20560735970

Committed 28 Dec 2025 10:59PM UTC coverage: 48.047% (-0.03%) from 48.078%

Build # 20560735970

Build Type

Pull #2746

github

Committed by

web-flow

Commit Message

Merge 855e4cc2b into 2460e1568

Pull Request Pull Request #2746: Configuration and component cleanup

Run Details

18 of 45 new or added lines in 4 files covered. (40.0%)

19 existing lines in 6 files now uncovered.

17741 of 36924 relevant lines covered (48.05%)

466.77 hits per line

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60.0

/src/mavsdk/core/mavsdk.cpp

#include "mavsdk.h"

#include "mavsdk_impl.h"

namespace mavsdk {

Mavsdk::Mavsdk(Configuration configuration)
{
    _impl = std::make_shared<MavsdkImpl>(configuration);
}

Mavsdk::~Mavsdk() = default;

std::string Mavsdk::version() const
{
    return _impl->version();
}

ConnectionResult
Mavsdk::add_any_connection(const std::string& connection_url, ForwardingOption forwarding_option)
{
    return _impl->add_any_connection(connection_url, forwarding_option).first;
}

std::pair<ConnectionResult, Mavsdk::ConnectionHandle> Mavsdk::add_any_connection_with_handle(
    const std::string& connection_url, ForwardingOption forwarding_option)
{
    return _impl->add_any_connection(connection_url, forwarding_option);
}

void Mavsdk::remove_connection(ConnectionHandle handle)
{
    _impl->remove_connection(handle);
}

std::vector<std::shared_ptr<System>> Mavsdk::systems() const
{
    return _impl->systems();
}

std::optional<std::shared_ptr<System>> Mavsdk::first_autopilot(double timeout_s) const
{
    return _impl->first_autopilot(timeout_s);
}

void Mavsdk::set_configuration(Configuration configuration)
{
    _impl->set_configuration(configuration);
}

void Mavsdk::set_timeout_s(double timeout_s)
{
    _impl->set_timeout_s(timeout_s);
}

void Mavsdk::set_heartbeat_timeout_s(double timeout_s)
{
    _impl->set_heartbeat_timeout_s(timeout_s);
}

double Mavsdk::get_heartbeat_timeout_s() const
{
    return _impl->heartbeat_timeout_s();
}

Mavsdk::NewSystemHandle Mavsdk::subscribe_on_new_system(const NewSystemCallback& callback)
{
    return _impl->subscribe_on_new_system(callback);
}

void Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)
{
    _impl->unsubscribe_on_new_system(handle);
}

std::shared_ptr<ServerComponent> Mavsdk::server_component(unsigned instance)
{
    return _impl->server_component(instance);
}

std::shared_ptr<ServerComponent>
Mavsdk::server_component_by_type(ComponentType server_component_type, unsigned instance)
{
    return _impl->server_component_by_type(server_component_type, instance);
}

std::shared_ptr<ServerComponent> Mavsdk::server_component_by_id(uint8_t component_id)
{
    return _impl->server_component_by_id(component_id, _impl->get_mav_type());
}

Mavsdk::Configuration::Configuration(
    uint8_t system_id, uint8_t component_id, bool always_send_heartbeats) :
    _system_id(system_id),
    _component_id(component_id),
    _always_send_heartbeats(always_send_heartbeats),
    _component_type(component_type_for_component_id(component_id)),
    _mav_type(static_cast<MAV_TYPE>(
        mav_type_for_component_type(component_type_for_component_id(component_id))))
{}

ComponentType Mavsdk::Configuration::component_type_for_component_id(uint8_t component_id)
{
    switch (component_id) {
        case Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT:
            return ComponentType::Autopilot;
        case Mavsdk::DEFAULT_COMPONENT_ID_GCS:
            return ComponentType::GroundStation;
        case Mavsdk::DEFAULT_COMPONENT_ID_CC:
            return ComponentType::CompanionComputer;
        case Mavsdk::DEFAULT_COMPONENT_ID_CAMERA:
            return ComponentType::Camera;
        case Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL:
            return ComponentType::Gimbal;
        case Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID:
            return ComponentType::RemoteId;
        default:
            return ComponentType::Custom;
    }
}

uint8_t Mavsdk::Configuration::mav_type_for_component_type(ComponentType component_type)
{
    switch (component_type) {
        case ComponentType::Autopilot:
            return MAV_TYPE_GENERIC;
        case ComponentType::GroundStation:
            return MAV_TYPE_GCS;
        case ComponentType::CompanionComputer:
            return MAV_TYPE_ONBOARD_CONTROLLER;
        case ComponentType::Camera:
            return MAV_TYPE_CAMERA;
        case ComponentType::Gimbal:
            return MAV_TYPE_GIMBAL;
        case ComponentType::RemoteId:
            return MAV_TYPE_ODID;
        case ComponentType::Custom:
            return MAV_TYPE_GENERIC;
        default:
            return MAV_TYPE_GENERIC;
    }
}

Mavsdk::Configuration::Configuration(ComponentType component_type) :
    _system_id(Mavsdk::DEFAULT_SYSTEM_ID_GCS),
    _component_id(Mavsdk::DEFAULT_COMPONENT_ID_GCS),
    _always_send_heartbeats(false),
    _component_type(component_type),
    _mav_type(static_cast<MAV_TYPE>(mav_type_for_component_type(component_type)))
{
    switch (component_type) {
        case ComponentType::GroundStation:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_GCS;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_GCS;
            _always_send_heartbeats = false;
            break;
        case ComponentType::CompanionComputer:
            // TODO implement auto-detection of system ID - maybe from heartbeats?
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_CC;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_CC;
            _always_send_heartbeats = true;
            break;
        case ComponentType::Autopilot:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_AUTOPILOT;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT;
            _always_send_heartbeats = true;
            break;
        case ComponentType::Camera:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_CAMERA;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_CAMERA;
            _always_send_heartbeats = true;
            break;
        case ComponentType::Gimbal:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_GIMBAL;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL;
            _always_send_heartbeats = true;
            break;
        case ComponentType::RemoteId:
            _system_id = Mavsdk::DEFAULT_SYSTEM_ID_REMOTEID;
            _component_id = Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID;
            _always_send_heartbeats = true;
            break;
        default:
            break;
    }
}

uint8_t Mavsdk::Configuration::get_system_id() const
{
    return _system_id;
}

void Mavsdk::Configuration::set_system_id(uint8_t system_id)
{
    _system_id = system_id;
}

uint8_t Mavsdk::Configuration::get_component_id() const
{
    return _component_id;
}

void Mavsdk::Configuration::set_component_id(uint8_t component_id)
{
    _component_id = component_id;
}

bool Mavsdk::Configuration::get_always_send_heartbeats() const
{
    return _always_send_heartbeats;
}

void Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbeats)
{
    _always_send_heartbeats = always_send_heartbeats;
}

ComponentType Mavsdk::Configuration::get_component_type() const
{
    return _component_type;
}

void Mavsdk::Configuration::set_component_type(ComponentType component_type)
{
    _component_type = component_type;
}

uint8_t Mavsdk::Configuration::get_mav_type() const
{
    return _mav_type;
}

void Mavsdk::Configuration::set_mav_type(uint8_t mav_type)
{
    _mav_type = static_cast<MAV_TYPE>(mav_type);
}

void Mavsdk::intercept_incoming_messages_async(std::function<bool(mavlink_message_t&)> callback)
{
    _impl->intercept_incoming_messages_async(callback);
}

void Mavsdk::intercept_outgoing_messages_async(std::function<bool(mavlink_message_t&)> callback)
{
    _impl->intercept_outgoing_messages_async(callback);
}

void Mavsdk::pass_received_raw_bytes(const char* bytes, size_t length)
{
    _impl->pass_received_raw_bytes(bytes, length);
}

Mavsdk::RawBytesHandle Mavsdk::subscribe_raw_bytes_to_be_sent(RawBytesCallback callback)
{
    return _impl->subscribe_raw_bytes_to_be_sent(callback);
}

void Mavsdk::unsubscribe_raw_bytes_to_be_sent(RawBytesHandle handle)
{
    _impl->unsubscribe_raw_bytes_to_be_sent(handle);
}

Mavsdk::ConnectionErrorHandle
Mavsdk::subscribe_connection_errors(Mavsdk::ConnectionErrorCallback callback)
{
    return _impl->subscribe_connection_errors(callback);
}

void Mavsdk::unsubscribe_connection_errors(ConnectionErrorHandle handle)
{
    return _impl->unsubscribe_connection_errors(handle);
}

Mavsdk::InterceptJsonHandle
Mavsdk::subscribe_incoming_messages_json(const InterceptJsonCallback& callback)
{
    return _impl->subscribe_incoming_messages_json(callback);
}

void Mavsdk::unsubscribe_incoming_messages_json(InterceptJsonHandle handle)
{
    _impl->unsubscribe_incoming_messages_json(handle);
}

Mavsdk::InterceptJsonHandle
Mavsdk::subscribe_outgoing_messages_json(const InterceptJsonCallback& callback)
{
    return _impl->subscribe_outgoing_messages_json(callback);
}

void Mavsdk::unsubscribe_outgoing_messages_json(InterceptJsonHandle handle)
{
    _impl->unsubscribe_outgoing_messages_json(handle);
}

} // namespace mavsdk

1	#include "mavsdk.h"
2
3	#include "mavsdk_impl.h"
4
5	namespace mavsdk {
6
7	Mavsdk::Mavsdk(Configuration configuration)	138✔
8	{
9	_impl = std::make_shared<MavsdkImpl>(configuration);	138✔
10	}	138✔
11
12	Mavsdk::~Mavsdk() = default;	138✔
13
14	std::string Mavsdk::version() const	1✔
15	{
16	return _impl->version();	1✔
17	}
18
19	ConnectionResult
20	Mavsdk::add_any_connection(const std::string& connection_url, ForwardingOption forwarding_option)	132✔
21	{
22	return _impl->add_any_connection(connection_url, forwarding_option).first;	132✔
23	}
24
25	std::pair<ConnectionResult, Mavsdk::ConnectionHandle> Mavsdk::add_any_connection_with_handle(	12✔
26	const std::string& connection_url, ForwardingOption forwarding_option)
27	{
28	return _impl->add_any_connection(connection_url, forwarding_option);	12✔
29	}
30
31	void Mavsdk::remove_connection(ConnectionHandle handle)	12✔
32	{
33	_impl->remove_connection(handle);	12✔
34	}	12✔
35
36	std::vector<std::shared_ptr<System>> Mavsdk::systems() const	57✔
37	{
38	return _impl->systems();	57✔
39	}
40
41	std::optional<std::shared_ptr<System>> Mavsdk::first_autopilot(double timeout_s) const	57✔
42	{
43	return _impl->first_autopilot(timeout_s);	57✔
44	}
45
46	void Mavsdk::set_configuration(Configuration configuration)	×
47	{
48	_impl->set_configuration(configuration);	×
49	}	×
50
51	void Mavsdk::set_timeout_s(double timeout_s)	64✔
52	{
53	_impl->set_timeout_s(timeout_s);	64✔
54	}	64✔
55
56	void Mavsdk::set_heartbeat_timeout_s(double timeout_s)	×
57	{
58	_impl->set_heartbeat_timeout_s(timeout_s);	×
59	}	×
60
61	double Mavsdk::get_heartbeat_timeout_s() const	×
62	{
63	return _impl->heartbeat_timeout_s();	×
64	}
65
66	Mavsdk::NewSystemHandle Mavsdk::subscribe_on_new_system(const NewSystemCallback& callback)	10✔
67	{
68	return _impl->subscribe_on_new_system(callback);	10✔
69	}
70
71	void Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)	9✔
72	{
73	_impl->unsubscribe_on_new_system(handle);	9✔
74	}	9✔
75
76	std::shared_ptr<ServerComponent> Mavsdk::server_component(unsigned instance)	54✔
77	{
78	return _impl->server_component(instance);	54✔
79	}
80
81	std::shared_ptr<ServerComponent>
82	Mavsdk::server_component_by_type(ComponentType server_component_type, unsigned instance)	×
83	{
84	return _impl->server_component_by_type(server_component_type, instance);	×
85	}
86
87	std::shared_ptr<ServerComponent> Mavsdk::server_component_by_id(uint8_t component_id)	×
88	{
NEW 89	return _impl->server_component_by_id(component_id, _impl->get_mav_type());	×
90	}
91
92	Mavsdk::Configuration::Configuration(	×
93	uint8_t system_id, uint8_t component_id, bool always_send_heartbeats) :	×
94	_system_id(system_id),	×
95	_component_id(component_id),	×
96	_always_send_heartbeats(always_send_heartbeats),	×
97	_component_type(component_type_for_component_id(component_id)),	×
NEW 98	_mav_type(static_cast<MAV_TYPE>(	×
NEW 99	mav_type_for_component_type(component_type_for_component_id(component_id))))	×
UNCOV 100	{}	×
101
102	ComponentType Mavsdk::Configuration::component_type_for_component_id(uint8_t component_id)	×
103	{
104	switch (component_id) {	×
105	case Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT:	×
106	return ComponentType::Autopilot;	×
107	case Mavsdk::DEFAULT_COMPONENT_ID_GCS:	×
108	return ComponentType::GroundStation;	×
109	case Mavsdk::DEFAULT_COMPONENT_ID_CC:	×
110	return ComponentType::CompanionComputer;	×
111	case Mavsdk::DEFAULT_COMPONENT_ID_CAMERA:	×
112	return ComponentType::Camera;	×
113	case Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL:	×
114	return ComponentType::Gimbal;	×
115	case Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID:	×
116	return ComponentType::RemoteId;	×
117	default:	×
118	return ComponentType::Custom;	×
119	}
120	}
121
122	uint8_t Mavsdk::Configuration::mav_type_for_component_type(ComponentType component_type)	331✔
123	{
124	switch (component_type) {	331✔
125	case ComponentType::Autopilot:	98✔
126	return MAV_TYPE_GENERIC;	98✔
127	case ComponentType::GroundStation:	207✔
128	return MAV_TYPE_GCS;	207✔
129	case ComponentType::CompanionComputer:	4✔
130	return MAV_TYPE_ONBOARD_CONTROLLER;	4✔
131	case ComponentType::Camera:	22✔
132	return MAV_TYPE_CAMERA;	22✔
133	case ComponentType::Gimbal:	×
134	return MAV_TYPE_GIMBAL;	×
135	case ComponentType::RemoteId:	×
136	return MAV_TYPE_ODID;	×
137	case ComponentType::Custom:	×
138	return MAV_TYPE_GENERIC;	×
139	default:	×
140	return MAV_TYPE_GENERIC;	×
141	}
142	}
143
144	Mavsdk::Configuration::Configuration(ComponentType component_type) :	277✔
145	_system_id(Mavsdk::DEFAULT_SYSTEM_ID_GCS),	277✔
146	_component_id(Mavsdk::DEFAULT_COMPONENT_ID_GCS),	277✔
147	_always_send_heartbeats(false),	277✔
148	_component_type(component_type),	277✔
149	_mav_type(static_cast<MAV_TYPE>(mav_type_for_component_type(component_type)))	277✔
150	{
151	switch (component_type) {	277✔
152	case ComponentType::GroundStation:	207✔
153	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_GCS;	207✔
154	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_GCS;	207✔
155	_always_send_heartbeats = false;	207✔
156	break;	207✔
157	case ComponentType::CompanionComputer:	3✔
158	// TODO implement auto-detection of system ID - maybe from heartbeats?
159	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_CC;	3✔
160	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_CC;	3✔
161	_always_send_heartbeats = true;	3✔
162	break;	3✔
163	case ComponentType::Autopilot:	58✔
164	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_AUTOPILOT;	58✔
165	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT;	58✔
166	_always_send_heartbeats = true;	58✔
167	break;	58✔
168	case ComponentType::Camera:	9✔
169	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_CAMERA;	9✔
170	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_CAMERA;	9✔
171	_always_send_heartbeats = true;	9✔
172	break;	9✔
173	case ComponentType::Gimbal:	×
174	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_GIMBAL;	×
175	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL;	×
176	_always_send_heartbeats = true;	×
177	break;	×
178	case ComponentType::RemoteId:	×
179	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_REMOTEID;	×
180	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID;	×
181	_always_send_heartbeats = true;	×
182	break;	×
183	default:	×
184	break;	×
185	}
186	}	277✔
187
188	uint8_t Mavsdk::Configuration::get_system_id() const	207✔
189	{
190	return _system_id;	207✔
191	}
192
193	void Mavsdk::Configuration::set_system_id(uint8_t system_id)	×
194	{
195	_system_id = system_id;	×
196	}	×
197
198	uint8_t Mavsdk::Configuration::get_component_id() const	414✔
199	{
200	return _component_id;	414✔
201	}
202
203	void Mavsdk::Configuration::set_component_id(uint8_t component_id)	×
204	{
205	_component_id = component_id;	×
206	}	×
207
208	bool Mavsdk::Configuration::get_always_send_heartbeats() const	553✔
209	{
210	return _always_send_heartbeats;	553✔
211	}
212
213	void Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbeats)	69✔
214	{
215	_always_send_heartbeats = always_send_heartbeats;	69✔
216	}	69✔
217
218	ComponentType Mavsdk::Configuration::get_component_type() const	4,998✔
219	{
220	return _component_type;	4,998✔
221	}
222
223	void Mavsdk::Configuration::set_component_type(ComponentType component_type)	×
224	{
225	_component_type = component_type;	×
226	}	×
227
228	uint8_t Mavsdk::Configuration::get_mav_type() const	209✔
229	{
230	return _mav_type;	209✔
231	}
232
233	void Mavsdk::Configuration::set_mav_type(uint8_t mav_type)	1✔
234	{
235	_mav_type = static_cast<MAV_TYPE>(mav_type);	1✔
236	}	1✔
237
238	void Mavsdk::intercept_incoming_messages_async(std::function<bool(mavlink_message_t&)> callback)	24✔
239	{
240	_impl->intercept_incoming_messages_async(callback);	24✔
241	}	24✔
242
243	void Mavsdk::intercept_outgoing_messages_async(std::function<bool(mavlink_message_t&)> callback)	14✔
244	{
245	_impl->intercept_outgoing_messages_async(callback);	14✔
246	}	14✔
247
248	void Mavsdk::pass_received_raw_bytes(const char* bytes, size_t length)	1✔
249	{
250	_impl->pass_received_raw_bytes(bytes, length);	1✔
251	}	1✔
252
253	Mavsdk::RawBytesHandle Mavsdk::subscribe_raw_bytes_to_be_sent(RawBytesCallback callback)	1✔
254	{
255	return _impl->subscribe_raw_bytes_to_be_sent(callback);	1✔
256	}
257
258	void Mavsdk::unsubscribe_raw_bytes_to_be_sent(RawBytesHandle handle)	1✔
259	{
260	_impl->unsubscribe_raw_bytes_to_be_sent(handle);	1✔
261	}	1✔
262
263	Mavsdk::ConnectionErrorHandle
264	Mavsdk::subscribe_connection_errors(Mavsdk::ConnectionErrorCallback callback)	×
265	{
266	return _impl->subscribe_connection_errors(callback);	×
267	}
268
269	void Mavsdk::unsubscribe_connection_errors(ConnectionErrorHandle handle)	×
270	{
271	return _impl->unsubscribe_connection_errors(handle);	×
272	}
273
274	Mavsdk::InterceptJsonHandle
275	Mavsdk::subscribe_incoming_messages_json(const InterceptJsonCallback& callback)	1✔
276	{
277	return _impl->subscribe_incoming_messages_json(callback);	1✔
278	}
279
280	void Mavsdk::unsubscribe_incoming_messages_json(InterceptJsonHandle handle)	1✔
281	{
282	_impl->unsubscribe_incoming_messages_json(handle);	1✔
283	}	1✔
284
285	Mavsdk::InterceptJsonHandle
286	Mavsdk::subscribe_outgoing_messages_json(const InterceptJsonCallback& callback)	1✔
287	{
288	return _impl->subscribe_outgoing_messages_json(callback);	1✔
289	}
290
291	void Mavsdk::unsubscribe_outgoing_messages_json(InterceptJsonHandle handle)	1✔
292	{
293	_impl->unsubscribe_outgoing_messages_json(handle);	1✔
294	}	1✔
295
296	} // namespace mavsdk

mavlink / MAVSDK / 20560735970

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