16636200771

Committed 30 Jul 2025 11:46PM UTC coverage: 44.271% (-2.0%) from 46.31%

Build # 16636200771

Build Type

Pull #2626

github

Committed by

web-flow

Commit Message

Merge bfd339d18 into c0a7c02a0

Pull Request Pull Request #2626: core: flush after each Log* line

Run Details

237 of 350 new or added lines in 32 files covered. (67.71%)

405 existing lines in 18 files now uncovered.

15319 of 34603 relevant lines covered (44.27%)

293.66 hits per line

Source File
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0.0

/src/mavsdk/plugins/telemetry_server/telemetry_server_impl.h

#pragma once

#include "plugins/telemetry_server/telemetry_server.h"
#include "server_plugin_impl_base.h"

#include <unordered_map>
#include <chrono>
#include <optional>

namespace mavsdk {

class TelemetryServerImpl : public ServerPluginImplBase {
public:
    struct RequestMsgInterval {
        uint32_t msg_id{0};
        uint32_t interval{0};
        CallEveryHandler::Cookie cookie{};
    };

    explicit TelemetryServerImpl(std::shared_ptr<ServerComponent> server_component);
    ~TelemetryServerImpl() override;

    void init() override;
    void deinit() override;

    void publish_position_async(
        TelemetryServer::Position position,
        TelemetryServer::VelocityNed velocity_ned,
        const TelemetryServer::ResultCallback callback);

    TelemetryServer::Result publish_position(
        TelemetryServer::Position position,
        TelemetryServer::VelocityNed velocity_ned,
        TelemetryServer::Heading heading);

    TelemetryServer::Result publish_home(TelemetryServer::Position home);

    TelemetryServer::Result
    publish_raw_gps(TelemetryServer::RawGps raw_gps, TelemetryServer::GpsInfo gps_info);

    TelemetryServer::Result publish_battery(TelemetryServer::Battery battery);

    TelemetryServer::Result
    publish_distance_sensor(TelemetryServer::DistanceSensor distance_sensor);

    TelemetryServer::Result publish_status_text(TelemetryServer::StatusText status_text);

    TelemetryServer::Result publish_odometry(TelemetryServer::Odometry odometry);

    TelemetryServer::Result
    publish_position_velocity_ned(TelemetryServer::PositionVelocityNed position_velocity_ned);

    TelemetryServer::Result publish_ground_truth(TelemetryServer::GroundTruth ground_truth);

    void
    publish_imu_async(TelemetryServer::Imu imu, const TelemetryServer::ResultCallback callback);

    TelemetryServer::Result publish_imu(TelemetryServer::Imu imu);

    TelemetryServer::Result publish_scaled_imu(TelemetryServer::Imu imu);

    TelemetryServer::Result publish_raw_imu(TelemetryServer::Imu imu);

    TelemetryServer::Result publish_health_all_ok(bool is_health_all_ok);

    TelemetryServer::Result publish_unix_epoch_time(uint64_t time_us);

    TelemetryServer::Result publish_sys_status(
        TelemetryServer::Battery battery,
        bool rc_receiver_status,
        bool gyro_status,
        bool accel_status,
        bool mag_status,
        bool gps_status);

    TelemetryServer::Result publish_extended_sys_state(
        TelemetryServer::VtolState vtol_state, TelemetryServer::LandedState landed_state);

    TelemetryServer::Result publish_attitude(
        TelemetryServer::EulerAngle attitude,
        TelemetryServer::AngularVelocityBody angular_velocity);

    TelemetryServer::Result
    publish_visual_flight_rules_hud(TelemetryServer::FixedwingMetrics fixed_wing_metrics);

private:
    bool _send_home();

    std::chrono::time_point<std::chrono::steady_clock> _start_time;

    std::mutex _mutex;
    std::vector<RequestMsgInterval> _interval_requests;

    std::optional<TelemetryServer::Position> _maybe_home{};

    uint64_t get_boot_time_ms()
    {
        return std::chrono::duration_cast<std::chrono::milliseconds>(
                   std::chrono::steady_clock::now() - _start_time)
            .count();
    }

    uint64_t get_epoch_time()
    {
        return std::chrono::steady_clock::now().time_since_epoch().count();
    }
};

} // namespace mavsdk

1	#pragma once
2
3	#include "plugins/telemetry_server/telemetry_server.h"
4	#include "server_plugin_impl_base.h"
5
6	#include <unordered_map>
7	#include <chrono>
8	#include <optional>
9
10	namespace mavsdk {
11
12	class TelemetryServerImpl : public ServerPluginImplBase {
13	public:
14	struct RequestMsgInterval {
15	uint32_t msg_id{0};
16	uint32_t interval{0};
17	CallEveryHandler::Cookie cookie{};
18	};
19
20	explicit TelemetryServerImpl(std::shared_ptr<ServerComponent> server_component);
21	~TelemetryServerImpl() override;
22
23	void init() override;
24	void deinit() override;
25
26	void publish_position_async(
27	TelemetryServer::Position position,
28	TelemetryServer::VelocityNed velocity_ned,
29	const TelemetryServer::ResultCallback callback);
30
31	TelemetryServer::Result publish_position(
32	TelemetryServer::Position position,
33	TelemetryServer::VelocityNed velocity_ned,
34	TelemetryServer::Heading heading);
35
36	TelemetryServer::Result publish_home(TelemetryServer::Position home);
37
38	TelemetryServer::Result
39	publish_raw_gps(TelemetryServer::RawGps raw_gps, TelemetryServer::GpsInfo gps_info);
40
41	TelemetryServer::Result publish_battery(TelemetryServer::Battery battery);
42
43	TelemetryServer::Result
44	publish_distance_sensor(TelemetryServer::DistanceSensor distance_sensor);
45
46	TelemetryServer::Result publish_status_text(TelemetryServer::StatusText status_text);
47
48	TelemetryServer::Result publish_odometry(TelemetryServer::Odometry odometry);
49
50	TelemetryServer::Result
51	publish_position_velocity_ned(TelemetryServer::PositionVelocityNed position_velocity_ned);
52
53	TelemetryServer::Result publish_ground_truth(TelemetryServer::GroundTruth ground_truth);
54
55	void
56	publish_imu_async(TelemetryServer::Imu imu, const TelemetryServer::ResultCallback callback);
57
58	TelemetryServer::Result publish_imu(TelemetryServer::Imu imu);
59
60	TelemetryServer::Result publish_scaled_imu(TelemetryServer::Imu imu);
61
62	TelemetryServer::Result publish_raw_imu(TelemetryServer::Imu imu);
63
64	TelemetryServer::Result publish_health_all_ok(bool is_health_all_ok);
65
66	TelemetryServer::Result publish_unix_epoch_time(uint64_t time_us);
67
68	TelemetryServer::Result publish_sys_status(
69	TelemetryServer::Battery battery,
70	bool rc_receiver_status,
71	bool gyro_status,
72	bool accel_status,
73	bool mag_status,
74	bool gps_status);
75
76	TelemetryServer::Result publish_extended_sys_state(
77	TelemetryServer::VtolState vtol_state, TelemetryServer::LandedState landed_state);
78
79	TelemetryServer::Result publish_attitude(
80	TelemetryServer::EulerAngle attitude,
81	TelemetryServer::AngularVelocityBody angular_velocity);
82
83	TelemetryServer::Result
84	publish_visual_flight_rules_hud(TelemetryServer::FixedwingMetrics fixed_wing_metrics);
85
86	private:
87	bool _send_home();
88
89	std::chrono::time_point<std::chrono::steady_clock> _start_time;
90
91	std::mutex _mutex;
92	std::vector<RequestMsgInterval> _interval_requests;
93
94	std::optional<TelemetryServer::Position> _maybe_home{};
95
UNCOV 96	uint64_t get_boot_time_ms()	×
97	{
UNCOV 98	return std::chrono::duration_cast<std::chrono::milliseconds>(	×
UNCOV 99	std::chrono::steady_clock::now() - _start_time)	×
UNCOV 100	.count();	×
101	}
102
103	uint64_t get_epoch_time()
104	{
105	return std::chrono::steady_clock::now().time_since_epoch().count();
106	}
107	};
108
109	} // namespace mavsdk

mavlink / MAVSDK / 16636200771

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