Merge pull request #1590 from mavlink/pr-missing-plugins

mavsdk_server: add missing plugins

src/mavsdk_server/src/CMakeLists.txt

@@ -1,6 +1,32 @@
 cmake_minimum_required(VERSION 3.10.2)
 
-set(COMPONENTS_LIST action calibration camera core failure follow_me ftp geofence gimbal info log_files manual_control mission mission_raw mocap offboard param server_utility shell telemetry tracking_server tune transponder)
+set(COMPONENTS_LIST
+    action
+    action_server
+    calibration
+    camera
+    core
+    failure
+    follow_me
+    ftp
+    geofence
+    gimbal
+    info log_files
+    manual_control
+    mission
+    mission_raw
+    mission_raw_server
+    mocap offboard
+    param
+    param_server
+    server_utility
+    shell
+    telemetry
+    telemetry_server
+    tracking_server
+    tune
+    transponder
+)
 
 foreach(COMPONENT_NAME ${COMPONENTS_LIST})
     add_library(${COMPONENT_NAME}_proto_gens STATIC
@@ -45,6 +71,7 @@ endif()
 target_link_libraries(mavsdk_server
     PRIVATE
     mavsdk_action
+    mavsdk_action_server
     mavsdk_calibration
     mavsdk_camera
     mavsdk_failure
@@ -57,12 +84,15 @@ target_link_libraries(mavsdk_server
     mavsdk_manual_control
     mavsdk_mission
     mavsdk_mission_raw
+    mavsdk_mission_raw_server
     mavsdk_mocap
     mavsdk_offboard
     mavsdk_param
+    mavsdk_param_server
     mavsdk_server_utility
     mavsdk_shell
     mavsdk_telemetry
+    mavsdk_telemetry_server
     mavsdk_tracking_server
     mavsdk_tune
     mavsdk_transponder

src/mavsdk_server/src/grpc_server.cpp

@@ -20,6 +20,7 @@ int GrpcServer::run()
 
     builder.RegisterService(&_core);
     builder.RegisterService(&_action_service);
+    builder.RegisterService(&_action_server_service);
     builder.RegisterService(&_calibration_service);
     builder.RegisterService(&_camera_service);
     builder.RegisterService(&_failure_service);
@@ -32,15 +33,18 @@ int GrpcServer::run()
     builder.RegisterService(&_manual_control_service);
     builder.RegisterService(&_mission_service);
     builder.RegisterService(&_mission_raw_service);
+    builder.RegisterService(&_mission_raw_server_service);
     builder.RegisterService(&_mocap_service);
     builder.RegisterService(&_offboard_service);
     builder.RegisterService(&_param_service);
+    builder.RegisterService(&_param_server_service);
     builder.RegisterService(&_server_utility_service);
     builder.RegisterService(&_shell_service);
     builder.RegisterService(&_telemetry_service);
+    builder.RegisterService(&_telemetry_server_service);
     builder.RegisterService(&_tracking_server_service);
-    builder.RegisterService(&_tune_service);
     builder.RegisterService(&_transponder_service);
+    builder.RegisterService(&_tune_service);
 
     _server = builder.BuildAndStart();
 
@@ -68,6 +72,7 @@ void GrpcServer::stop()
     if (_server != nullptr) {
         _core.stop();
         _action_service.stop();
+        _action_server_service.stop();
         _calibration_service.stop();
         _camera_service.stop();
         _failure_service.stop();
@@ -80,12 +85,15 @@ void GrpcServer::stop()
         _manual_control_service.stop();
         _mission_service.stop();
         _mission_raw_service.stop();
+        _mission_raw_server_service.stop();
         _mocap_service.stop();
         _offboard_service.stop();
         _param_service.stop();
+        _param_server_service.stop();
         _server_utility_service.stop();
         _shell_service.stop();
         _telemetry_service.stop();
+        _telemetry_server_service.stop();
         _tracking_server_service.stop();
         _tune_service.stop();
         _transponder_service.stop();

src/mavsdk_server/src/grpc_server.h

@@ -8,6 +8,8 @@
 #include "core/core_service_impl.h"
 #include "plugins/action/action.h"
 #include "action/action_service_impl.h"
+#include "plugins/action_server/action_server.h"
+#include "action_server/action_server_service_impl.h"
 #include "plugins/calibration/calibration.h"
 #include "calibration/calibration_service_impl.h"
 #include "plugins/camera/camera.h"
@@ -32,18 +34,24 @@
 #include "mission/mission_service_impl.h"
 #include "plugins/mission_raw/mission_raw.h"
 #include "mission_raw/mission_raw_service_impl.h"
+#include "plugins/mission_raw_server/mission_raw_server.h"
+#include "mission_raw_server/mission_raw_server_service_impl.h"
 #include "plugins/mocap/mocap.h"
 #include "mocap/mocap_service_impl.h"
 #include "plugins/offboard/offboard.h"
 #include "offboard/offboard_service_impl.h"
 #include "plugins/param/param.h"
 #include "param/param_service_impl.h"
+#include "plugins/param_server/param_server.h"
+#include "param_server/param_server_service_impl.h"
 #include "plugins/server_utility/server_utility.h"
 #include "server_utility/server_utility_service_impl.h"
 #include "plugins/shell/shell.h"
 #include "shell/shell_service_impl.h"
 #include "plugins/telemetry/telemetry.h"
 #include "telemetry/telemetry_service_impl.h"
+#include "plugins/telemetry_server/telemetry_server.h"
+#include "telemetry_server/telemetry_server_service_impl.h"
 #include "plugins/tracking_server/tracking_server.h"
 #include "tracking_server/tracking_server_service_impl.h"
 #include "plugins/tune/tune.h"
@@ -60,6 +68,8 @@ class GrpcServer {
         _core(mavsdk),
         _action_lazy_plugin(mavsdk),
         _action_service(_action_lazy_plugin),
+        _action_server_lazy_plugin(mavsdk),
+        _action_server_service(_action_server_lazy_plugin),
         _calibration_lazy_plugin(mavsdk),
         _calibration_service(_calibration_lazy_plugin),
         _camera_lazy_plugin(mavsdk),
@@ -84,18 +94,24 @@ class GrpcServer {
         _mission_service(_mission_lazy_plugin),
         _mission_raw_lazy_plugin(mavsdk),
         _mission_raw_service(_mission_raw_lazy_plugin),
+        _mission_raw_server_lazy_plugin(mavsdk),
+        _mission_raw_server_service(_mission_raw_server_lazy_plugin),
         _mocap_lazy_plugin(mavsdk),
         _mocap_service(_mocap_lazy_plugin),
         _offboard_lazy_plugin(mavsdk),
         _offboard_service(_offboard_lazy_plugin),
         _param_lazy_plugin(mavsdk),
         _param_service(_param_lazy_plugin),
+        _param_server_lazy_plugin(mavsdk),
+        _param_server_service(_param_server_lazy_plugin),
         _server_utility_lazy_plugin(mavsdk),
         _server_utility_service(_server_utility_lazy_plugin),
         _shell_lazy_plugin(mavsdk),
         _shell_service(_shell_lazy_plugin),
         _telemetry_lazy_plugin(mavsdk),
         _telemetry_service(_telemetry_lazy_plugin),
+        _telemetry_server_lazy_plugin(mavsdk),
+        _telemetry_server_service(_telemetry_server_lazy_plugin),
         _tracking_server_lazy_plugin(mavsdk),
         _tracking_server_service(_tracking_server_lazy_plugin),
         _tune_lazy_plugin(mavsdk),
@@ -115,6 +131,8 @@ class GrpcServer {
     CoreServiceImpl<> _core;
     LazyPlugin<Action> _action_lazy_plugin;
     ActionServiceImpl<> _action_service;
+    LazyPlugin<ActionServer> _action_server_lazy_plugin;
+    ActionServerServiceImpl<> _action_server_service;
     LazyPlugin<Calibration> _calibration_lazy_plugin;
     CalibrationServiceImpl<> _calibration_service;
     LazyPlugin<Camera> _camera_lazy_plugin;
@@ -139,18 +157,24 @@ class GrpcServer {
     MissionServiceImpl<> _mission_service;
     LazyPlugin<MissionRaw> _mission_raw_lazy_plugin;
     MissionRawServiceImpl<> _mission_raw_service;
+    LazyPlugin<MissionRawServer> _mission_raw_server_lazy_plugin;
+    MissionRawServerServiceImpl<> _mission_raw_server_service;
     LazyPlugin<Mocap> _mocap_lazy_plugin;
     MocapServiceImpl<> _mocap_service;
     LazyPlugin<Offboard> _offboard_lazy_plugin;
     OffboardServiceImpl<> _offboard_service;
     LazyPlugin<Param> _param_lazy_plugin;
     ParamServiceImpl<> _param_service;
+    LazyPlugin<ParamServer> _param_server_lazy_plugin;
+    ParamServerServiceImpl<> _param_server_service;
     LazyPlugin<ServerUtility> _server_utility_lazy_plugin;
     ServerUtilityServiceImpl<> _server_utility_service;
     LazyPlugin<Shell> _shell_lazy_plugin;
     ShellServiceImpl<> _shell_service;
     LazyPlugin<Telemetry> _telemetry_lazy_plugin;
     TelemetryServiceImpl<> _telemetry_service;
+    LazyPlugin<TelemetryServer> _telemetry_server_lazy_plugin;
+    TelemetryServerServiceImpl<> _telemetry_server_service;
     LazyPlugin<TrackingServer> _tracking_server_lazy_plugin;
     TrackingServerServiceImpl<> _tracking_server_service;
     LazyPlugin<Tune> _tune_lazy_plugin;

src/mavsdk_server/src/plugins/param_server/param_server_service_impl.h

@@ -139,6 +139,8 @@ class ParamServerServiceImpl final : public rpc::param_server::ParamServerServic
                 return rpc::param_server::ParamServerResult_Result_RESULT_WRONG_TYPE;
             case mavsdk::ParamServer::Result::ParamNameTooLong:
                 return rpc::param_server::ParamServerResult_Result_RESULT_PARAM_NAME_TOO_LONG;
+            case mavsdk::ParamServer::Result::NoSystem:
+                return rpc::param_server::ParamServerResult_Result_RESULT_NO_SYSTEM;
         }
     }
 
@@ -159,6 +161,8 @@ class ParamServerServiceImpl final : public rpc::param_server::ParamServerServic
                 return mavsdk::ParamServer::Result::WrongType;
             case rpc::param_server::ParamServerResult_Result_RESULT_PARAM_NAME_TOO_LONG:
                 return mavsdk::ParamServer::Result::ParamNameTooLong;
+            case rpc::param_server::ParamServerResult_Result_RESULT_NO_SYSTEM:
+                return mavsdk::ParamServer::Result::NoSystem;
         }
     }
 

src/plugins/param_server/include/plugins/param_server/param_server.h

@@ -133,6 +133,7 @@ class ParamServer : public PluginBase {
         NotFound, /**< @brief Not Found. */
         WrongType, /**< @brief Wrong type. */
         ParamNameTooLong, /**< @brief Parameter name too long (> 16). */
+        NoSystem, /**< @brief No system available. */
     };
 
     /**

src/plugins/param_server/param_server.cpp

@@ -117,6 +117,8 @@ std::ostream& operator<<(std::ostream& str, ParamServer::Result const& result)
             return str << "Wrong Type";
         case ParamServer::Result::ParamNameTooLong:
             return str << "Param Name Too Long";
+        case ParamServer::Result::NoSystem:
+            return str << "No System";
         default:
             return str << "Unknown";
     }