22121965442

Committed 18 Feb 2026 12:52AM UTC coverage: 48.988% (-0.02%) from 49.009%

Build # 22121965442

Build Type

Pull #2769

github

Committed by

web-flow

Commit Message

Merge 6d7328dc3 into 72946bd67

Pull Request Pull Request #2769: core: add set_callback_executor API for custom callback dispatch

Run Details

10 of 42 new or added lines in 3 files covered. (23.81%)

7 existing lines in 5 files now uncovered.

18362 of 37483 relevant lines covered (48.99%)

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58.24

/cpp/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();
}

void Mavsdk::set_callback_executor(std::function<void(std::function<void()>)> executor)
{
    _impl->set_callback_executor(std::move(executor));
}

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>(
        MavsdkImpl::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;
    }
}

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>(MavsdkImpl::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);
}

Autopilot Mavsdk::Configuration::get_autopilot() const
{
    return _autopilot;
}

void Mavsdk::Configuration::set_autopilot(Autopilot autopilot)
{
    _autopilot = autopilot;
}

CompatibilityMode Mavsdk::Configuration::get_compatibility_mode() const
{
    return _compatibility_mode;
}

void Mavsdk::Configuration::set_compatibility_mode(CompatibilityMode mode)
{
    _compatibility_mode = mode;
}

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)	148✔
8	{
9	_impl = std::make_shared<MavsdkImpl>(configuration);	148✔
10	}	148✔
11
12	Mavsdk::~Mavsdk() = default;	148✔
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)	142✔
21	{
22	return _impl->add_any_connection(connection_url, forwarding_option).first;	142✔
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	58✔
37	{
38	return _impl->systems();	58✔
39	}
40
41	std::optional<std::shared_ptr<System>> Mavsdk::first_autopilot(double timeout_s) const	62✔
42	{
43	return _impl->first_autopilot(timeout_s);	62✔
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
NEW 66	void Mavsdk::set_callback_executor(std::function<void(std::function<void()>)> executor)	×
67	{
NEW 68	_impl->set_callback_executor(std::move(executor));	×
NEW 69	}	×
70
71	Mavsdk::NewSystemHandle Mavsdk::subscribe_on_new_system(const NewSystemCallback& callback)	10✔
72	{
73	return _impl->subscribe_on_new_system(callback);	10✔
74	}
75
76	void Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)	9✔
77	{
78	_impl->unsubscribe_on_new_system(handle);	9✔
79	}	9✔
80
81	std::shared_ptr<ServerComponent> Mavsdk::server_component(unsigned instance)	58✔
82	{
83	return _impl->server_component(instance);	58✔
84	}
85
86	std::shared_ptr<ServerComponent>
87	Mavsdk::server_component_by_type(ComponentType server_component_type, unsigned instance)	×
88	{
89	return _impl->server_component_by_type(server_component_type, instance);	×
90	}
91
92	std::shared_ptr<ServerComponent> Mavsdk::server_component_by_id(uint8_t component_id)	×
93	{
94	return _impl->server_component_by_id(component_id, _impl->get_mav_type());	×
95	}
96
97	Mavsdk::Configuration::Configuration(	×
98	uint8_t system_id, uint8_t component_id, bool always_send_heartbeats) :	×
99	_system_id(system_id),	×
100	_component_id(component_id),	×
101	_always_send_heartbeats(always_send_heartbeats),	×
102	_component_type(component_type_for_component_id(component_id)),	×
103	_mav_type(static_cast<MAV_TYPE>(	×
104	MavsdkImpl::mav_type_for_component_type(component_type_for_component_id(component_id))))	×
105	{}	×
106
107	ComponentType Mavsdk::Configuration::component_type_for_component_id(uint8_t component_id)	×
108	{
109	switch (component_id) {	×
110	case Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT:	×
111	return ComponentType::Autopilot;	×
112	case Mavsdk::DEFAULT_COMPONENT_ID_GCS:	×
113	return ComponentType::GroundStation;	×
114	case Mavsdk::DEFAULT_COMPONENT_ID_CC:	×
115	return ComponentType::CompanionComputer;	×
116	case Mavsdk::DEFAULT_COMPONENT_ID_CAMERA:	×
117	return ComponentType::Camera;	×
118	case Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL:	×
119	return ComponentType::Gimbal;	×
120	case Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID:	×
121	return ComponentType::RemoteId;	×
122	default:	×
123	return ComponentType::Custom;	×
124	}
125	}
126
127	Mavsdk::Configuration::Configuration(ComponentType component_type) :	297✔
128	_system_id(Mavsdk::DEFAULT_SYSTEM_ID_GCS),	297✔
129	_component_id(Mavsdk::DEFAULT_COMPONENT_ID_GCS),	297✔
130	_always_send_heartbeats(false),	297✔
131	_component_type(component_type),	297✔
132	_mav_type(static_cast<MAV_TYPE>(MavsdkImpl::mav_type_for_component_type(component_type)))	297✔
133	{
134	switch (component_type) {	297✔
135	case ComponentType::GroundStation:	222✔
136	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_GCS;	222✔
137	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_GCS;	222✔
138	_always_send_heartbeats = false;	222✔
139	break;	222✔
140	case ComponentType::CompanionComputer:	3✔
141	// TODO implement auto-detection of system ID - maybe from heartbeats?
142	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_CC;	3✔
143	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_CC;	3✔
144	_always_send_heartbeats = true;	3✔
145	break;	3✔
146	case ComponentType::Autopilot:	63✔
147	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_AUTOPILOT;	63✔
148	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_AUTOPILOT;	63✔
149	_always_send_heartbeats = true;	63✔
150	break;	63✔
151	case ComponentType::Camera:	9✔
152	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_CAMERA;	9✔
153	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_CAMERA;	9✔
154	_always_send_heartbeats = true;	9✔
155	break;	9✔
156	case ComponentType::Gimbal:	×
157	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_GIMBAL;	×
158	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_GIMBAL;	×
159	_always_send_heartbeats = true;	×
160	break;	×
161	case ComponentType::RemoteId:	×
162	_system_id = Mavsdk::DEFAULT_SYSTEM_ID_REMOTEID;	×
163	_component_id = Mavsdk::DEFAULT_COMPONENT_ID_REMOTEID;	×
164	_always_send_heartbeats = true;	×
165	break;	×
166	default:	×
167	break;	×
168	}
169	}	297✔
170
171	uint8_t Mavsdk::Configuration::get_system_id() const	221✔
172	{
173	return _system_id;	221✔
174	}
175
176	void Mavsdk::Configuration::set_system_id(uint8_t system_id)	×
177	{
178	_system_id = system_id;	×
179	}	×
180
181	uint8_t Mavsdk::Configuration::get_component_id() const	442✔
182	{
183	return _component_id;	442✔
184	}
185
186	void Mavsdk::Configuration::set_component_id(uint8_t component_id)	×
187	{
188	_component_id = component_id;	×
189	}	×
190
191	bool Mavsdk::Configuration::get_always_send_heartbeats() const	590✔
192	{
193	return _always_send_heartbeats;	590✔
194	}
195
196	void Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbeats)	73✔
197	{
198	_always_send_heartbeats = always_send_heartbeats;	73✔
199	}	73✔
200
201	ComponentType Mavsdk::Configuration::get_component_type() const	18,670✔
202	{
203	return _component_type;	18,670✔
204	}
205
206	void Mavsdk::Configuration::set_component_type(ComponentType component_type)	×
207	{
208	_component_type = component_type;	×
209	}	×
210
211	uint8_t Mavsdk::Configuration::get_mav_type() const	223✔
212	{
213	return _mav_type;	223✔
214	}
215
216	void Mavsdk::Configuration::set_mav_type(uint8_t mav_type)	1✔
217	{
218	_mav_type = static_cast<MAV_TYPE>(mav_type);	1✔
219	}	1✔
220
221	Autopilot Mavsdk::Configuration::get_autopilot() const	254✔
222	{
223	return _autopilot;	254✔
224	}
225
226	void Mavsdk::Configuration::set_autopilot(Autopilot autopilot)	×
227	{
228	_autopilot = autopilot;	×
229	}	×
230
231	CompatibilityMode Mavsdk::Configuration::get_compatibility_mode() const	1,567✔
232	{
233	return _compatibility_mode;	1,567✔
234	}
235
236	void Mavsdk::Configuration::set_compatibility_mode(CompatibilityMode mode)	×
237	{
238	_compatibility_mode = mode;	×
239	}	×
240
241	void Mavsdk::intercept_incoming_messages_async(std::function<bool(mavlink_message_t&)> callback)	28✔
242	{
243	_impl->intercept_incoming_messages_async(callback);	28✔
244	}	28✔
245
246	void Mavsdk::intercept_outgoing_messages_async(std::function<bool(mavlink_message_t&)> callback)	16✔
247	{
248	_impl->intercept_outgoing_messages_async(callback);	16✔
249	}	16✔
250
251	void Mavsdk::pass_received_raw_bytes(const char* bytes, size_t length)	1✔
252	{
253	_impl->pass_received_raw_bytes(bytes, length);	1✔
254	}	1✔
255
256	Mavsdk::RawBytesHandle Mavsdk::subscribe_raw_bytes_to_be_sent(RawBytesCallback callback)	1✔
257	{
258	return _impl->subscribe_raw_bytes_to_be_sent(callback);	1✔
259	}
260
261	void Mavsdk::unsubscribe_raw_bytes_to_be_sent(RawBytesHandle handle)	1✔
262	{
263	_impl->unsubscribe_raw_bytes_to_be_sent(handle);	1✔
264	}	1✔
265
266	Mavsdk::ConnectionErrorHandle
267	Mavsdk::subscribe_connection_errors(Mavsdk::ConnectionErrorCallback callback)	×
268	{
269	return _impl->subscribe_connection_errors(callback);	×
270	}
271
272	void Mavsdk::unsubscribe_connection_errors(ConnectionErrorHandle handle)	×
273	{
274	return _impl->unsubscribe_connection_errors(handle);	×
275	}
276
277	Mavsdk::InterceptJsonHandle
278	Mavsdk::subscribe_incoming_messages_json(const InterceptJsonCallback& callback)	1✔
279	{
280	return _impl->subscribe_incoming_messages_json(callback);	1✔
281	}
282
283	void Mavsdk::unsubscribe_incoming_messages_json(InterceptJsonHandle handle)	1✔
284	{
285	_impl->unsubscribe_incoming_messages_json(handle);	1✔
286	}	1✔
287
288	Mavsdk::InterceptJsonHandle
289	Mavsdk::subscribe_outgoing_messages_json(const InterceptJsonCallback& callback)	1✔
290	{
291	return _impl->subscribe_outgoing_messages_json(callback);	1✔
292	}
293
294	void Mavsdk::unsubscribe_outgoing_messages_json(InterceptJsonHandle handle)	1✔
295	{
296	_impl->unsubscribe_outgoing_messages_json(handle);	1✔
297	}	1✔
298
299	} // namespace mavsdk

mavlink / MAVSDK / 22121965442

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