

Source File Press 'n' to go to next uncovered line, 'b' for previous

Source File
Press 'n' to go to next uncovered line, 'b' for previous