16233609062

Committed 12 Jul 2025 02:58AM UTC coverage: 45.799% (+0.6%) from 45.212%

Build # 16233609062

Build Type

Pull #2610

github

Committed by

web-flow

Commit Message

Merge 313266bea into 6c112e71f

Pull Request Pull Request #2610: Integrate parts of libmav into MAVSDK and add MavlinkDirect plugin

Run Details

473 of 727 new or added lines in 14 files covered. (65.06%)

35 existing lines in 7 files now uncovered.

15955 of 34837 relevant lines covered (45.8%)

145116.67 hits per line

Source File
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66.18

/src/mavsdk/core/connection.cpp

1	#include "connection.h"
2
3	#include <memory>
4	#include <utility>
5	#include "mavsdk_impl.h"
6	#include "log.h"
7
8	namespace mavsdk {
9
10	std::atomic<unsigned> Connection::_forwarding_connections_count = 0;
11
UNCOV 12	Connection::Connection(ReceiverCallback receiver_callback, ForwardingOption forwarding_option) :	×
UNCOV 13	_receiver_callback(std::move(receiver_callback)),	×
UNCOV 14	_mavlink_receiver(),	×
UNCOV 15	_forwarding_option(forwarding_option)	×
16	{
17	// Insert system ID 0 in all connections for broadcast.
UNCOV 18	_system_ids.insert(0);	×
19
UNCOV 20	if (forwarding_option == ForwardingOption::ForwardingOn) {	×
21	_forwarding_connections_count++;	×
22	}
23
NEW 24	if (const char* env_p = std::getenv("MAVSDK_MAVLINK_DIRECT_DEBUGGING")) {	×
NEW 25	if (std::string(env_p) == "1") {	×
NEW 26	_debugging = true;	×
27	}
28	}
NEW 29	}	×
30
31	Connection::Connection(	94✔
32	ReceiverCallback receiver_callback,
33	LibmavReceiverCallback libmav_receiver_callback,
34	ForwardingOption forwarding_option) :	94✔
35	_receiver_callback(std::move(receiver_callback)),	94✔
36	_libmav_receiver_callback(std::move(libmav_receiver_callback)),	94✔
37	_mavlink_receiver(),	94✔
38	_libmav_receiver(),	94✔
39	_forwarding_option(forwarding_option)	188✔
40	{
41	// Insert system ID 0 in all connections for broadcast.
42	_system_ids.insert(0);	94✔
43
44	if (forwarding_option == ForwardingOption::ForwardingOn) {	94✔
NEW 45	_forwarding_connections_count++;	×
46	}
47
48	if (const char* env_p = std::getenv("MAVSDK_MAVLINK_DIRECT_DEBUGGING")) {	94✔
NEW 49	if (std::string(env_p) == "1") {	×
NEW 50	_debugging = true;	×
51	}
52	}
53	}	94✔
54
55	Connection::~Connection()	94✔
56	{
57	// Just in case a specific connection didn't call it already.
58	stop_mavlink_receiver();	94✔
59	stop_libmav_receiver();	94✔
60	_receiver_callback = {};	94✔
61	_libmav_receiver_callback = {};	94✔
62	}	94✔
63
64	bool Connection::start_mavlink_receiver()	94✔
65	{
66	_mavlink_receiver = std::make_unique<MavlinkReceiver>();	94✔
67	return true;	94✔
68	}
69
70	void Connection::stop_mavlink_receiver()	188✔
71	{
72	if (_mavlink_receiver) {	188✔
73	_mavlink_receiver.reset();	94✔
74	}
75	}	188✔
76
77	bool Connection::start_libmav_receiver()	92✔
78	{
79	_libmav_receiver = std::make_unique<LibmavReceiver>();	92✔
80	return true;	92✔
81	}
82
83	void Connection::stop_libmav_receiver()	94✔
84	{
85	if (_libmav_receiver) {	94✔
86	_libmav_receiver.reset();	92✔
87	}
88	}	94✔
89
90	void Connection::receive_libmav_message(const LibmavMessage& message, Connection* connection)	1,907✔
91	{
92	// Register system ID when receiving a message from a new system.
93	if (_system_ids.find(message.system_id) == _system_ids.end()) {	1,907✔
NEW 94	_system_ids.insert(message.system_id);	×
95	}
96
97	if (_debugging) {	1,907✔
NEW 98	LogDebug() << "Connection::receive_libmav_message: " << message.message_name	×
NEW 99	<< " from system " << message.system_id;	×
100	}
101
102	if (_libmav_receiver_callback) {	1,907✔
103	if (_debugging) {	1,907✔
NEW 104	LogDebug() << "Calling libmav receiver callback for: " << message.message_name;	×
105	}
106	_libmav_receiver_callback(message, connection);	1,907✔
107	} else {
NEW 108	LogWarn() << "No libmav receiver callback set!";	×
109	}
110	}	1,907✔
111
112	void Connection::receive_message(mavlink_message_t& message, Connection* connection)	2,131✔
113	{
114	// Register system ID when receiving a message from a new system.
115	if (_system_ids.find(message.sysid) == _system_ids.end()) {	2,131✔
116	_system_ids.insert(message.sysid);	94✔
117	}
118	_receiver_callback(message, connection);	2,126✔
119	}	2,131✔
120
121	bool Connection::should_forward_messages() const	×
122	{
123	return _forwarding_option == ForwardingOption::ForwardingOn;	×
124	}
125
126	unsigned Connection::forwarding_connections_count()	×
127	{
128	return _forwarding_connections_count;	×
129	}
130
131	bool Connection::has_system_id(uint8_t system_id)	1,725✔
132	{
133	return _system_ids.find(system_id) != _system_ids.end();	1,725✔
134	}
135
136	} // namespace mavsdk

mavlink / MAVSDK / 16233609062

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