18330687927

Committed 08 Oct 2025 01:12AM UTC coverage: 47.859% (+0.2%) from 47.68%

Build # 18330687927

Build Type

Pull #2682

github

Committed by

web-flow

Commit Message

Merge 71946e649 into cafb83cb6

Pull Request Pull Request #2682: core: add raw connection

Run Details

133 of 150 new or added lines in 6 files covered. (88.67%)

12 existing lines in 5 files now uncovered.

17223 of 35987 relevant lines covered (47.86%)

447.68 hits per line

Source File
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96.88

/src/mavsdk/core/ping.cpp

#include "log.h"
#include "mavlink_address.h"
#include "ping.h"
#include "system_impl.h"

namespace mavsdk {

Ping::Ping(SystemImpl& system_impl) : _system_impl(system_impl)
{
    _system_impl.register_mavlink_message_handler(
        MAVLINK_MSG_ID_PING,
        [this](const mavlink_message_t& message) { Ping::process_ping(message); },
        this);
}

Ping::~Ping()
{
    _system_impl.unregister_all_mavlink_message_handlers(this);
}

void Ping::run_once()
{
    _system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
        mavlink_message_t message;
        mavlink_msg_ping_pack_chan(
            mavlink_address.system_id,
            mavlink_address.component_id,
            channel,
            &message,
            _system_impl.get_time().elapsed_us(),
            _ping_sequence,
            0,
            0); // to all
        return message;
    });
}

void Ping::process_ping(const mavlink_message_t& message)
{
    mavlink_ping_t ping;
    mavlink_msg_ping_decode(&message, &ping);

    if (ping.target_system == 0 && ping.target_component == 0) {
        // Response to ping request.

        _system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {
            mavlink_message_t response_message;
            mavlink_msg_ping_pack_chan(
                mavlink_address.system_id,
                mavlink_address.component_id,
                channel,
                &response_message,
                ping.time_usec,
                ping.seq,
                message.sysid,
                message.compid);
            return response_message;
        });

    } else {
        // Answer from ping request.
        if (ping.seq != _ping_sequence) {
            // Ignoring unknown ping sequence.
            return;
        }

        if (message.compid != MAV_COMP_ID_AUTOPILOT1) {
            // We're currently only interested in the ping of the autopilot.
            return;
        }

        _last_ping_time_us = _system_impl.get_time().elapsed_us() - ping.time_usec;
    }
}

} // namespace mavsdk

1	#include "log.h"
2	#include "mavlink_address.h"
3	#include "ping.h"
4	#include "system_impl.h"
5
6	namespace mavsdk {
7
8	Ping::Ping(SystemImpl& system_impl) : _system_impl(system_impl)	130✔
9	{
10	_system_impl.register_mavlink_message_handler(	130✔
11	MAVLINK_MSG_ID_PING,
12	[this](const mavlink_message_t& message) { Ping::process_ping(message); },	17✔
13	this);
14	}	130✔
15
16	Ping::~Ping()	130✔
17	{
18	_system_impl.unregister_all_mavlink_message_handlers(this);	130✔
19	}	130✔
20
21	void Ping::run_once()	7✔
22	{
23	_system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {	7✔
24	mavlink_message_t message;
25	mavlink_msg_ping_pack_chan(	7✔
26	mavlink_address.system_id,	7✔
27	mavlink_address.component_id,	7✔
28	channel,
29	&message,
30	_system_impl.get_time().elapsed_us(),	7✔
31	_ping_sequence,
32	0,
33	0); // to all
34	return message;	7✔
35	});
36	}	7✔
37
38	void Ping::process_ping(const mavlink_message_t& message)	17✔
39	{
40	mavlink_ping_t ping;
41	mavlink_msg_ping_decode(&message, &ping);	17✔
42
43	if (ping.target_system == 0 && ping.target_component == 0) {	17✔
44	// Response to ping request.
45
46	_system_impl.queue_message([&](MavlinkAddress mavlink_address, uint8_t channel) {	8✔
47	mavlink_message_t response_message;
48	mavlink_msg_ping_pack_chan(	8✔
49	mavlink_address.system_id,	8✔
50	mavlink_address.component_id,	8✔
51	channel,
52	&response_message,
53	ping.time_usec,	8✔
54	ping.seq,
55	message.sysid,	8✔
56	message.compid);	8✔
57	return response_message;	8✔
58	});
59
60	} else {	8✔
61	// Answer from ping request.
62	if (ping.seq != _ping_sequence) {	9✔
63	// Ignoring unknown ping sequence.
64	return;	9✔
65	}
66
67	if (message.compid != MAV_COMP_ID_AUTOPILOT1) {	9✔
68	// We're currently only interested in the ping of the autopilot.
69	return;	9✔
70	}
71
UNCOV 72	_last_ping_time_us = _system_impl.get_time().elapsed_us() - ping.time_usec;	×
73	}
74	}
75
76	} // namespace mavsdk

mavlink / MAVSDK / 18330687927

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