WIP server component

src/mavsdk/core/CMakeLists.txt

@@ -25,6 +25,8 @@ 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_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/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 +11,7 @@
 #include "mavsdk.h"
 #include "mavlink_include.h"
 #include "mavlink_address.h"
+#include "mavlink_message_handler.h"
 #include "safe_queue.h"
 #include "system.h"
 #include "timeout_handler.h"
@@ -92,6 +93,9 @@ class MavsdkImpl {
     void set_custom_mode(uint32_t custom_mode);
     uint32_t get_custom_mode() const;
 
+    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;

src/mavsdk/core/server_component_impl.cpp

@@ -0,0 +1,107 @@
+#include "server_component_impl.h"
+#include "mavsdk_impl.h"
+
+namespace mavsdk {
+
+ServerComponentImpl::ServerComponentImpl(MavsdkImpl& mavsdk_impl) :
+    _mavsdk_impl(mavsdk_impl),
+    _mavlink_command_receiver(mavsdk_impl)
+{
+
+}
+
+ServerComponentImpl::~ServerComponentImpl()
+{
+}
+
+void ServerComponentImpl::register_mavlink_command_handler(
+    uint16_t cmd_id,
+    const MavlinkCommandReceiver::MavlinkCommandIntHandler& callback,
+    const void* cookie)
+{
+    _mavlink_command_receiver.register_mavlink_command_handler(cmd_id, callback, cookie);
+}
+
+void ServerComponentImpl::register_mavlink_command_handler(
+    uint16_t cmd_id,
+    const MavlinkCommandReceiver::MavlinkCommandLongHandler& callback,
+    const void* cookie)
+{
+    _mavlink_command_receiver.register_mavlink_command_handler(cmd_id, callback, cookie);
+}
+
+void ServerComponentImpl::unregister_mavlink_command_handler(uint16_t cmd_id, const void* cookie)
+{
+    _mavlink_command_receiver.unregister_mavlink_command_handler(cmd_id, cookie);
+}
+
+void ServerComponentImpl::unregister_all_mavlink_command_handlers(const void* cookie)
+{
+    _mavlink_command_receiver.unregister_all_mavlink_command_handlers(cookie);
+}
+
+uint8_t ServerComponentImpl::get_own_system_id() const
+{
+    return _mavsdk_impl.get_own_system_id();
+}
+
+void ServerComponentImpl::set_own_component_id(uint8_t own_component_id)
+{
+    _own_component_id = own_component_id;
+}
+uint8_t ServerComponentImpl::get_own_component_id() const
+{
+    return _own_component_id;
+}
+
+Time& ServerComponentImpl::get_time()
+{
+    return _mavsdk_impl.time;
+}
+
+bool ServerComponentImpl::send_message(mavlink_message_t& message)
+{
+    return _mavsdk_impl.send_message(message);
+}
+
+void ServerComponentImpl::add_call_every(std::function<void()> callback, float interval_s, void** cookie)
+{
+    _mavsdk_impl.call_every_handler.add(std::move(callback), static_cast<double>(interval_s), cookie);
+}
+
+void ServerComponentImpl::change_call_every(float interval_s, const void* cookie)
+{
+    _mavsdk_impl.call_every_handler.change(static_cast<double>(interval_s), cookie);
+}
+
+void ServerComponentImpl::reset_call_every(const void* cookie)
+{
+    _mavsdk_impl.call_every_handler.reset(cookie);
+}
+
+void ServerComponentImpl::remove_call_every(const void* cookie)
+{
+    _mavsdk_impl.call_every_handler.remove(cookie);
+}
+
+mavlink_message_t ServerComponentImpl::make_command_ack_message(
+    const MavlinkCommandReceiver::CommandLong& command, MAV_RESULT result)
+{
+    const uint8_t progress = std::numeric_limits<uint8_t>::max();
+    const uint8_t result_param2 = 0;
+
+    mavlink_message_t msg{};
+    mavlink_msg_command_ack_pack(
+        get_own_system_id(),
+        get_own_component_id(),
+        &msg,
+        command.command,
+        result,
+        progress,
+        result_param2,
+        command.origin_system_id,
+        command.origin_component_id);
+    return msg;
+}
+
+} // namespace mavsdk

src/mavsdk/core/server_component_impl.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include <cstdint>
+#include "mavlink_include.h"
+#include "mavlink_command_receiver.h"
+#include "mavsdk_time.h"
+
+namespace mavsdk {
+
+class MavsdkImpl;
+
+class ServerComponentImpl {
+public:
+    explicit ServerComponentImpl(MavsdkImpl& parent);
+    ~ServerComponentImpl();
+
+    void register_mavlink_command_handler(
+        uint16_t cmd_id,
+        const MavlinkCommandReceiver::MavlinkCommandIntHandler& callback,
+        const void* cookie);
+    void register_mavlink_command_handler(
+        uint16_t cmd_id,
+        const MavlinkCommandReceiver::MavlinkCommandLongHandler& callback,
+        const void* cookie);
+    void unregister_mavlink_command_handler(uint16_t cmd_id, const void* cookie);
+    void unregister_all_mavlink_command_handlers(const void* cookie);
+
+    uint8_t get_own_system_id() const;
+
+    void set_own_component_id(uint8_t own_component_id);
+    uint8_t get_own_component_id() const;
+
+    Time& get_time();
+
+    bool send_message(mavlink_message_t& message);
+
+    void add_call_every(std::function<void()> callback, float interval_s, void** cookie);
+    void change_call_every(float interval_s, const void* cookie);
+    void reset_call_every(const void* cookie);
+    void remove_call_every(const void* cookie);
+
+    mavlink_message_t
+    make_command_ack_message(const MavlinkCommandReceiver::CommandLong& command, MAV_RESULT result);
+
+private:
+    MavsdkImpl& _mavsdk_impl;
+    MavlinkCommandReceiver _mavlink_command_receiver;
+    uint8_t _own_component_id{MAV_COMP_ID_AUTOPILOT1};
+};
+
+} // namespace mavsdk

src/mavsdk/core/server_plugin_impl_base.cpp

@@ -0,0 +1,10 @@
+#include "server_plugin_impl_base.h"
+#include "server_component.h"
+
+namespace mavsdk {
+
+ServerPluginImplBase::ServerPluginImplBase(std::shared_ptr<ServerComponent> server_component) :
+    _server_component_impl(server_component->server_component_impl())
+{}
+
+} // namespace mavsdk