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
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0.0

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

#include "rtk_impl.h"
#include "base64.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;

    std::vector<uint8_t> decoded = base64_decode(rtcm_data.data_base64);

    const size_t num_packets_required =
        decoded.size() / field_len + (decoded.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 = decoded.size();

    // The mavlink helpers memcpy, so we need to make sure we're not
    // copying from where we shouldn't.
    decoded.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)),
                    (decoded.data() + (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 "base64.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	std::vector<uint8_t> decoded = base64_decode(rtcm_data.data_base64);	×
34
35	const size_t num_packets_required =
36	decoded.size() / field_len + (decoded.size() % field_len == 0 ? 0 : 1);	×
37
38	// The maximum is 4 times the 180 bytes because we only have two bits to
39	// denote the fragment ID.
40	if (num_packets_required > 4) {	×
41	return Rtk::Result::TooLong;	×
42	}
43
44	// Copy length before we change it.
45	size_t bytes_to_send = decoded.size();	×
46
47	// The mavlink helpers memcpy, so we need to make sure we're not
48	// copying from where we shouldn't.
49	decoded.resize(num_packets_required * field_len);	×
50
51	for (size_t i = 0; i < num_packets_required; ++i) {	×
52	const uint8_t flags =	×
53	(num_packets_required > 1 ? 0x1 : 0x0) \| ((i & 0x3) << 1) \| ((_sequence & 0x1F) << 3);	×
54
55	if (!_system_impl->queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {	×
56	mavlink_message_t message;
57	mavlink_msg_gps_rtcm_data_pack_chan(	×
58	mavlink_address.system_id,	×
59	mavlink_address.component_id,	×
60	channel,
61	&message,
62	flags,	×
63	static_cast<uint8_t>(std::min(field_len, bytes_to_send)),	×
64	(decoded.data() + (i * field_len)));	×
65	return message;	×
66	})) {
67	++_sequence;	×
68	return Rtk::Result::ConnectionError;	×
69	}
70
71	bytes_to_send -= field_len;	×
72	}
73
74	++_sequence;	×
75	return Rtk::Result::Success;	×
76	}	×
77
78	} // namespace mavsdk

mavlink / MAVSDK / 11767930807

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