11767930807

Committed 10 Nov 2024 07:33PM UTC coverage: 38.608% (+0.7%) from 37.921%

Build # 11767930807

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push

github

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web-flow

Commit Message

Merge pull request #2394 from mavlink/pr-consolidate-ci

Consolidate CI

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54.1

/src/mavsdk/core/mavsdk.cpp

#include "mavsdk.h"

#include "mavsdk_impl.h"

namespace mavsdk {

Mavsdk::Mavsdk(Configuration configuration)
{
    _impl = std::make_shared<MavsdkImpl>(configuration);
}

Mavsdk::~Mavsdk() = default;

std::string Mavsdk::version() const
{
    return _impl->version();
}

ConnectionResult
Mavsdk::add_any_connection(const std::string& connection_url, ForwardingOption forwarding_option)
{
    return _impl->add_any_connection(connection_url, forwarding_option).first;
}

std::pair<ConnectionResult, Mavsdk::ConnectionHandle> Mavsdk::add_any_connection_with_handle(
    const std::string& connection_url, ForwardingOption forwarding_option)
{
    return _impl->add_any_connection(connection_url, forwarding_option);
}

void Mavsdk::remove_connection(ConnectionHandle handle)
{
    _impl->remove_connection(handle);
}

std::vector<std::shared_ptr<System>> Mavsdk::systems() const
{
    return _impl->systems();
}

std::optional<std::shared_ptr<System>> Mavsdk::first_autopilot(double timeout_s) const
{
    return _impl->first_autopilot(timeout_s);
}

void Mavsdk::set_configuration(Configuration configuration)
{
    _impl->set_configuration(configuration);
}

void Mavsdk::set_timeout_s(double timeout_s)
{
    _impl->set_timeout_s(timeout_s);
}

Mavsdk::NewSystemHandle Mavsdk::subscribe_on_new_system(const NewSystemCallback& callback)
{
    return _impl->subscribe_on_new_system(callback);
}

void Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)
{
    _impl->unsubscribe_on_new_system(handle);
}

std::shared_ptr<ServerComponent> Mavsdk::server_component(unsigned instance)
{
    return _impl->server_component(instance);
}

std::shared_ptr<ServerComponent>
Mavsdk::server_component_by_type(ComponentType server_component_type, unsigned instance)
{
    return _impl->server_component_by_type(server_component_type, instance);
}

std::shared_ptr<ServerComponent> Mavsdk::server_component_by_id(uint8_t component_id)
{
    return _impl->server_component_by_id(component_id);
}

Mavsdk::Configuration::Configuration(
    uint8_t system_id, uint8_t component_id, bool always_send_heartbeats) :
    _system_id(system_id),
    _component_id(component_id),
    _always_send_heartbeats(always_send_heartbeats),
    _component_type(component_type_for_component_id(component_id))
{}

ComponentType Mavsdk::Configuration::component_type_for_component_id(uint8_t component_id)
{
    switch (component_id) {
        case Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT:
            return ComponentType::Autopilot;
        case Mavsdk::DEFAULT_COMPONENT_ID_GCS:
            return ComponentType::GroundStation;
        case Mavsdk::DEFAULT_COMPONENT_ID_CC:
            return ComponentType::CompanionComputer;
        case Mavsdk::DEFAULT_COMPONENT_ID_CAMERA:
            return ComponentType::Camera;
        case Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL:
            return ComponentType::Gimbal;
        case Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID:
            return ComponentType::RemoteId;
        default:
            return ComponentType::Custom;
    }
}

Mavsdk::Configuration::Configuration(ComponentType component_type) :
    _system_id(Mavsdk::DEFAULT_SYSTEM_ID_GCS),
    _component_id(Mavsdk::DEFAULT_COMPONENT_ID_GCS),
    _always_send_heartbeats(false),
    _component_type(component_type)
{
    switch (component_type) {
        case ComponentType::GroundStation:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_GCS;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_GCS;
            _always_send_heartbeats = false;
            break;
        case ComponentType::CompanionComputer:
            // TODO implement auto-detection of system ID - maybe from heartbeats?
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_CC;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_CC;
            _always_send_heartbeats = true;
            break;
        case ComponentType::Autopilot:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_AUTOPILOT;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT;
            _always_send_heartbeats = true;
            break;
        case ComponentType::Camera:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_CAMERA;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_CAMERA;
            _always_send_heartbeats = true;
            break;
        case ComponentType::Gimbal:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_GIMBAL;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL;
            _always_send_heartbeats = true;
            break;
        case ComponentType::RemoteId:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_REMOTEID;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID;
            _always_send_heartbeats = true;
            break;
        default:
            break;
    }
}

uint8_t Mavsdk::Configuration::get_system_id() const
{
    return _system_id;
}

void Mavsdk::Configuration::set_system_id(uint8_t system_id)
{
    _system_id = system_id;
}

uint8_t Mavsdk::Configuration::get_component_id() const
{
    return _component_id;
}

void Mavsdk::Configuration::set_component_id(uint8_t component_id)
{
    _component_id = component_id;
}

bool Mavsdk::Configuration::get_always_send_heartbeats() const
{
    return _always_send_heartbeats;
}

void Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbeats)
{
    _always_send_heartbeats = always_send_heartbeats;
}

ComponentType Mavsdk::Configuration::get_component_type() const
{
    return _component_type;
}

void Mavsdk::Configuration::set_component_type(ComponentType component_type)
{
    _component_type = component_type;
}

void Mavsdk::intercept_incoming_messages_async(std::function<bool(mavlink_message_t&)> callback)
{
    _impl->intercept_incoming_messages_async(callback);
}

void Mavsdk::intercept_outgoing_messages_async(std::function<bool(mavlink_message_t&)> callback)
{
    _impl->intercept_outgoing_messages_async(callback);
}

} // namespace mavsdk

1	#include "mavsdk.h"
2
3	#include "mavsdk_impl.h"
4
5	namespace mavsdk {
6
7	Mavsdk::Mavsdk(Configuration configuration)	71✔
8	{
9	_impl = std::make_shared<MavsdkImpl>(configuration);	71✔
10	}	71✔
11
12	Mavsdk::~Mavsdk() = default;	71✔
13
14	std::string Mavsdk::version() const	1✔
15	{
16	return _impl->version();	1✔
17	}
18
19	ConnectionResult
20	Mavsdk::add_any_connection(const std::string& connection_url, ForwardingOption forwarding_option)	70✔
21	{
22	return _impl->add_any_connection(connection_url, forwarding_option).first;	70✔
23	}
24
25	std::pair<ConnectionResult, Mavsdk::ConnectionHandle> Mavsdk::add_any_connection_with_handle(	×
26	const std::string& connection_url, ForwardingOption forwarding_option)
27	{
28	return _impl->add_any_connection(connection_url, forwarding_option);	×
29	}
30
31	void Mavsdk::remove_connection(ConnectionHandle handle)	×
32	{
33	_impl->remove_connection(handle);	×
34	}	×
35
36	std::vector<std::shared_ptr<System>> Mavsdk::systems() const	2✔
37	{
38	return _impl->systems();	2✔
39	}
40
41	std::optional<std::shared_ptr<System>> Mavsdk::first_autopilot(double timeout_s) const	33✔
42	{
43	return _impl->first_autopilot(timeout_s);	33✔
44	}
45
46	void Mavsdk::set_configuration(Configuration configuration)	×
47	{
48	_impl->set_configuration(configuration);	×
49	}	×
50
51	void Mavsdk::set_timeout_s(double timeout_s)	60✔
52	{
53	_impl->set_timeout_s(timeout_s);	60✔
54	}	60✔
55
56	Mavsdk::NewSystemHandle Mavsdk::subscribe_on_new_system(const NewSystemCallback& callback)	2✔
57	{
58	return _impl->subscribe_on_new_system(callback);	2✔
59	}
60
61	void Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)	1✔
62	{
63	_impl->unsubscribe_on_new_system(handle);	1✔
64	}	1✔
65
66	std::shared_ptr<ServerComponent> Mavsdk::server_component(unsigned instance)	35✔
67	{
68	return _impl->server_component(instance);	35✔
69	}
70
71	std::shared_ptr<ServerComponent>
72	Mavsdk::server_component_by_type(ComponentType server_component_type, unsigned instance)	×
73	{
74	return _impl->server_component_by_type(server_component_type, instance);	×
75	}
76
77	std::shared_ptr<ServerComponent> Mavsdk::server_component_by_id(uint8_t component_id)	×
78	{
79	return _impl->server_component_by_id(component_id);	×
80	}
81
82	Mavsdk::Configuration::Configuration(	×
83	uint8_t system_id, uint8_t component_id, bool always_send_heartbeats) :	×
84	_system_id(system_id),	×
85	_component_id(component_id),	×
86	_always_send_heartbeats(always_send_heartbeats),	×
87	_component_type(component_type_for_component_id(component_id))	×
88	{}	×
89
90	ComponentType Mavsdk::Configuration::component_type_for_component_id(uint8_t component_id)	×
91	{
92	switch (component_id) {	×
93	case Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT:	×
94	return ComponentType::Autopilot;	×
95	case Mavsdk::DEFAULT_COMPONENT_ID_GCS:	×
96	return ComponentType::GroundStation;	×
97	case Mavsdk::DEFAULT_COMPONENT_ID_CC:	×
98	return ComponentType::CompanionComputer;	×
99	case Mavsdk::DEFAULT_COMPONENT_ID_CAMERA:	×
100	return ComponentType::Camera;	×
101	case Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL:	×
102	return ComponentType::Gimbal;	×
103	case Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID:	×
104	return ComponentType::RemoteId;	×
105	default:	×
106	return ComponentType::Custom;	×
107	}
108	}
109
110	Mavsdk::Configuration::Configuration(ComponentType component_type) :	142✔
111	_system_id(Mavsdk::DEFAULT_SYSTEM_ID_GCS),	142✔
112	_component_id(Mavsdk::DEFAULT_COMPONENT_ID_GCS),	142✔
113	_always_send_heartbeats(false),	142✔
114	_component_type(component_type)	142✔
115	{
116	switch (component_type) {	142✔
117	case ComponentType::GroundStation:	107✔
118	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_GCS;	107✔
119	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_GCS;	107✔
120	_always_send_heartbeats = false;	107✔
121	break;	107✔
122	case ComponentType::CompanionComputer:	1✔
123	// TODO implement auto-detection of system ID - maybe from heartbeats?
124	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_CC;	1✔
125	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_CC;	1✔
126	_always_send_heartbeats = true;	1✔
127	break;	1✔
128	case ComponentType::Autopilot:	33✔
129	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_AUTOPILOT;	33✔
130	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT;	33✔
131	_always_send_heartbeats = true;	33✔
132	break;	33✔
133	case ComponentType::Camera:	1✔
134	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_CAMERA;	1✔
135	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_CAMERA;	1✔
136	_always_send_heartbeats = true;	1✔
137	break;	1✔
138	case ComponentType::Gimbal:	×
139	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_GIMBAL;	×
140	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL;	×
141	_always_send_heartbeats = true;	×
142	break;	×
143	case ComponentType::RemoteId:	×
144	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_REMOTEID;	×
145	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID;	×
146	_always_send_heartbeats = true;	×
147	break;	×
148	default:	×
149	break;	×
150	}
151	}	142✔
152
153	uint8_t Mavsdk::Configuration::get_system_id() const	4,247✔
154	{
155	return _system_id;	4,247✔
156	}
157
158	void Mavsdk::Configuration::set_system_id(uint8_t system_id)	×
159	{
160	_system_id = system_id;	×
161	}	×
162
163	uint8_t Mavsdk::Configuration::get_component_id() const	1,310✔
164	{
165	return _component_id;	1,310✔
166	}
167
168	void Mavsdk::Configuration::set_component_id(uint8_t component_id)	×
169	{
170	_component_id = component_id;	×
171	}	×
172
173	bool Mavsdk::Configuration::get_always_send_heartbeats() const	280✔
174	{
175	return _always_send_heartbeats;	280✔
176	}
177
178	void Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbeats)	34✔
179	{
180	_always_send_heartbeats = always_send_heartbeats;	34✔
181	}	34✔
182
183	ComponentType Mavsdk::Configuration::get_component_type() const	1,702✔
184	{
185	return _component_type;	1,702✔
186	}
187
188	void Mavsdk::Configuration::set_component_type(ComponentType component_type)	×
189	{
190	_component_type = component_type;	×
191	}	×
192
193	void Mavsdk::intercept_incoming_messages_async(std::function<bool(mavlink_message_t&)> callback)	22✔
194	{
195	_impl->intercept_incoming_messages_async(callback);	22✔
196	}	22✔
197
198	void Mavsdk::intercept_outgoing_messages_async(std::function<bool(mavlink_message_t&)> callback)	14✔
199	{
200	_impl->intercept_outgoing_messages_async(callback);	14✔
201	}	14✔
202
203	} // namespace mavsdk

mavlink / MAVSDK / 11767930807

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