WIP server component

src/integration_tests/CMakeLists.txt

@@ -19,7 +19,7 @@ add_executable(integration_tests_runner
     camera_take_photo_interval.cpp
     camera_format.cpp
     camera_test_helpers.cpp
-    component_information.cpp
+    #component_information.cpp
     connection.cpp
     follow_me.cpp
     geofence_inclusion.cpp

src/mavsdk/core/CMakeLists.txt

@@ -29,6 +29,8 @@ target_sources(mavsdk
     ping.cpp
     plugin_impl_base.cpp
     serial_connection.cpp
+    server_component_impl.cpp
+    server_plugin_impl_base.cpp
     tcp_connection.cpp
     timeout_handler.cpp
     udp_connection.cpp

src/mavsdk/core/include/mavsdk/server_component.h

@@ -0,0 +1,20 @@
+#pragma once
+
+namespace mavsdk {
+
+class ServerComponentImpl;
+
+/**
+ * TODO: add comments
+ */
+class ServerComponent {
+public:
+private:
+    std::shared_ptr<ServerComponentImpl> server_component_impl() { return _server_component_impl; };
+
+    std::shared_ptr<ServerComponentImpl> _server_component_impl;
+
+    friend ServerPluginImplBase;
+};
+
+} // namespace mavsdk

src/mavsdk/core/include/mavsdk/server_plugin_base.h

@@ -0,0 +1,33 @@
+#pragma once
+#include "server_component_impl.h"
+#include <memory>
+
+namespace mavsdk {
+
+class ServerComponent;
+class ServerComponentImpl;
+
+class ServerPluginBase {
+public:
+    /**
+     * @brief Default Constructor.
+     */
+    ServerPluginBase() = default;
+
+    /**
+     * @brief Default Destructor.
+     */
+    virtual ~ServerPluginBase() = default;
+
+    /**
+     * @brief Copy constructor (object is not copyable).
+     */
+    ServerPluginBase(const ServerPluginBase&) = delete;
+
+    /**
+     * @brief Assign operator (object is not copyable).
+     */
+    const ServerPluginBase& operator=(const ServerPluginBase&) = delete;
+};
+
+} // namespace mavsdk

src/mavsdk/core/mavlink_command_receiver.cpp

@@ -1,19 +1,19 @@
 #include "mavlink_command_receiver.h"
-#include "system_impl.h"
+#include "mavsdk_impl.h"
 #include <cmath>
 #include <future>
 #include <memory>
 
 namespace mavsdk {
 
-MavlinkCommandReceiver::MavlinkCommandReceiver(SystemImpl& system_impl) : _parent(system_impl)
+MavlinkCommandReceiver::MavlinkCommandReceiver(MavsdkImpl& mavsdk_impl) : _mavsdk_impl(mavsdk_impl)
 {
-    _parent.register_mavlink_message_handler(
+    _mavsdk_impl.mavlink_message_handler.register_one(
         MAVLINK_MSG_ID_COMMAND_LONG,
         [this](const mavlink_message_t& message) { receive_command_long(message); },
         this);
 
-    _parent.register_mavlink_message_handler(
+    _mavsdk_impl.mavlink_message_handler.register_one(
         MAVLINK_MSG_ID_COMMAND_INT,
         [this](const mavlink_message_t& message) { receive_command_int(message); },
         this);
@@ -23,7 +23,7 @@ MavlinkCommandReceiver::~MavlinkCommandReceiver()
 {
     unregister_all_mavlink_command_handlers(this);
 
-    _parent.unregister_all_mavlink_message_handlers(this);
+    _mavsdk_impl.mavlink_message_handler.unregister_all(this);
 }
 
 void MavlinkCommandReceiver::receive_command_int(const mavlink_message_t& message)
@@ -37,7 +37,7 @@ void MavlinkCommandReceiver::receive_command_int(const mavlink_message_t& messag
             // The client side can pack a COMMAND_ACK as a response to receiving the command.
             auto maybe_message = handler.callback(cmd);
             if (maybe_message) {
-                _parent.send_message(maybe_message.value());
+                _mavsdk_impl.send_message(maybe_message.value());
             }
         }
     }
@@ -54,7 +54,7 @@ void MavlinkCommandReceiver::receive_command_long(const mavlink_message_t& messa
             // The client side can pack a COMMAND_ACK as a response to receiving the command.
             auto maybe_message = handler.callback(cmd);
             if (maybe_message) {
-                _parent.send_message(maybe_message.value());
+                _mavsdk_impl.send_message(maybe_message.value());
             }
         }
     }

src/mavsdk/core/mavlink_command_receiver.h

@@ -13,11 +13,11 @@
 
 namespace mavsdk {
 
-class SystemImpl;
+class MavsdkImpl;
 
 class MavlinkCommandReceiver {
 public:
-    explicit MavlinkCommandReceiver(SystemImpl& system_impl);
+    explicit MavlinkCommandReceiver(MavsdkImpl& mavsdk_impl);
     ~MavlinkCommandReceiver();
 
     struct CommandInt {
@@ -115,7 +115,7 @@ class MavlinkCommandReceiver {
     void unregister_all_mavlink_command_handlers(const void* cookie);
 
 private:
-    SystemImpl& _parent;
+    MavsdkImpl& _mavsdk_impl;
 
     void receive_command_int(const mavlink_message_t& message);
     void receive_command_long(const mavlink_message_t& message);

src/mavsdk/core/mavlink_ftp.cpp

@@ -216,7 +216,7 @@ void MavlinkFtp::process_mavlink_ftp_message(const mavlink_message_t& msg)
 
 MavlinkFtp::~MavlinkFtp()
 {
-    _system_impl.unregister_all_mavlink_request_message_handlers(this);
+    //_mavlink_request_message_handler.unregister_all_handlers(this);
 }
 
 void MavlinkFtp::_process_ack(PayloadHeader* payload)

src/mavsdk/core/mavlink_message_handler.cpp

@@ -12,7 +12,7 @@ void MavlinkMessageHandler::register_one(
     _table.push_back(entry);
 }
 
-void MAVLinkMessageHandler::register_one(
+void MavlinkMessageHandler::register_one(
     uint16_t msg_id,
     std::optional<uint8_t> component_id,
     const Callback& callback,
@@ -78,7 +78,7 @@ void MavlinkMessageHandler::process_message(const mavlink_message_t& message)
 #endif
 }
 
-void MAVLinkMessageHandler::update_component_id(
+void MavlinkMessageHandler::update_component_id(
     uint16_t msg_id, uint8_t component_id, const void* cookie)
 {
     std::lock_guard<std::mutex> lock(_mutex);

src/mavsdk/core/mavlink_mission_transfer.cpp

@@ -7,7 +7,7 @@ namespace mavsdk {
 
 MavlinkMissionTransfer::MavlinkMissionTransfer(
     Sender& sender,
-    MAVLinkMessageHandler& message_handler,
+    MavlinkMessageHandler& message_handler,
     TimeoutHandler& timeout_handler,
     TimeoutSCallback timeout_s_callback) :
     _sender(sender),

src/mavsdk/core/mavlink_request_message_handler.cpp

@@ -1,12 +1,20 @@
 #include "mavlink_request_message_handler.h"
-#include "system_impl.h"
+#include "mavsdk_impl.h"
+#include "server_component_impl.h"
+#include "mavlink_command_receiver.h"
+#include "log.h"
 
 namespace mavsdk {
 
-MavlinkRequestMessageHandler::MavlinkRequestMessageHandler(SystemImpl& system_impl) :
-    _system_impl(system_impl)
+MavlinkRequestMessageHandler::MavlinkRequestMessageHandler(
+    MavsdkImpl& mavsdk_impl,
+    ServerComponentImpl& server_component_impl,
+    MavlinkCommandReceiver& mavlink_command_receiver) :
+    _mavsdk_impl(mavsdk_impl),
+    _server_component_impl(server_component_impl),
+    _mavlink_command_receiver(mavlink_command_receiver)
 {
-    _system_impl.register_mavlink_command_handler(
+    _mavlink_command_receiver.register_mavlink_command_handler(
         MAV_CMD_REQUEST_MESSAGE,
         [this](const MavlinkCommandReceiver::CommandLong& command) {
             return handle_command_long(command);
@@ -16,7 +24,7 @@ MavlinkRequestMessageHandler::MavlinkRequestMessageHandler(SystemImpl& system_im
 
 MavlinkRequestMessageHandler::~MavlinkRequestMessageHandler()
 {
-    _system_impl.unregister_all_mavlink_message_handlers(this);
+    _mavsdk_impl.mavlink_message_handler.unregister_all(this);
 }
 
 bool MavlinkRequestMessageHandler::register_handler(
@@ -77,7 +85,7 @@ std::optional<mavlink_message_t> MavlinkRequestMessageHandler::handle_command_lo
                      command.params.param6});
 
                 if (result.has_value()) {
-                    return _system_impl.make_command_ack_message(command, result.value());
+                    return _server_component_impl.make_command_ack_message(command, result.value());
                 }
             }
             return {};
@@ -106,7 +114,7 @@ MavlinkRequestMessageHandler::handle_command_int(const MavlinkCommandReceiver::C
                      static_cast<float>(command.params.y)});
 
                 if (result.has_value()) {
-                    return _system_impl.make_command_ack_message(command, result.value());
+                    return _server_component_impl.make_command_ack_message(command, result.value());
                 }
             }
             return {};

src/mavsdk/core/mavlink_request_message_handler.h

@@ -10,12 +10,17 @@
 
 namespace mavsdk {
 
-class SystemImpl;
+class MavsdkImpl;
+class ServerComponentImpl;
+class MavlinkCommandReceiver;
 
 class MavlinkRequestMessageHandler {
 public:
     MavlinkRequestMessageHandler() = delete;
-    explicit MavlinkRequestMessageHandler(SystemImpl& system_impl);
+    explicit MavlinkRequestMessageHandler(
+        MavsdkImpl& mavsdk_impl,
+        ServerComponentImpl& server_component_impl,
+        MavlinkCommandReceiver& mavlink_command_receiver);
     ~MavlinkRequestMessageHandler();
 
     using Params = std::array<float, 5>;
@@ -40,7 +45,9 @@ class MavlinkRequestMessageHandler {
     std::mutex _table_mutex{};
     std::vector<Entry> _table{};
 
-    SystemImpl& _system_impl;
+    MavsdkImpl& _mavsdk_impl;
+    ServerComponentImpl& _server_component_impl;
+    MavlinkCommandReceiver& _mavlink_command_receiver;
 };
 
 } // namespace mavsdk

src/mavsdk/core/mavsdk_impl.cpp

@@ -238,13 +238,14 @@ void MavsdkImpl::receive_message(mavlink_message_t& message, Connection* connect
 
     if (_should_exit) {
         // Don't try to call at() if systems have already been destroyed
-        // in descructor.
+        // in destructor.
         return;
     }
 
     for (auto& system : _systems) {
         if (system.first == message.sysid) {
-            system.second->system_impl()->process_mavlink_message(message);
+            // system.second->system_impl()->process_mavlink_message(message);
+            mavlink_message_handler.process_message(message);
             break;
         }
     }

src/mavsdk/core/mavsdk_impl.h

@@ -11,6 +11,8 @@
 #include "mavsdk.h"
 #include "mavlink_include.h"
 #include "mavlink_address.h"
+#include "mavlink_message_handler.h"
+#include "mavlink_command_receiver.h"
 #include "safe_queue.h"
 #include "system.h"
 #include "timeout_handler.h"
@@ -94,6 +96,9 @@ class MavsdkImpl {
     void set_system_status(uint8_t system_status);
     uint8_t get_system_status();
 
+    MavlinkMessageHandler mavlink_message_handler{};
+    Time time{};
+
 private:
     void add_connection(const std::shared_ptr<Connection>&);
     void make_system_with_component(

src/mavsdk/core/plugin_impl_base.h

@@ -18,7 +18,7 @@ class PluginImplBase {
      * when a system is constructed. This does not mean that the system actually
      * exists and is connected, it might just be an empty dummy system.
      *
-     * Plugins should do initialization steps with other parts of the Dronecode SDK
+     * Plugins should do initialization steps with other parts of MAVSDK
      * at this state, e.g. set up callbacks with _parent (System).
      */
     virtual void init() = 0;