15524171630

Committed 09 Jun 2025 12:33AM UTC coverage: 44.335% (+0.05%) from 44.285%

Build # 15524171630

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2594 from mavlink/pr-gripper-with-autopilot

gripper: send command to autopilot by default

Coverage Stats

14908 of 33626 relevant lines covered (44.33%)

293.0 hits per line

Source File
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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);

    _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);

    _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	_system_impl->send_command_async(	×
37	command, [this, callback](MavlinkCommandSender::Result result, float) {	×
38	command_result_callback(result, callback);	×
39	});	×
40	}	×
41
42	Gripper::Result GripperImpl::grab(uint32_t instance)	×
43	{
44	auto prom = std::promise<Gripper::Result>();	×
45	auto fut = prom.get_future();	×
46
47	grab_async(instance, [&prom](Gripper::Result result) { prom.set_value(result); });	×
48
49	return fut.get();	×
50	}	×
51
52	void GripperImpl::release_async(uint32_t instance, const Gripper::ResultCallback callback)	×
53	{
54	MavlinkCommandSender::CommandLong command{};	×
55
56	command.command = MAV_CMD_DO_GRIPPER;	×
57	command.params.maybe_param1 = static_cast<float>(instance);	×
58	command.params.maybe_param2 = static_cast<float>(Gripper::GripperAction::Release);	×
59
60	_system_impl->send_command_async(	×
61	command, [this, callback](MavlinkCommandSender::Result result, float) {	×
62	command_result_callback(result, callback);	×
63	});	×
64	}	×
65
66	Gripper::Result GripperImpl::release(uint32_t instance)	×
67	{
68	auto prom = std::promise<Gripper::Result>();	×
69	auto fut = prom.get_future();	×
70
71	release_async(instance, [&prom](Gripper::Result result) { prom.set_value(result); });	×
72
73	return fut.get();	×
74	}	×
75
76	Gripper::Result GripperImpl::gripper_result_from_command_result(MavlinkCommandSender::Result result)	×
77	{
78	switch (result) {	×
79	case MavlinkCommandSender::Result::Success:	×
80	return Gripper::Result::Success;	×
81	case MavlinkCommandSender::Result::NoSystem:	×
82	return Gripper::Result::NoSystem;	×
83	case MavlinkCommandSender::Result::ConnectionError:	×
84	// Fallthrough
85	case MavlinkCommandSender::Result::Timeout:
86	return Gripper::Result::Timeout;	×
87	case MavlinkCommandSender::Result::Busy:	×
88	return Gripper::Result::Busy;	×
89	case MavlinkCommandSender::Result::Denied:	×
90	// Fallthrough
91	case MavlinkCommandSender::Result::TemporarilyRejected:
92	// Fallthrough
93	case MavlinkCommandSender::Result::Failed:
94	return Gripper::Result::Failed;	×
95	case MavlinkCommandSender::Result::Unsupported:	×
96	return Gripper::Result::Unsupported;	×
97	default:	×
98	return Gripper::Result::Unknown;	×
99	}
100	}
101
102	void GripperImpl::command_result_callback(	×
103	MavlinkCommandSender::Result command_result, const Gripper::ResultCallback& callback) const
104	{
105	Gripper::Result action_result = gripper_result_from_command_result(command_result);	×
106
107	if (callback) {	×
108	auto temp_callback = callback;	×
109	_system_impl->call_user_callback(	×
110	[temp_callback, action_result]() { temp_callback(action_result); });
111	}	×
112	}	×
113
114	} // namespace mavsdk

mavlink / MAVSDK / 15524171630

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