11767930807

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

Build # 11767930807

Build Type

push

github

Committed by

web-flow

Commit Message

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

Consolidate CI

Run Details

12030 of 31159 relevant lines covered (38.61%)

243.33 hits per line

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

0.0

/src/mavsdk/plugins/gripper/gripper_impl.cpp

#include "gripper_impl.h"

namespace mavsdk {

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

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

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

void GripperImpl::init() {}

void GripperImpl::deinit() {}

void GripperImpl::enable() {}

void GripperImpl::disable() {}

void GripperImpl::grab_async(uint32_t instance, const Gripper::ResultCallback callback)
{
    MavlinkCommandSender::CommandLong command{};

    command.command = MAV_CMD_DO_GRIPPER;
    command.params.maybe_param1 = static_cast<float>(instance);
    command.params.maybe_param2 = static_cast<float>(Gripper::GripperAction::Grab);

    command.target_component_id = MAV_COMPONENT::MAV_COMP_ID_WINCH; // TODO

    _system_impl->send_command_async(
        command, [this, callback](MavlinkCommandSender::Result result, float) {
            command_result_callback(result, callback);
        });
}

Gripper::Result GripperImpl::grab(uint32_t instance)
{
    auto prom = std::promise<Gripper::Result>();
    auto fut = prom.get_future();

    grab_async(instance, [&prom](Gripper::Result result) { prom.set_value(result); });

    return fut.get();
}

void GripperImpl::release_async(uint32_t instance, const Gripper::ResultCallback callback)
{
    MavlinkCommandSender::CommandLong command{};

    command.command = MAV_CMD_DO_GRIPPER;
    command.params.maybe_param1 = static_cast<float>(instance);
    command.params.maybe_param2 = static_cast<float>(Gripper::GripperAction::Release);

    command.target_component_id = MAV_COMPONENT::MAV_COMP_ID_WINCH; // TODO

    _system_impl->send_command_async(
        command, [this, callback](MavlinkCommandSender::Result result, float) {
            command_result_callback(result, callback);
        });
}

Gripper::Result GripperImpl::release(uint32_t instance)
{
    auto prom = std::promise<Gripper::Result>();
    auto fut = prom.get_future();

    release_async(instance, [&prom](Gripper::Result result) { prom.set_value(result); });

    return fut.get();
}

Gripper::Result GripperImpl::gripper_result_from_command_result(MavlinkCommandSender::Result result)
{
    switch (result) {
        case MavlinkCommandSender::Result::Success:
            return Gripper::Result::Success;
        case MavlinkCommandSender::Result::NoSystem:
            return Gripper::Result::NoSystem;
        case MavlinkCommandSender::Result::ConnectionError:
            // Fallthrough
        case MavlinkCommandSender::Result::Timeout:
            return Gripper::Result::Timeout;
        case MavlinkCommandSender::Result::Busy:
            return Gripper::Result::Busy;
        case MavlinkCommandSender::Result::Denied:
            // Fallthrough
        case MavlinkCommandSender::Result::TemporarilyRejected:
            // Fallthrough
        case MavlinkCommandSender::Result::Failed:
            return Gripper::Result::Failed;
        case MavlinkCommandSender::Result::Unsupported:
            return Gripper::Result::Unsupported;
        default:
            return Gripper::Result::Unknown;
    }
}

void GripperImpl::command_result_callback(
    MavlinkCommandSender::Result command_result, const Gripper::ResultCallback& callback) const
{
    Gripper::Result action_result = gripper_result_from_command_result(command_result);

    if (callback) {
        auto temp_callback = callback;
        _system_impl->call_user_callback(
            [temp_callback, action_result]() { temp_callback(action_result); });
    }
}

} // namespace mavsdk

1	#include "gripper_impl.h"
2
3	namespace mavsdk {
4
5	GripperImpl::GripperImpl(System& system) : PluginImplBase(system)	×
6	{
7	_system_impl->register_plugin(this);	×
8	}	×
9
10	GripperImpl::GripperImpl(std::shared_ptr<System> system) : PluginImplBase(std::move(system))	×
11	{
12	_system_impl->register_plugin(this);	×
13	}	×
14
15	GripperImpl::~GripperImpl()	×
16	{
17	_system_impl->unregister_plugin(this);	×
18	}	×
19
20	void GripperImpl::init() {}	×
21
22	void GripperImpl::deinit() {}	×
23
24	void GripperImpl::enable() {}	×
25
26	void GripperImpl::disable() {}	×
27
28	void GripperImpl::grab_async(uint32_t instance, const Gripper::ResultCallback callback)	×
29	{
30	MavlinkCommandSender::CommandLong command{};	×
31
32	command.command = MAV_CMD_DO_GRIPPER;	×
33	command.params.maybe_param1 = static_cast<float>(instance);	×
34	command.params.maybe_param2 = static_cast<float>(Gripper::GripperAction::Grab);	×
35
36	command.target_component_id = MAV_COMPONENT::MAV_COMP_ID_WINCH; // TODO	×
37
38	_system_impl->send_command_async(	×
39	command, [this, callback](MavlinkCommandSender::Result result, float) {	×
40	command_result_callback(result, callback);	×
41	});	×
42	}	×
43
44	Gripper::Result GripperImpl::grab(uint32_t instance)	×
45	{
46	auto prom = std::promise<Gripper::Result>();	×
47	auto fut = prom.get_future();	×
48
49	grab_async(instance, [&prom](Gripper::Result result) { prom.set_value(result); });	×
50
51	return fut.get();	×
52	}	×
53
54	void GripperImpl::release_async(uint32_t instance, const Gripper::ResultCallback callback)	×
55	{
56	MavlinkCommandSender::CommandLong command{};	×
57
58	command.command = MAV_CMD_DO_GRIPPER;	×
59	command.params.maybe_param1 = static_cast<float>(instance);	×
60	command.params.maybe_param2 = static_cast<float>(Gripper::GripperAction::Release);	×
61
62	command.target_component_id = MAV_COMPONENT::MAV_COMP_ID_WINCH; // TODO	×
63
64	_system_impl->send_command_async(	×
65	command, [this, callback](MavlinkCommandSender::Result result, float) {	×
66	command_result_callback(result, callback);	×
67	});	×
68	}	×
69
70	Gripper::Result GripperImpl::release(uint32_t instance)	×
71	{
72	auto prom = std::promise<Gripper::Result>();	×
73	auto fut = prom.get_future();	×
74
75	release_async(instance, [&prom](Gripper::Result result) { prom.set_value(result); });	×
76
77	return fut.get();	×
78	}	×
79
80	Gripper::Result GripperImpl::gripper_result_from_command_result(MavlinkCommandSender::Result result)	×
81	{
82	switch (result) {	×
83	case MavlinkCommandSender::Result::Success:	×
84	return Gripper::Result::Success;	×
85	case MavlinkCommandSender::Result::NoSystem:	×
86	return Gripper::Result::NoSystem;	×
87	case MavlinkCommandSender::Result::ConnectionError:	×
88	// Fallthrough
89	case MavlinkCommandSender::Result::Timeout:
90	return Gripper::Result::Timeout;	×
91	case MavlinkCommandSender::Result::Busy:	×
92	return Gripper::Result::Busy;	×
93	case MavlinkCommandSender::Result::Denied:	×
94	// Fallthrough
95	case MavlinkCommandSender::Result::TemporarilyRejected:
96	// Fallthrough
97	case MavlinkCommandSender::Result::Failed:
98	return Gripper::Result::Failed;	×
99	case MavlinkCommandSender::Result::Unsupported:	×
100	return Gripper::Result::Unsupported;	×
101	default:	×
102	return Gripper::Result::Unknown;	×
103	}
104	}
105
106	void GripperImpl::command_result_callback(	×
107	MavlinkCommandSender::Result command_result, const Gripper::ResultCallback& callback) const
108	{
109	Gripper::Result action_result = gripper_result_from_command_result(command_result);	×
110
111	if (callback) {	×
112	auto temp_callback = callback;	×
113	_system_impl->call_user_callback(	×
114	[temp_callback, action_result]() { temp_callback(action_result); });
115	}	×
116	}	×
117
118	} // namespace mavsdk

mavlink / MAVSDK / 11767930807

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