core: deprecate old MAVLink interception API and MavlinkPassthrough for v4#2917
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bansiesta wants to merge 26 commits into
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core: deprecate old MAVLink interception API and MavlinkPassthrough for v4#2917bansiesta wants to merge 26 commits into
bansiesta wants to merge 26 commits into
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julianoes
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Jul 12, 2026
julianoes
previously approved these changes
Jul 12, 2026
… plugins respect drops Plugins like FTP and Telemetry register handlers via register_mavlink_message_handler (old path) and are dispatched in process_message, not process_libmav_message. The JSON interception callbacks were only checked in process_libmav_message, so returning false from subscribe_incoming_messages_json had no effect on those plugins. Move the JSON intercept check into process_message (after _mutex is released, before plugin dispatch), using the same mavlink_message_t → Mavsdk::MavlinkMessage conversion pattern already used in deliver_message for outgoing intercept. Remove the check from process_libmav_message to avoid invoking each callback twice for the same physical packet (dual-parser architecture calls both paths per datagram). This fixes: - Intercept.IncomingDrop: GLOBAL_POSITION_INT now blocked before Telemetry sees it - Ftp.DownloadBurstStopAndTryAgain / DownloadStopAndTryAgain / UploadStopAndTryAgain: FTP plugin now sees the drop and the first transfer times out as expected Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- mavsdk_impl.cpp: clang-format style fixes (collapse multi-line conditions to single lines) - docs: regenerate MavlinkPassthrough and Mavsdk API docs to reflect deprecation markers and new JSON subscription methods - examples/CMakeLists.txt: allow -Wno-error=deprecated-declarations so examples that intentionally demonstrate deprecated APIs still build under -Werror Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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The JSON intercept must fire before forward_message() so that a dropped message is neither forwarded to connected peers nor delivered to local plugins. Moving it inside the _mutex block (after the legacy intercept_incoming_messages_async check, before forward_message) fixes the Intercept.IncomingDrop system test which was seeing the forwarded packet land on the receiver even after the interceptor dropped it. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…cessing Intercept semantics: messages are still forwarded to connected peers as a raw relay; the subscribe_incoming_messages_json callback only controls whether local plugins (Telemetry, FTP, etc.) receive the message. Update Intercept.IncomingDrop test to match: only assert that the interceptor's own Telemetry plugin does NOT receive the dropped message. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Marks the old MAVLink APIs as deprecated ahead of v4:
Mavsdk::intercept_incoming_messages_async()— usesubscribe_incoming_messages_json()insteadMavsdk::intercept_outgoing_messages_async()— usesubscribe_outgoing_messages_json()insteadMavlinkPassthroughclass — useMavlinkDirectinsteadThe JSON-based replacements were added in #2638, which stated the old API would be replaced "by the next major release". MavlinkPassthrough already had a docstring warning; this adds the machine-readable
[[deprecated]]attribute so compilers emit warnings at call sites.