templates: support for server plugins

src/mavsdk/plugins/CMakeLists.txt

@@ -16,11 +16,11 @@ add_subdirectory(manual_control)
 add_subdirectory(mavlink_passthrough)
 add_subdirectory(mission)
 add_subdirectory(mission_raw)
-add_subdirectory(mission_raw_server)
+#add_subdirectory(mission_raw_server)
 add_subdirectory(mocap)
 add_subdirectory(offboard)
 add_subdirectory(param)
-add_subdirectory(param_server)
+#add_subdirectory(param_server)
 add_subdirectory(server_utility)
 add_subdirectory(shell)
 add_subdirectory(telemetry)

src/mavsdk/plugins/action_server/action_server.cpp

@@ -13,14 +13,9 @@ namespace mavsdk {
 using AllowableFlightModes = ActionServer::AllowableFlightModes;
 using ArmDisarm = ActionServer::ArmDisarm;
 
-ActionServer::ActionServer(System& system) :
-    PluginBase(),
-    _impl{std::make_unique<ActionServerImpl>(system)}
-{}
-
-ActionServer::ActionServer(std::shared_ptr<System> system) :
-    PluginBase(),
-    _impl{std::make_unique<ActionServerImpl>(system)}
+ActionServer::ActionServer(Mavsdk& mavsdk) :
+    ServerPluginBase(),
+    _impl{std::make_unique<ActionServerImpl>(mavsdk)}
 {}
 
 ActionServer::~ActionServer() {}

src/mavsdk/plugins/action_server/include/plugins/action_server/action_server.h

@@ -13,43 +13,30 @@
 #include <utility>
 #include <vector>
 
-#include "mavsdk/plugin_base.h"
+#include "mavsdk/server_plugin_base.h"
 
 namespace mavsdk {
 
-class System;
+class Mavsdk;
 class ActionServerImpl;
 
 /**
  * @brief Provide vehicle actions (as a server) such as arming, taking off, and landing.
  */
-class ActionServer : public PluginBase {
+class ActionServer : public ServerPluginBase {
 public:
     /**
-     * @brief Constructor. Creates the plugin for a specific System.
+     * @brief Constructor. Creates the plugin for a Mavsdk instance.
      *
      * The plugin is typically created as shown below:
      *
      *     ```cpp
-     *     auto action_server = ActionServer(system);
+     *     auto action_server = ActionServer(mavsdk);
      *     ```
      *
-     * @param system The specific system associated with this plugin.
+     * @param system The Mavsdk instance associated with this server plugin.
      */
-    explicit ActionServer(System& system); // deprecated
-
-    /**
-     * @brief Constructor. Creates the plugin for a specific System.
-     *
-     * The plugin is typically created as shown below:
-     *
-     *     ```cpp
-     *     auto action_server = ActionServer(system);
-     *     ```
-     *
-     * @param system The specific system associated with this plugin.
-     */
-    explicit ActionServer(std::shared_ptr<System> system); // new
+    explicit ActionServer(Mavsdk& mavsdk);
 
     /**
      * @brief Destructor (internal use only).

src/mavsdk/plugins/camera_server/camera_server.cpp

@@ -187,4 +187,4 @@ std::ostream& operator<<(std::ostream& str, CameraServer::TakePhotoResult const&
     }
 }
 
-} // namespace mavsdk
+} // namespace mavsdk

src/mavsdk/plugins/camera_server/include/plugins/camera_server/camera_server.h

@@ -26,15 +26,15 @@ class CameraServerImpl;
 class CameraServer : public ServerPluginBase {
 public:
     /**
-     * @brief Constructor. Creates a server plugin.
+     * @brief Constructor. Creates the plugin for a Mavsdk instance.
      *
      * The plugin is typically created as shown below:
      *
      *     ```cpp
      *     auto camera_server = CameraServer(mavsdk);
      *     ```
      *
-     * @param mavsdk The MAVSDK instance associated with this server plugin.
+     * @param system The Mavsdk instance associated with this server plugin.
      */
     explicit CameraServer(Mavsdk& mavsdk);
 
@@ -43,6 +43,9 @@ class CameraServer : public ServerPluginBase {
      */
     ~CameraServer();
 
+    /**
+     * @brief
+     */
     enum class TakePhotoResult {
         Unknown, /**< @brief. */
         Ok, /**< @brief. */
@@ -248,9 +251,9 @@ class CameraServer : public ServerPluginBase {
     Result respond_take_photo(TakePhotoResult take_photo_result, CaptureInfo capture_info) const;
 
     /**
-     * @brief Copy constructor (object is not copyable).
+     * @brief Copy constructor.
      */
-    CameraServer(const CameraServer& other) = delete;
+    CameraServer(const CameraServer& other);
 
     /**
      * @brief Equality operator (object is not copyable).
@@ -262,4 +265,4 @@ class CameraServer : public ServerPluginBase {
     std::unique_ptr<CameraServerImpl> _impl;
 };
 
-} // namespace mavsdk
+} // namespace mavsdk

src/mavsdk/plugins/component_information_server/component_information_server.cpp

@@ -13,14 +13,9 @@ namespace mavsdk {
 using FloatParam = ComponentInformationServer::FloatParam;
 using FloatParamUpdate = ComponentInformationServer::FloatParamUpdate;
 
-ComponentInformationServer::ComponentInformationServer(System& system) :
-    PluginBase(),
-    _impl{std::make_unique<ComponentInformationServerImpl>(system)}
-{}
-
-ComponentInformationServer::ComponentInformationServer(std::shared_ptr<System> system) :
-    PluginBase(),
-    _impl{std::make_unique<ComponentInformationServerImpl>(system)}
+ComponentInformationServer::ComponentInformationServer(Mavsdk& mavsdk) :
+    ServerPluginBase(),
+    _impl{std::make_unique<ComponentInformationServerImpl>(mavsdk)}
 {}
 
 ComponentInformationServer::~ComponentInformationServer() {}

src/mavsdk/plugins/component_information_server/include/plugins/component_information_server/component_information_server.h

@@ -14,43 +14,30 @@
 #include <utility>
 #include <vector>
 
-#include "mavsdk/plugin_base.h"
+#include "mavsdk/server_plugin_base.h"
 
 namespace mavsdk {
 
-class System;
+class Mavsdk;
 class ComponentInformationServerImpl;
 
 /**
  * @brief Provide component information such as parameters.
  */
-class ComponentInformationServer : public PluginBase {
+class ComponentInformationServer : public ServerPluginBase {
 public:
     /**
-     * @brief Constructor. Creates the plugin for a specific System.
+     * @brief Constructor. Creates the plugin for a Mavsdk instance.
      *
      * The plugin is typically created as shown below:
      *
      *     ```cpp
-     *     auto component_information_server = ComponentInformationServer(system);
+     *     auto component_information_server = ComponentInformationServer(mavsdk);
      *     ```
      *
-     * @param system The specific system associated with this plugin.
+     * @param system The Mavsdk instance associated with this server plugin.
      */
-    explicit ComponentInformationServer(System& system); // deprecated
-
-    /**
-     * @brief Constructor. Creates the plugin for a specific System.
-     *
-     * The plugin is typically created as shown below:
-     *
-     *     ```cpp
-     *     auto component_information_server = ComponentInformationServer(system);
-     *     ```
-     *
-     * @param system The specific system associated with this plugin.
-     */
-    explicit ComponentInformationServer(std::shared_ptr<System> system); // new
+    explicit ComponentInformationServer(Mavsdk& mavsdk);
 
     /**
      * @brief Destructor (internal use only).

src/mavsdk/plugins/mission_raw_server/include/plugins/mission_raw_server/mission_raw_server.h

@@ -14,44 +14,31 @@
 #include <utility>
 #include <vector>
 
-#include "mavsdk/plugin_base.h"
+#include "mavsdk/server_plugin_base.h"
 
 namespace mavsdk {
 
-class System;
+class Mavsdk;
 class MissionRawServerImpl;
 
 /**
  * @brief Acts as a vehicle and receives incoming missions from GCS (in raw MAVLINK format).
  * Provides current mission item state, so the server can progress through missions.
  */
-class MissionRawServer : public PluginBase {
+class MissionRawServer : public ServerPluginBase {
 public:
     /**
-     * @brief Constructor. Creates the plugin for a specific System.
+     * @brief Constructor. Creates the plugin for a Mavsdk instance.
      *
      * The plugin is typically created as shown below:
      *
      *     ```cpp
-     *     auto mission_raw_server = MissionRawServer(system);
+     *     auto mission_raw_server = MissionRawServer(mavsdk);
      *     ```
      *
-     * @param system The specific system associated with this plugin.
+     * @param system The Mavsdk instance associated with this server plugin.
      */
-    explicit MissionRawServer(System& system); // deprecated
-
-    /**
-     * @brief Constructor. Creates the plugin for a specific System.
-     *
-     * The plugin is typically created as shown below:
-     *
-     *     ```cpp
-     *     auto mission_raw_server = MissionRawServer(system);
-     *     ```
-     *
-     * @param system The specific system associated with this plugin.
-     */
-    explicit MissionRawServer(std::shared_ptr<System> system); // new
+    explicit MissionRawServer(Mavsdk& mavsdk);
 
     /**
      * @brief Destructor (internal use only).

src/mavsdk/plugins/mission_raw_server/mission_raw_server.cpp

@@ -14,14 +14,9 @@ using MissionItem = MissionRawServer::MissionItem;
 using MissionPlan = MissionRawServer::MissionPlan;
 using MissionProgress = MissionRawServer::MissionProgress;
 
-MissionRawServer::MissionRawServer(System& system) :
-    PluginBase(),
-    _impl{std::make_unique<MissionRawServerImpl>(system)}
-{}
-
-MissionRawServer::MissionRawServer(std::shared_ptr<System> system) :
-    PluginBase(),
-    _impl{std::make_unique<MissionRawServerImpl>(system)}
+MissionRawServer::MissionRawServer(Mavsdk& mavsdk) :
+    ServerPluginBase(),
+    _impl{std::make_unique<MissionRawServerImpl>(mavsdk)}
 {}
 
 MissionRawServer::~MissionRawServer() {}

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

@@ -13,43 +13,30 @@
 #include <utility>
 #include <vector>
 
-#include "mavsdk/plugin_base.h"
+#include "mavsdk/server_plugin_base.h"
 
 namespace mavsdk {
 
-class System;
+class Mavsdk;
 class ParamServerImpl;
 
 /**
  * @brief Provide raw access to retrieve and provide server parameters.
  */
-class ParamServer : public PluginBase {
+class ParamServer : public ServerPluginBase {
 public:
     /**
-     * @brief Constructor. Creates the plugin for a specific System.
+     * @brief Constructor. Creates the plugin for a Mavsdk instance.
      *
      * The plugin is typically created as shown below:
      *
      *     ```cpp
-     *     auto param_server = ParamServer(system);
+     *     auto param_server = ParamServer(mavsdk);
      *     ```
      *
-     * @param system The specific system associated with this plugin.
+     * @param system The Mavsdk instance associated with this server plugin.
      */
-    explicit ParamServer(System& system); // deprecated
-
-    /**
-     * @brief Constructor. Creates the plugin for a specific System.
-     *
-     * The plugin is typically created as shown below:
-     *
-     *     ```cpp
-     *     auto param_server = ParamServer(system);
-     *     ```
-     *
-     * @param system The specific system associated with this plugin.
-     */
-    explicit ParamServer(std::shared_ptr<System> system); // new
+    explicit ParamServer(Mavsdk& mavsdk);
 
     /**
      * @brief Destructor (internal use only).

src/mavsdk/plugins/param_server/param_server.cpp

@@ -13,14 +13,9 @@ using IntParam = ParamServer::IntParam;
 using FloatParam = ParamServer::FloatParam;
 using AllParams = ParamServer::AllParams;
 
-ParamServer::ParamServer(System& system) :
-    PluginBase(),
-    _impl{std::make_unique<ParamServerImpl>(system)}
-{}
-
-ParamServer::ParamServer(std::shared_ptr<System> system) :
-    PluginBase(),
-    _impl{std::make_unique<ParamServerImpl>(system)}
+ParamServer::ParamServer(Mavsdk& mavsdk) :
+    ServerPluginBase(),
+    _impl{std::make_unique<ParamServerImpl>(mavsdk)}
 {}
 
 ParamServer::~ParamServer() {}

src/mavsdk/plugins/telemetry_server/include/plugins/telemetry_server/telemetry_server.h

@@ -14,44 +14,31 @@
 #include <utility>
 #include <vector>
 
-#include "mavsdk/plugin_base.h"
+#include "mavsdk/server_plugin_base.h"
 
 namespace mavsdk {
 
-class System;
+class Mavsdk;
 class TelemetryServerImpl;
 
 /**
  * @brief Allow users to provide vehicle telemetry and state information
  * (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.
  */
-class TelemetryServer : public PluginBase {
+class TelemetryServer : public ServerPluginBase {
 public:
     /**
-     * @brief Constructor. Creates the plugin for a specific System.
+     * @brief Constructor. Creates the plugin for a Mavsdk instance.
      *
      * The plugin is typically created as shown below:
      *
      *     ```cpp
-     *     auto telemetry_server = TelemetryServer(system);
+     *     auto telemetry_server = TelemetryServer(mavsdk);
      *     ```
      *
-     * @param system The specific system associated with this plugin.
+     * @param system The Mavsdk instance associated with this server plugin.
      */
-    explicit TelemetryServer(System& system); // deprecated
-
-    /**
-     * @brief Constructor. Creates the plugin for a specific System.
-     *
-     * The plugin is typically created as shown below:
-     *
-     *     ```cpp
-     *     auto telemetry_server = TelemetryServer(system);
-     *     ```
-     *
-     * @param system The specific system associated with this plugin.
-     */
-    explicit TelemetryServer(std::shared_ptr<System> system); // new
+    explicit TelemetryServer(Mavsdk& mavsdk);
 
     /**
      * @brief Destructor (internal use only).