Merge pull request #2169 from mavlink/pr-consolidate-components

Consolidate components

examples/autopilot_server/autopilot_server.cpp

@@ -59,8 +59,7 @@ int main(int argc, char** argv)
     // thread as a ground station.
     std::thread autopilotThread([]() {
         mavsdk::Mavsdk mavsdkTester;
-        mavsdk::Mavsdk::Configuration configuration(
-            mavsdk::Mavsdk::Configuration::UsageType::Autopilot);
+        mavsdk::Mavsdk::Configuration configuration(mavsdk::Mavsdk::ComponentType::Autopilot);
         mavsdkTester.set_configuration(configuration);
 
         auto result = mavsdkTester.add_any_connection("udp://127.0.0.1:14551");
@@ -69,7 +68,7 @@ int main(int argc, char** argv)
         }
 
         auto server_component =
-            mavsdkTester.server_component_by_type(Mavsdk::ServerComponentType::Autopilot);
+            mavsdkTester.server_component_by_type(Mavsdk::ComponentType::Autopilot);
 
         // Create server plugins
         auto paramServer = mavsdk::ParamServer{server_component};
@@ -148,8 +147,7 @@ int main(int argc, char** argv)
     // Now this is the main thread, we run client plugins to act as the GCS
     // to communicate with the autopilot server plugins.
     mavsdk::Mavsdk mavsdk;
-    mavsdk::Mavsdk::Configuration configuration(
-        mavsdk::Mavsdk::Configuration::UsageType::GroundStation);
+    mavsdk::Mavsdk::Configuration configuration(mavsdk::Mavsdk::ComponentType::GroundStation);
     mavsdk.set_configuration(configuration);
 
     auto result = mavsdk.add_any_connection("udp://:14551");

examples/camera_server/camera_client.cpp

@@ -10,8 +10,7 @@ int main(int argc, const char* argv[])
     // we run client plugins to act as the GCS
     // to communicate with the camera server plugins.
     mavsdk::Mavsdk mavsdk;
-    mavsdk::Mavsdk::Configuration configuration(
-        mavsdk::Mavsdk::Configuration::UsageType::GroundStation);
+    mavsdk::Mavsdk::Configuration configuration(mavsdk::Mavsdk::ComponentType::GroundStation);
     mavsdk.set_configuration(configuration);
 
     auto result = mavsdk.add_any_connection("udp://:14030");

examples/camera_server/camera_server.cpp

@@ -6,7 +6,7 @@
 int main(int argc, char** argv)
 {
     mavsdk::Mavsdk mavsdk;
-    mavsdk::Mavsdk::Configuration configuration(mavsdk::Mavsdk::Configuration::UsageType::Camera);
+    mavsdk::Mavsdk::Configuration configuration(mavsdk::Mavsdk::ComponentType::Camera);
     mavsdk.set_configuration(configuration);
 
     // 14030 is the default camera port for PX4 SITL
@@ -18,7 +18,7 @@ int main(int argc, char** argv)
     std::cout << "Created camera server connection" << std::endl;
 
     auto camera_server = mavsdk::CameraServer{
-        mavsdk.server_component_by_type(mavsdk::Mavsdk::ServerComponentType::Camera)};
+        mavsdk.server_component_by_type(mavsdk::Mavsdk::ComponentType::Camera)};
 
     // First add all subscriptions. This defines the camera capabilities.
 

examples/ftp_server/ftp_server.cpp

@@ -29,7 +29,7 @@ int main(int argc, char** argv)
     }
 
     Mavsdk mavsdk;
-    Mavsdk::Configuration configuration(Mavsdk::Configuration::UsageType::CompanionComputer);
+    Mavsdk::Configuration configuration(Mavsdk::ComponentType::CompanionComputer);
     mavsdk.set_configuration(configuration);
     ConnectionResult connection_result = mavsdk.setup_udp_remote(argv[1], std::stoi(argv[2]));
     if (connection_result != ConnectionResult::Success) {
@@ -38,7 +38,7 @@ int main(int argc, char** argv)
     }
 
     auto component =
-        mavsdk.server_component_by_type(mavsdk::Mavsdk::ServerComponentType::CompanionComputer);
+        mavsdk.server_component_by_type(mavsdk::Mavsdk::ComponentType::CompanionComputer);
     auto ftp_server = FtpServer{component};
     ftp_server.set_root_dir(argv[3]);
 

examples/gimbal_device_tester/gimbal_device_tester.cpp

@@ -816,7 +816,7 @@ int main(int argc, char** argv)
         return 1;
     }
 
-    Mavsdk::Configuration config(Mavsdk::Configuration::UsageType::Autopilot);
+    Mavsdk::Configuration config(Mavsdk::ComponentType::Autopilot);
     config.set_system_id(own_sysid);
     mavsdk.set_configuration(config);
 

src/integration_tests/camera_take_photo.cpp

@@ -12,17 +12,16 @@ TEST(CameraTest, TakePhotoSingle)
 {
     Mavsdk mavsdk_groundstation;
     mavsdk_groundstation.set_configuration(
-        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::GroundStation});
+        Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation});
 
     Mavsdk mavsdk_camera;
-    mavsdk_camera.set_configuration(
-        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::Camera});
+    mavsdk_camera.set_configuration(Mavsdk::Configuration{Mavsdk::ComponentType::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)};
+        CameraServer{mavsdk_camera.server_component_by_type(Mavsdk::ComponentType::Camera)};
     camera_server.subscribe_take_photo([&camera_server](int32_t index) {
         LogInfo() << "Let's take photo " << index;
 

src/integration_tests/connection.cpp

@@ -29,7 +29,7 @@ connection_test(const std::string& client_system_address, const std::string& ser
 {
     // Start instance as a UDP server pretending to be an autopilot
     Mavsdk mavsdk_server;
-    Mavsdk::Configuration config_autopilot(Mavsdk::Configuration::UsageType::Autopilot);
+    Mavsdk::Configuration config_autopilot(Mavsdk::ComponentType::Autopilot);
     mavsdk_server.set_configuration(config_autopilot);
     ConnectionResult ret_server = mavsdk_server.add_any_connection(server_system_address);
     ASSERT_EQ(ret_server, ConnectionResult::Success);

src/integration_tests/statustext.cpp

@@ -16,12 +16,12 @@ static const auto type = ServerUtility::StatusTextType::Info;
 TEST(StatusTextTest, TestServer)
 {
     Mavsdk mavsdk_gcs;
-    Mavsdk::Configuration config_gcs(Mavsdk::Configuration::UsageType::GroundStation);
+    Mavsdk::Configuration config_gcs(Mavsdk::ComponentType::GroundStation);
     mavsdk_gcs.set_configuration(config_gcs);
     ASSERT_EQ(mavsdk_gcs.add_udp_connection(24550), ConnectionResult::Success);
 
     Mavsdk mavsdk_onboard;
-    Mavsdk::Configuration config_onboard(Mavsdk::Configuration::UsageType::CompanionComputer);
+    Mavsdk::Configuration config_onboard(Mavsdk::ComponentType::CompanionComputer);
     mavsdk_onboard.set_configuration(config_onboard);
     ASSERT_EQ(mavsdk_onboard.setup_udp_remote("127.0.0.1", 24550), ConnectionResult::Success);
 

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

@@ -223,23 +223,23 @@ class Mavsdk {
      */
     std::optional<std::shared_ptr<System>> first_autopilot(double timeout_s) const;
 
+    /**
+     * @brief ComponentType of configurations, used for automatic ID setting
+     */
+    enum class ComponentType {
+        Autopilot, /**< @brief SDK is used as an autopilot. */
+        GroundStation, /**< @brief SDK is used as a ground station. */
+        CompanionComputer, /**< @brief SDK is used as a companion computer on board the MAV. */
+        Camera, /** < @brief SDK is used as a camera. */
+        Custom /**< @brief the SDK is used in a custom configuration, no automatic ID will be
+                  provided */
+    };
+
     /**
      * @brief Possible configurations.
      */
     class Configuration {
     public:
-        /**
-         * @brief UsageTypes of configurations, used for automatic ID setting
-         */
-        enum class UsageType {
-            Autopilot, /**< @brief SDK is used as an autopilot. */
-            GroundStation, /**< @brief SDK is used as a ground station. */
-            CompanionComputer, /**< @brief SDK is used as a companion computer on board the MAV. */
-            Camera, /** < @brief SDK is used as a camera. */
-            Custom /**< @brief the SDK is used in a custom configuration, no automatic ID will be
-                      provided */
-        };
-
         /**
          * @brief Create new Configuration via manually configured
          * system and component ID.
@@ -250,11 +250,11 @@ class Mavsdk {
         explicit Configuration(
             uint8_t system_id, uint8_t component_id, bool always_send_heartbeats);
         /**
-         * @brief Create new Configuration using a usage type.
+         * @brief Create new Configuration using a component type.
          * In this mode, the system and component ID will be automatically chosen.
-         * @param usage_type the usage type, used for automatically choosing ids.
+         * @param component_type the component type, used for automatically choosing ids.
          */
-        explicit Configuration(UsageType usage_type);
+        explicit Configuration(ComponentType component_type);
 
         Configuration() = delete;
         ~Configuration() = default;
@@ -292,21 +292,21 @@ class Mavsdk {
          */
         void set_always_send_heartbeats(bool always_send_heartbeats);
 
-        /** @brief Usage type of this configuration, used for automatic ID set */
-        UsageType get_usage_type() const;
+        /** @brief Component type of this configuration, used for automatic ID set */
+        ComponentType get_component_type() const;
 
         /**
-         * @brief Set the usage type of this configuration.
+         * @brief Set the component type of this configuration.
          */
-        void set_usage_type(UsageType usage_type);
+        void set_component_type(ComponentType component_type);
 
     private:
         uint8_t _system_id;
         uint8_t _component_id;
         bool _always_send_heartbeats;
-        UsageType _usage_type;
+        ComponentType _component_type;
 
-        static Mavsdk::Configuration::UsageType usage_type_for_component(uint8_t component_id);
+        static Mavsdk::ComponentType component_type_for_component_id(uint8_t component_id);
     };
 
     /**
@@ -367,30 +367,19 @@ class Mavsdk {
      */
     void unsubscribe_on_new_system(NewSystemHandle handle);
 
-    /**
-     * @brief High level type of a server component.
-     */
-    enum class ServerComponentType {
-        Autopilot, /**< @brief The component identifies as an autopilot. */
-        GroundStation, /**< @brief The component identifies as a ground station. */
-        CompanionComputer, /**< @brief The component identifies as a companion computer on board the
-                              system. */
-        Camera, /** < @brief The component identifies as a camera. */
-    };
-
     /**
      * @brief Get server component by a high level type.
      *
      * This represents a server component of the MAVSDK instance.
      *
-     * @param server_component_type The high level type of the component.
+     * @param component_type The high level type of the component.
      * @param instance The instance of the component if there are multiple, starting at 0.
      *
      * @return A valid shared pointer to a server component if it was successful, an empty pointer
      * otherwise.
      */
     std::shared_ptr<ServerComponent>
-    server_component_by_type(ServerComponentType server_component_type, unsigned instance = 0);
+    server_component_by_type(ComponentType component_type, unsigned instance = 0);
 
     /**
      * @brief Get server component by the low MAVLink component ID.

src/mavsdk/core/lazy_server_plugin.h

@@ -16,7 +16,7 @@ template<typename ServerPlugin> class LazyServerPlugin {
         std::lock_guard<std::mutex> lock(_mutex);
         if (_server_plugin == nullptr) {
             _server_plugin = std::make_unique<ServerPlugin>(
-                _mavsdk.server_component_by_type(Mavsdk::ServerComponentType::CompanionComputer));
+                _mavsdk.server_component_by_type(Mavsdk::ComponentType::CompanionComputer));
         }
         return _server_plugin.get();
     }

src/mavsdk/core/mavsdk.cpp

@@ -96,7 +96,7 @@ void Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)
 }
 
 std::shared_ptr<ServerComponent>
-Mavsdk::server_component_by_type(ServerComponentType server_component_type, unsigned instance)
+Mavsdk::server_component_by_type(ComponentType server_component_type, unsigned instance)
 {
     return _impl->server_component_by_type(server_component_type, instance);
 }
@@ -111,50 +111,49 @@ Mavsdk::Configuration::Configuration(
     _system_id(system_id),
     _component_id(component_id),
     _always_send_heartbeats(always_send_heartbeats),
-    _usage_type(usage_type_for_component(component_id))
+    _component_type(component_type_for_component_id(component_id))
 {}
 
-Mavsdk::Configuration::UsageType
-Mavsdk::Configuration::usage_type_for_component(uint8_t component_id)
+Mavsdk::ComponentType Mavsdk::Configuration::component_type_for_component_id(uint8_t component_id)
 {
     switch (component_id) {
         case MavsdkImpl::DEFAULT_COMPONENT_ID_GCS:
-            return UsageType::GroundStation;
+            return ComponentType::GroundStation;
         case MavsdkImpl::DEFAULT_COMPONENT_ID_CC:
-            return UsageType::CompanionComputer;
+            return ComponentType::CompanionComputer;
         case MavsdkImpl::DEFAULT_COMPONENT_ID_AUTOPILOT:
-            return UsageType::Autopilot;
+            return ComponentType::Autopilot;
         case MavsdkImpl::DEFAULT_COMPONENT_ID_CAMERA:
-            return UsageType::Camera;
+            return ComponentType::Camera;
         default:
-            return UsageType::Custom;
+            return ComponentType::Custom;
     }
 }
 
-Mavsdk::Configuration::Configuration(UsageType usage_type) :
+Mavsdk::Configuration::Configuration(ComponentType component_type) :
     _system_id(MavsdkImpl::DEFAULT_SYSTEM_ID_GCS),
     _component_id(MavsdkImpl::DEFAULT_COMPONENT_ID_GCS),
     _always_send_heartbeats(false),
-    _usage_type(usage_type)
+    _component_type(component_type)
 {
-    switch (usage_type) {
-        case Mavsdk::Configuration::UsageType::GroundStation:
+    switch (component_type) {
+        case Mavsdk::ComponentType::GroundStation:
             _system_id = MavsdkImpl::DEFAULT_SYSTEM_ID_GCS;
             _component_id = MavsdkImpl::DEFAULT_COMPONENT_ID_GCS;
             _always_send_heartbeats = false;
             break;
-        case Mavsdk::Configuration::UsageType::CompanionComputer:
+        case Mavsdk::ComponentType::CompanionComputer:
             // TODO implement auto-detection of system ID - maybe from heartbeats?
             _system_id = MavsdkImpl::DEFAULT_SYSTEM_ID_CC;
             _component_id = MavsdkImpl::DEFAULT_COMPONENT_ID_CC;
             _always_send_heartbeats = true;
             break;
-        case Mavsdk::Configuration::UsageType::Autopilot:
+        case Mavsdk::ComponentType::Autopilot:
             _system_id = MavsdkImpl::DEFAULT_SYSTEM_ID_AUTOPILOT;
             _component_id = MavsdkImpl::DEFAULT_COMPONENT_ID_AUTOPILOT;
             _always_send_heartbeats = true;
             break;
-        case Mavsdk::Configuration::UsageType::Camera:
+        case Mavsdk::ComponentType::Camera:
             _system_id = MavsdkImpl::DEFAULT_SYSTEM_ID_CAMERA;
             _component_id = MavsdkImpl::DEFAULT_COMPONENT_ID_CAMERA;
             _always_send_heartbeats = true;
@@ -194,14 +193,14 @@ void Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbea
     _always_send_heartbeats = always_send_heartbeats;
 }
 
-Mavsdk::Configuration::UsageType Mavsdk::Configuration::get_usage_type() const
+Mavsdk::ComponentType Mavsdk::Configuration::get_component_type() const
 {
-    return _usage_type;
+    return _component_type;
 }
 
-void Mavsdk::Configuration::set_usage_type(Mavsdk::Configuration::UsageType usage_type)
+void Mavsdk::Configuration::set_component_type(Mavsdk::ComponentType component_type)
 {
-    _usage_type = usage_type;
+    _component_type = component_type;
 }
 
 void Mavsdk::intercept_incoming_messages_async(std::function<bool(mavlink_message_t&)> callback)