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core: fix own sysid/compid in mission transfer
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It turns out that SystemImpl did not properly implement the Sender class
and therefore own sysid and compid were always 0.

This refactoring fixes that by using methods instead of variable
references of variables that are not set and these abstract methods then
need to be implemented, otherwise the compiler would complain.

I also had to remove on check in the unit tests, why is a mystery to me.
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@julianoes
julianoes committed Jul 22, 2021
1 parent 6f9358e commit 75480de
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Showing 6 changed files with 115 additions and 401 deletions.
80 changes: 40 additions & 40 deletions src/core/mavlink_mission_transfer.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -211,11 +211,11 @@ void MAVLinkMissionTransfer::UploadWorkItem::send_count()
{
mavlink_message_t message;
mavlink_msg_mission_count_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
_items.size(),
_type);

Expand All @@ -232,11 +232,11 @@ void MAVLinkMissionTransfer::UploadWorkItem::send_cancel_and_finish()
{
mavlink_message_t message;
mavlink_msg_mission_ack_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
MAV_MISSION_OPERATION_CANCELLED,
_type);

Expand Down Expand Up @@ -279,11 +279,11 @@ void MAVLinkMissionTransfer::UploadWorkItem::process_mission_request(

mavlink_message_t message;
mavlink_msg_mission_ack_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
MAV_MISSION_UNSUPPORTED,
_type);

Expand Down Expand Up @@ -341,11 +341,11 @@ void MAVLinkMissionTransfer::UploadWorkItem::send_mission_item()

mavlink_message_t message;
mavlink_msg_mission_item_int_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
_next_sequence,
_items[_next_sequence].frame,
_items[_next_sequence].command,
Expand Down Expand Up @@ -512,11 +512,11 @@ void MAVLinkMissionTransfer::DownloadWorkItem::request_list()
{
mavlink_message_t message;
mavlink_msg_mission_request_list_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
_type);

if (!_sender.send_message(message)) {
Expand All @@ -532,11 +532,11 @@ void MAVLinkMissionTransfer::DownloadWorkItem::request_item()
{
mavlink_message_t message;
mavlink_msg_mission_request_int_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
_next_sequence,
_type);

Expand All @@ -553,11 +553,11 @@ void MAVLinkMissionTransfer::DownloadWorkItem::send_ack_and_finish()
{
mavlink_message_t message;
mavlink_msg_mission_ack_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
MAV_MISSION_ACCEPTED,
_type);

Expand All @@ -574,11 +574,11 @@ void MAVLinkMissionTransfer::DownloadWorkItem::send_cancel_and_finish()
{
mavlink_message_t message;
mavlink_msg_mission_ack_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
MAV_MISSION_OPERATION_CANCELLED,
_type);

Expand Down Expand Up @@ -728,11 +728,11 @@ void MAVLinkMissionTransfer::ClearWorkItem::send_clear()
{
mavlink_message_t message;
mavlink_msg_mission_clear_all_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
_type);

if (!_sender.send_message(message)) {
Expand Down Expand Up @@ -880,11 +880,11 @@ void MAVLinkMissionTransfer::SetCurrentWorkItem::send_current_mission_item()
{
mavlink_message_t message;
mavlink_msg_mission_set_current_pack(
_sender.own_address.system_id,
_sender.own_address.component_id,
_sender.get_own_system_id(),
_sender.get_own_component_id(),
&message,
_sender.target_address.system_id,
_sender.target_address.component_id,
_sender.get_system_id(),
MAV_COMP_ID_AUTOPILOT1,
_current);

if (!_sender.send_message(message)) {
Expand Down
10 changes: 4 additions & 6 deletions src/core/mavlink_mission_transfer.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,14 +16,12 @@ namespace mavsdk {

class Sender {
public:
Sender(MAVLinkAddress& new_own_address, MAVLinkAddress& new_target_address) :
own_address(new_own_address),
target_address(new_target_address)
{}
Sender() = default;
virtual ~Sender() = default;
virtual bool send_message(mavlink_message_t& message) = 0;
MAVLinkAddress& own_address;
MAVLinkAddress& target_address;
virtual uint8_t get_own_system_id() const = 0;
virtual uint8_t get_own_component_id() const = 0;
virtual uint8_t get_system_id() const = 0;
};

class MAVLinkMissionTransfer {
Expand Down
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