Add MavlinkDirectServer plugin#2911
Open
julianoes wants to merge 4 commits into
Open
Conversation
Add a MavlinkDirectServer plugin that mirrors MavlinkDirect but is attached to a ServerComponent instead of a System. This allows sending (broadcasting) arbitrary MAVLink messages from a server component without first discovering a system, e.g. acting as an autopilot or custom sender. The JSON-to-libmav conversion used when sending is extracted out of MavlinkDirectImpl into a shared core helper (libmav_conversions) so both the client and server plugins encode messages identically. This also drops several unused stub helpers from MavlinkDirectImpl. ServerComponentImpl gains get_message_set() and load_custom_xml_to_message_set() accessors, mirroring SystemImpl. The MessageSet is shared per Mavsdk instance, so loading custom XML affects all systems and server components. This first step exposes SendMessage and LoadCustomXml; SubscribeMessage follows. Also bumps the proto submodule for the new mavlink_direct_server.proto.
Add subscribe_message/unsubscribe_message to the MavlinkDirectServer plugin, reaching parity with the MavlinkDirect client plugin. Incoming libmav messages are now also distributed to server components via a new ServerComponentImpl libmav handler (register/unregister/process_libmav_message), fed from MavsdkImpl::process_libmav_message. This distribution is intentionally not scoped by system_id: a server component observes matching messages from all systems, which suits a component sitting on the bus. Bumps the proto submodule for the new SubscribeMessage RPC.
The autopilot side of the mavlink_direct tests sends telemetry-like messages,
which is naturally a server-component action. Switch those senders from
MavlinkDirect{groundstation_system} to MavlinkDirectServer{server_component},
matching what TelemetryServerTo already does.
This drops the autopilot-side discovery dance (waiting for mavsdk_autopilot
to discover the ground station as a system) entirely. Client send_message
stays covered by the MavlinkDirectServer.SubscribeFromClient test. The
forwarding tests are left as-is since they exercise system-to-system routing.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This is the server equivalent of MavlinkDirect, so the version that does not require a detected system.