Server component and server plugin infrastructure

.github/workflows/main.yml

@@ -37,8 +37,10 @@ jobs:
         run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Coverage -DASAN=ON -DWERROR=OFF -Bbuild -H.
       - name: build
         run: cmake --build build -j2
-      - name: test
+      - name: unit tests
         run: ./build/src/unit_tests_runner
+      - name: system tests
+        run: ./build/src/system_tests/system_tests_runner
       - name: run lcov
         run: lcov --capture --directory . --no-external --exclude "*/third_party/*"  --output-file lcov.info
       - name: check size of lcov.info
@@ -65,8 +67,10 @@ jobs:
         run: cmake -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD=OFF -DWERROR=OFF -Bbuild/release -H.
       - name: build
         run: cmake --build build/release -j2
-      - name: test
+      - name: unit tests
         run: ./build/release/src/unit_tests_runner
+      - name: system tests
+        run: ./build/release/src/system_tests/system_tests_runner
 
   ubuntu20-superbuild:
     name: ubuntu-20.04 (mavsdk_server, superbuild)
@@ -97,8 +101,10 @@ jobs:
         run: (cd examples && cmake -DCMAKE_BUILD_TYPE=Release -DWERROR=OFF -Bbuild -H.)
       - name: build examples
         run: (cd examples && cmake --build build -j2)
-      - name: test
+      - name: unit tests
         run: ./build/release/src/unit_tests_runner
+      - name: system tests
+        run: ./build/release/src/system_tests/system_tests_runner
       - name: test (mavsdk_server)
         run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
       - name: test FTP server
@@ -124,8 +130,10 @@ jobs:
         run: cmake -DSUPERBUILD=OFF -DHUNTER_ENABLED=ON -DCMAKE_TOOLCHAIN_FILE=$(pwd)/src/cmake/fpic_toolchain.cmake  -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=OFF -DBUILD_SHARED_LIBS=OFF -DMAVLINK_HEADERS=mavlink-headers/include -Bbuild -H.
       - name: build
         run: cmake --build build -j2
-      - name: run unit test
-        run: build/src/unit_tests_runner
+      - name: unit tests
+        run: ./build/src/unit_tests_runner
+      - name: system tests
+        run: ./build/src/system_tests/system_tests_runner
 
   ubuntu20-proto-check:
     name: ubuntu-20.04 (proto check)
@@ -367,8 +375,10 @@ jobs:
         run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_MAVSDK_SERVER=ON -DCMAKE_INSTALL_PREFIX=install -DWERROR=OFF -Bbuild/release -H.
       - name: build
         run: cmake --build build/release --target install -- -j2
-      - name: test
+      - name: unit tests
         run: ./build/release/src/unit_tests_runner
+      - name: system tests
+        run: ./build/release/src/system_tests/system_tests_runner
       - name: test (mavsdk_server)
         run: ./build/release/src/mavsdk_server/test/unit_tests_mavsdk_server
       - name: Upload as artefact
@@ -493,7 +503,7 @@ jobs:
           path: ./build/macos/third_party/install
           key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./third_party/**') }}
       - name: fetch git tags for version
-        run: git fetch --tags
+        run: git fetch --prune --unshallow --tags
       - name: disable superbuild on cache hit
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/macos/third_party/install" >> $GITHUB_ENV
@@ -505,8 +515,10 @@ jobs:
         run: cmake $superbuild $cmake_prefix_path -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=build/macos/install -DBUILD_MAVSDK_SERVER=ON -DBUILD_SHARED_LIBS=OFF -DMACOS_FRAMEWORK=${{ matrix.build-framework }} -DWERROR=OFF -Bbuild/macos -H.
       - name: build
         run: cmake --build build/macos -j2 --target install
-      - name: test (core)
+      - name: unit tests
         run: ./build/macos/src/unit_tests_runner
+      - name: system tests
+        run: ./build/macos/src/system_tests/system_tests_runner
       - name: test (mavsdk_server)
         run: ./build/macos/src/mavsdk_server/test/unit_tests_mavsdk_server
       - name: Upload framework as artefact
@@ -548,7 +560,7 @@ jobs:
           path: ./build/${{ matrix.name }}/third_party/install
           key: ${{ github.job }}-${{ matrix.name }}-${{ hashFiles('./third_party/**', './tools/ios.toolchain.cmake') }}
       - name: fetch git tags for version
-        run: git fetch --tags
+        run: git fetch --prune --unshallow --tags
       - name: disable superbuild on cache hit
         if: steps.cache.outputs.cache-hit == 'true'
         run: echo "superbuild=-DSUPERBUILD=OFF" >> $GITHUB_ENV && echo "cmake_prefix_path=-DCMAKE_PREFIX_PATH=$(pwd)/build/${{ matrix.name }}/third_party/install" >> $GITHUB_ENV

examples/CMakeLists.txt

@@ -11,6 +11,7 @@ add_subdirectory(autopilot_server)
 add_subdirectory(battery)
 add_subdirectory(calibrate)
 add_subdirectory(camera)
+add_subdirectory(camera_server)
 add_subdirectory(camera_settings)
 add_subdirectory(fly_mission)
 add_subdirectory(fly_multiple_drones)

examples/autopilot_server/autopilot_server.cpp

@@ -1,7 +1,7 @@
 #include <future>
-
 #include <iostream>
 #include <thread>
+
 #include <mavsdk/mavsdk.h>
 #include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
 #include <mavsdk/plugins/telemetry/telemetry.h>
@@ -68,36 +68,13 @@ int main(int argc, char** argv)
             std::cout << "Connected autopilot server side!" << std::endl;
         }
 
-        auto prom = std::promise<std::shared_ptr<mavsdk::System>>{};
-        auto fut = prom.get_future();
-        mavsdkTester.subscribe_on_new_system([&mavsdkTester, &prom]() {
-            std::cout << "Discovered MAVSDK GCS" << std::endl;
-            auto system = mavsdkTester.systems().back();
-            mavsdkTester.subscribe_on_new_system(nullptr);
-            prom.set_value(system);
-        });
-
-        std::cout << "Sleeping AP thread... " << std::endl;
-        for (auto i = 0; i < 3; i++) {
-            std::this_thread::sleep_for(std::chrono::seconds(5));
-            if (mavsdkTester.systems().size() == 0) {
-                std::cout << "No System Found from Autopilot, trying again in 5 secs..."
-                          << std::endl;
-                if (i == 2) {
-                    std::cout << "No System found after three retries. Aborting..." << std::endl;
-                    return;
-                }
-            } else {
-                std::cout << "Setting System" << std::endl;
-                break;
-            }
-        }
-        auto system = mavsdkTester.systems().back();
+        auto server_component =
+            mavsdkTester.server_component_by_type(Mavsdk::ServerComponentType::Autopilot);
 
         // Create server plugins
-        auto paramServer = mavsdk::ParamServer{system};
-        auto telemServer = mavsdk::TelemetryServer{system};
-        auto actionServer = mavsdk::ActionServer{system};
+        auto paramServer = mavsdk::ParamServer{server_component};
+        auto telemServer = mavsdk::TelemetryServer{server_component};
+        auto actionServer = mavsdk::ActionServer{server_component};
 
         // These are needed for MAVSDK at the moment
         paramServer.provide_param_int("CAL_ACC0_ID", 1);
@@ -115,7 +92,7 @@ int main(int argc, char** argv)
 
         // Create a mission raw server
         // This will allow us to receive missions from a GCS
-        auto missionRawServer = mavsdk::MissionRawServer{system};
+        auto missionRawServer = mavsdk::MissionRawServer{server_component};
         std::cout << "MissionRawServer created" << std::endl;
 
         auto mission_prom = std::promise<MissionRawServer::MissionPlan>{};
@@ -214,9 +191,9 @@ int main(int argc, char** argv)
     std::this_thread::sleep_for(std::chrono::seconds(5));
 
     // Check for our custom param we have set in the server thread
-    auto res = param.get_param_int("my_param");
+    auto res = param.get_param_int("MY_PARAM");
     if (res.first == mavsdk::Param::Result::Success) {
-        std::cout << "Found Param my_param: " << res.second << std::endl;
+        std::cout << "Found Param MY_PARAM: " << res.second << std::endl;
     }
 
     // Create a mission to send to our mission server
@@ -308,4 +285,4 @@ int main(int argc, char** argv)
     }
 
     return 0;
-}
+}

examples/camera_server/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.10.2)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+project(camera_server)
+
+add_executable(camera_server
+    camera_server.cpp
+)
+
+find_package(MAVSDK REQUIRED)
+
+target_link_libraries(camera_server
+    MAVSDK::mavsdk
+)
+
+if(NOT MSVC)
+    add_compile_options(camera_server PRIVATE -Wall -Wextra)
+else()
+    add_compile_options(camera_server PRIVATE -WX -W2)
+endif()

examples/camera_server/camera_server.cpp

@@ -0,0 +1,102 @@
+#include <future>
+
+#include <iostream>
+#include <map>
+#include <thread>
+#include <mavsdk/mavsdk.h>
+#include <mavsdk/plugins/camera/camera.h>
+#include <mavsdk/plugins/camera_server/camera_server.h>
+
+using namespace mavsdk;
+
+using std::chrono::duration_cast;
+using std::chrono::seconds;
+using std::chrono::milliseconds;
+using std::chrono::system_clock;
+using std::this_thread::sleep_for;
+
+int main(int argc, char** argv)
+{
+    mavsdk::Mavsdk mavsdk;
+    mavsdk::Mavsdk::Configuration configuration(mavsdk::Mavsdk::Configuration::UsageType::Camera);
+    mavsdk.set_configuration(configuration);
+
+    // 14030 is the default camera port for PX4 SITL
+    // FIXME: the camera should probably initiate the connection and not just listen
+    auto result = mavsdk.add_any_connection("udp://:14030");
+    if (result != mavsdk::ConnectionResult::Success) {
+        std::cerr << "Could not establish connection: " << result << std::endl;
+        return 1;
+    }
+    std::cout << "Created camera server connection" << std::endl;
+
+    auto camera_server = mavsdk::CameraServer{
+        mavsdk.server_component_by_type(mavsdk::Mavsdk::ServerComponentType::Camera)};
+
+    // First add all subscriptions. This defines the camera capabilities.
+
+    camera_server.subscribe_take_photo([&camera_server](int32_t index) {
+        camera_server.set_in_progress(true);
+
+        std::cout << "taking a picture (" << +index << ")..." << std::endl;
+
+        // TODO : actually capture image here
+        // simulating with delay
+        sleep_for(milliseconds(500));
+
+        // TODO: populate with telemetry data
+        auto position = CameraServer::Position{};
+        auto attitude = CameraServer::Quaternion{};
+
+        auto timestamp =
+            duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count();
+        auto success = true;
+
+        camera_server.set_in_progress(false);
+
+        camera_server.respond_take_photo(
+            mavsdk::CameraServer::TakePhotoFeedback::Ok,
+            mavsdk::CameraServer::CaptureInfo{
+                .position = position,
+                .attitude_quaternion = attitude,
+                .time_utc_us = static_cast<uint64_t>(timestamp),
+                .is_success = success,
+                .index = index,
+                .file_url = {},
+            });
+    });
+
+    // Then set the initial state of everything.
+
+    // TODO: this state is not guaranteed, e.g. a new system appears
+    // while a capture is in progress
+    camera_server.set_in_progress(false);
+
+    // Finally call set_information() to "activate" the camera plugin.
+
+    auto ret = camera_server.set_information({
+        .vendor_name = "MAVSDK",
+        .model_name = "Example Camera Server",
+        .firmware_version = "1.0.0",
+        .focal_length_mm = 3.0,
+        .horizontal_sensor_size_mm = 3.68,
+        .vertical_sensor_size_mm = 2.76,
+        .horizontal_resolution_px = 3280,
+        .vertical_resolution_px = 2464,
+        .lens_id = 0,
+        .definition_file_version = 0, // TODO: add this
+        .definition_file_uri = "", // TODO: implement this using MAVLink FTP
+    });
+
+    if (ret != CameraServer::Result::Success) {
+        std::cerr << "Failed to set camera info, exiting" << std::endl;
+        return 2;
+    }
+
+    while (true) {
+        // Wait forever?
+        sleep_for(seconds(1));
+    }
+
+    return 0;
+}

src/CMakeLists.txt

@@ -65,6 +65,8 @@ if(BUILD_TESTS)
     add_subdirectory(integration_tests)
 
     include(cmake/unit_tests.cmake)
+
+    add_subdirectory(system_tests)
 endif()
 
 if (BUILD_MAVSDK_SERVER)

src/integration_tests/CMakeLists.txt

@@ -19,7 +19,6 @@ add_executable(integration_tests_runner
     camera_take_photo_interval.cpp
     camera_format.cpp
     camera_test_helpers.cpp
-    component_information.cpp
     connection.cpp
     follow_me.cpp
     geofence_inclusion.cpp

src/integration_tests/camera_take_photo.cpp

@@ -1,43 +1,57 @@
-#include <iostream>
-#include <functional>
-#include <vector>
-#include <atomic>
-#include <future>
 #include "integration_test_helper.h"
 #include "mavsdk.h"
 #include "system.h"
-#include "camera_test_helpers.h"
+#include "plugins/camera/camera.h"
+#include "plugins/camera_server/camera_server.h"
 
 using namespace mavsdk;
 
 static void receive_capture_info(Camera::CaptureInfo capture_info, bool& received_capture_info);
 
 TEST(CameraTest, TakePhotoSingle)
 {
-    Mavsdk mavsdk;
+    Mavsdk mavsdk_groundstation;
+    mavsdk_groundstation.set_configuration(
+        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::GroundStation});
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
-    ASSERT_EQ(ret, ConnectionResult::Success);
+    Mavsdk mavsdk_camera;
+    mavsdk_camera.set_configuration(
+        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::Camera});
+
+    ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);
+    ASSERT_EQ(mavsdk_camera.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);
+
+    auto camera_server =
+        CameraServer{mavsdk_camera.server_component_by_type(Mavsdk::ServerComponentType::Camera)};
+    camera_server.subscribe_take_photo([&camera_server](int32_t index) {
+        LogInfo() << "Let's take photo " << index;
+
+        CameraServer::CaptureInfo info;
+        info.index = index;
+        info.is_success = true;
+
+        camera_server.respond_take_photo(CameraServer::TakePhotoFeedback::Ok, info);
+    });
 
     // Wait for system to connect via heartbeat.
     std::this_thread::sleep_for(std::chrono::seconds(2));
 
-    auto system = mavsdk.systems().at(0);
+    ASSERT_EQ(mavsdk_groundstation.systems().size(), 1);
+    auto system = mavsdk_groundstation.systems().at(0);
     ASSERT_TRUE(system->has_camera());
-    auto camera = std::make_shared<Camera>(system);
 
-    std::this_thread::sleep_for(std::chrono::seconds(1));
+    auto camera = Camera{system};
 
     // We want to take the picture in photo mode.
-    EXPECT_EQ(camera->set_mode(Camera::Mode::Photo), Camera::Result::Success);
+    EXPECT_EQ(camera.set_mode(Camera::Mode::Photo), Camera::Result::Success);
 
     bool received_capture_info = false;
-    camera->subscribe_capture_info([&received_capture_info](Camera::CaptureInfo capture_info) {
+    camera.subscribe_capture_info([&received_capture_info](Camera::CaptureInfo capture_info) {
         receive_capture_info(capture_info, received_capture_info);
     });
 
-    EXPECT_EQ(camera->take_photo(), Camera::Result::Success);
-    std::this_thread::sleep_for(std::chrono::seconds(5));
+    EXPECT_EQ(camera.take_photo(), Camera::Result::Success);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
     EXPECT_TRUE(received_capture_info);
 }