added optional mavsdk server built with grpc proto reflection. This a…

CMakeLists.txt

@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.13)
 option(HUNTER_ENABLED "Enable Hunter package manager support" OFF)
 option(SUPERBUILD "Build dependencies" ON)
 option(BUILD_MAVSDK_SERVER "Build mavsdk_server" OFF)
+option(BUILD_WITH_PROTO_REFLECTION "Build mavsdk_server with proto reflection" OFF)
 option(BUILD_SHARED_LIBS "Build core as shared libraries instead of static ones" ON)
 
 if(SUPERBUILD AND HUNTER_ENABLED)

src/mavsdk_server/src/CMakeLists.txt

@@ -50,6 +50,10 @@ target_link_libraries(mavsdk_server
     ${COMPONENTS_PROTOGENS}
 )
 
+if(BUILD_WITH_PROTO_REFLECTION)
+    add_definitions(-DENABLE_PROTO_REFLECTION)
+    target_link_libraries(mavsdk_server PRIVATE gRPC::grpc++_reflection)
+endif()
 
 foreach(plugin ${COMPONENTS_LIST})
     string(TOUPPER ${plugin} plugin_uppercase)

src/mavsdk_server/src/grpc_server.cpp

@@ -142,6 +142,10 @@ int GrpcServer::run()
     builder.RegisterService(&_tune_service);
 #endif
 
+#ifdef ENABLE_PROTO_REFLECTION
+    grpc::reflection::InitProtoReflectionServerBuilderPlugin();
+#endif
+
     grpc::EnableDefaultHealthCheckService(true);
     _server = builder.BuildAndStart();
 

src/mavsdk_server/src/grpc_server.h

@@ -4,6 +4,11 @@
 
 #include <grpcpp/server.h>
 #include <grpcpp/server_builder.h>
+
+#ifdef ENABLE_PROTO_REFLECTION
+#include <grpcpp/ext/proto_server_reflection_plugin.h>
+#endif
+
 #include <memory>
 
 #include "mavsdk.h"

templates/grpc_server.cpp.j2

@@ -28,6 +28,10 @@ int GrpcServer::run()
 #endif
 {% endfor %}
 
+#ifdef ENABLE_PROTO_REFLECTION
+    grpc::reflection::InitProtoReflectionServerBuilderPlugin();
+#endif
+
     grpc::EnableDefaultHealthCheckService(true);
     _server = builder.BuildAndStart();
 

templates/grpc_server.h.j2

@@ -4,6 +4,11 @@
 
 #include <grpcpp/server.h>
 #include <grpcpp/server_builder.h>
+
+#ifdef ENABLE_PROTO_REFLECTION
+#include <grpcpp/ext/proto_server_reflection_plugin.h>
+#endif
+
 #include <memory>
 
 #include "mavsdk.h"