Always enable mavlink passthrough

mavlink · Sep 10, 2020 · 815f492 · 815f492
1 parent f2ff514
commit 815f492
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Showing 8 changed files with 10 additions and 33 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -60,7 +60,7 @@ jobs:
         with:
           submodules: recursive
       - name: configure
-        run: cmake -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD=ON -DENABLE_MAVLINK_PASSTHROUGH=1 -DBUILD_BACKEND=ON -j 2 -Bbuild/release -H.
+        run: cmake -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD=ON -DBUILD_BACKEND=ON -j 2 -Bbuild/release -H.
       - name: build
         run: cmake --build build/release -j 2
       - name: install
@@ -171,7 +171,7 @@ jobs:
         with:
           submodules: recursive
       - name: configure
-        run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_BACKEND=OFF -DBUILD_SHARED_LIBS=ON -DENABLE_MAVLINK_PASSTHROUGH=1 -DCMAKE_INSTALL_PREFIX=install -Bbuild/release -H.
+        run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_BACKEND=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -Bbuild/release -H.
       - name: build
         run: cmake --build build/release --target install -- -j2
       - name: Package
@@ -199,7 +199,7 @@ jobs:
         with:
           submodules: recursive
       - name: configure
-        run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_BACKEND=OFF -DBUILD_SHARED_LIBS=ON -DENABLE_MAVLINK_PASSTHROUGH=1 -DCMAKE_INSTALL_PREFIX=install -Bbuild/release -H.
+        run: cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_BACKEND=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=install -Bbuild/release -H.
       - name: build
         run: cmake --build build/release --target install -- -j2
       - name: Package

diff --git a/debian/rules b/debian/rules
@@ -8,7 +8,6 @@
 
 override_dh_auto_configure:
 	dh_auto_configure -O--buildsystem=cmake -O--builddirectory=build -- \
-		-DENABLE_MAVLINK_PASSTHROUGH=1 \
 		-DCMAKE_BUILD_TYPE=Release \
 		-DBUILD_SHARED_LIBS=ON \
 		-DBUILD_TESTS=OFF \

diff --git a/src/integration_tests/CMakeLists.txt b/src/integration_tests/CMakeLists.txt
@@ -10,14 +10,6 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DTESTING")
 # `make test` does not show output, but `make check` does
 add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --verbose)
 
-if (ENABLE_MAVLINK_PASSTHROUGH)
-    set(additional_sources
-        mavlink_passthrough.cpp
-        mission_transfer_lossy.cpp)
-    set(additional_libs "mavsdk_mavlink_passthrough")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DENABLE_MAVLINK_PASSTHROUGH")
-endif()
-
 # This includes all GTests that run integration tests
 add_executable(integration_tests_runner
     ../core/unittests_main.cpp
@@ -61,7 +53,8 @@ add_executable(integration_tests_runner
     telemetry_health.cpp
     telemetry_modes.cpp
     telemetry_sync.cpp
-    ${additional_sources}
+    mavlink_passthrough.cpp
+    mission_transfer_lossy.cpp
 )
 
 include_directories(
@@ -89,7 +82,7 @@ target_link_libraries(integration_tests_runner
     mavsdk_geofence
     mavsdk_param
     mavsdk_ftp
-    ${additional_libs}
+    mavsdk_mavlink_passthrough
     gtest
     gtest_main
     gmock

diff --git a/src/integration_tests/ftp.cpp b/src/integration_tests/ftp.cpp
@@ -12,12 +12,10 @@
 #include "system.h"
 #include "plugins/ftp/ftp.h"
 
-#ifdef ENABLE_MAVLINK_PASSTHROUGH
 #include <random>
 #include "plugins/mavlink_passthrough/mavlink_passthrough.h"
 static std::default_random_engine random_engine;
 static std::uniform_real_distribution<> distribution(0.0, 1.0);
-#endif
 
 using namespace mavsdk;
 
@@ -196,7 +194,6 @@ TEST(FtpTest, DownloadFile)
     // Reset server in case there are stale open sessions
     reset_server(ftp);
 
-#ifdef ENABLE_MAVLINK_PASSTHROUGH
     auto mavlink_passthrough = std::make_shared<MavlinkPassthrough>(system);
     mavlink_passthrough->intercept_incoming_messages_async([this](mavlink_message_t& message) {
         if (message.msgid != MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
@@ -210,7 +207,6 @@ TEST(FtpTest, DownloadFile)
         }
         return (distribution(random_engine) > 0.01);
     });
-#endif
 
     test_download(ftp, "/dataman", ".");
     remove("dataman");
@@ -230,7 +226,6 @@ TEST(FtpTest, UploadFiles)
     // Reset server in case there are stale open sessions
     reset_server(ftp);
 
-#ifdef ENABLE_MAVLINK_PASSTHROUGH
     auto mavlink_passthrough = std::make_shared<MavlinkPassthrough>(system);
     mavlink_passthrough->intercept_incoming_messages_async([this](mavlink_message_t& message) {
         if (message.msgid != MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
@@ -244,7 +239,6 @@ TEST(FtpTest, UploadFiles)
         }
         return (distribution(random_engine) > 0.1);
     });
-#endif
 
     test_create_directory(ftp, "/test");
 
@@ -297,7 +291,6 @@ TEST(FtpTest, TestServer)
     ASSERT_EQ(ret, ConnectionResult::Success);
     System& system_cc = mavsdk_cc.system();
 
-#ifdef ENABLE_MAVLINK_PASSTHROUGH
     auto mavlink_passthrough_cc = std::make_shared<MavlinkPassthrough>(system_cc);
     mavlink_passthrough_cc->intercept_incoming_messages_async([this](mavlink_message_t& message) {
         if (message.msgid != MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
@@ -311,7 +304,6 @@ TEST(FtpTest, TestServer)
         }
         return (distribution(random_engine) > 0.1);
     });
-#endif
 
     auto ftp_server = std::make_shared<Ftp>(system_cc);
     ftp_server->set_root_directory(".");

diff --git a/src/plugins/CMakeLists.txt b/src/plugins/CMakeLists.txt
@@ -12,6 +12,8 @@ add_subdirectory(gimbal)
 add_subdirectory(info)
 add_subdirectory(log_files)
 add_subdirectory(ftp)
+add_subdirectory(manual_control)
+add_subdirectory(mavlink_passthrough)
 add_subdirectory(mission)
 add_subdirectory(mission_raw)
 add_subdirectory(mocap)
@@ -21,11 +23,5 @@ add_subdirectory(shell)
 add_subdirectory(telemetry)
 add_subdirectory(tune)
 add_subdirectory(failure)
-add_subdirectory(manual_control)
-
-if (ENABLE_MAVLINK_PASSTHROUGH)
-    message(STATUS "Include MAVLink passthrough plugin")
-    add_subdirectory(mavlink_passthrough)
-endif()
 
 set(UNIT_TEST_SOURCES ${UNIT_TEST_SOURCES} PARENT_SCOPE)
diff --git a/src/plugins/mavlink_passthrough/include/plugins/mavlink_passthrough/mavlink_passthrough.h b/src/plugins/mavlink_passthrough/include/plugins/mavlink_passthrough/mavlink_passthrough.h
@@ -19,9 +19,6 @@ class MavlinkPassthroughImpl;
  * "With great power comes great responsibility." - This plugin allows
  * you to send and receive MAVLink messages. There is no checking or
  * safe-guards, you're on your own, and you have been warned.
- *
- * @note This plugin is not included in the build by default. To add it
- *       `make ENABLE_MAVLINK_PASSTHROUGH=1` is required.
  */
 class MavlinkPassthrough : public PluginBase {
 public:

diff --git a/tools/generate_docs.sh b/tools/generate_docs.sh
@@ -33,7 +33,7 @@ if [ "$skip_checks" = false ]; then
 fi
 
 # Build and install locally.
-cmake -DCMAKE_BUILD_TYPE=Release -DENABLE_MAVLINK_PASSTHROUGH=1 -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -B${BUILD_DIR} -H.;
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} -B${BUILD_DIR} -H.;
 make -C${BUILD_DIR} install -j4;
 
 return_result=0

diff --git a/tools/run-sitl-tests.sh b/tools/run-sitl-tests.sh
@@ -10,6 +10,6 @@ fi
 PX4_FIRMWARE_DIR=$1
 NPROCS=$(nproc --all)
 
-cmake -DCMAKE_BUILD_TYPE=Debug -DASAN=ON -DUBSAN=ON -DLSAN=ON -DBUILD_BACKEND=OFF -DBUILD_SHARED_LIBS=ON -DENABLE_MAVLINK_PASSTHROUGH=1 -j $NPROCS -Bbuild/debug -H.;
+cmake -DCMAKE_BUILD_TYPE=Debug -DASAN=ON -DUBSAN=ON -DLSAN=ON -DBUILD_BACKEND=OFF -DBUILD_SHARED_LIBS=ON -j $NPROCS -Bbuild/debug -H.;
 cmake --build build/debug -- -j $NPROCS;
 PX4_SIM_SPEED_FACTOR=10 AUTOSTART_SITL=1 PX4_FIRMWARE_DIR=$PX4_FIRMWARE_DIR HEADLESS=1 build/debug/src/integration_tests/integration_tests_runner --gtest_filter="SitlTest.*"