Merge pull request #12 from tank104/AddCameraServer

Added camera_server to package.
tank104 · Nov 28, 2022 · 5fa9a76 · 5fa9a76
2 parents 3dcc129 + f644b60
commit 5fa9a76
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Showing 9 changed files with 260 additions and 7 deletions.
diff --git a/MavSdk/MavSdk.csproj b/MavSdk/MavSdk.csproj
@@ -70,6 +70,9 @@ The libraries can be used onboard a drone on a companion computer or on the grou
   <ItemGroup>
     <Protobuf Include="..\proto\protos\camera\camera.proto" Link="proto\camera\camera.proto" ProtoRoot="..\proto\protos" />
   </ItemGroup>
+  <ItemGroup>
+    <Protobuf Include="..\proto\protos\camera_server\camera_server.proto" Link="proto\camera_server\camera_server.proto" ProtoRoot="..\proto\protos" />
+  </ItemGroup>
   <ItemGroup>
     <Protobuf Include="..\proto\protos\component_information\component_information.proto" Link="proto\component_information\component_information.proto" ProtoRoot="..\proto\protos" />
   </ItemGroup>

diff --git a/MavSdk/MavSdkSystem.cs b/MavSdk/MavSdkSystem.cs
@@ -7,7 +7,6 @@ namespace Mavsdk
   public class MavSdkSystem : IMavSdkSystem
   {
     #region Constructors
-
     public MavSdkSystem(Uri address)
     {
       _channel = GrpcChannel.ForAddress(address);

diff --git a/MavSdk/Plugins/IMissionRaw.cs b/MavSdk/Plugins/IMissionRaw.cs
@@ -10,6 +10,8 @@ namespace Mavsdk.Plugins
   public interface IMissionRaw
   {
     IObservable<Unit> UploadMission(List<MissionItem> missionItems);
+    IObservable<Unit> UploadGeofence(List<MissionItem> missionItems);
+    IObservable<Unit> UploadRallyPoints(List<MissionItem> missionItems);
     IObservable<Unit> CancelMissionUpload();
     IObservable<List<MissionItem>> DownloadMission();
     IObservable<Unit> CancelMissionDownload();

diff --git a/MavSdk/Plugins/ITelemetry.cs b/MavSdk/Plugins/ITelemetry.cs
@@ -42,12 +42,14 @@ public interface ITelemetry
     IObservable<DistanceSensor> DistanceSensor();
     IObservable<ScaledPressure> ScaledPressure();
     IObservable<Heading> Heading();
+    IObservable<Altitude> Altitude();
     IObservable<Unit> SetRatePosition(double rateHz);
     IObservable<Unit> SetRateHome(double rateHz);
     IObservable<Unit> SetRateInAir(double rateHz);
     IObservable<Unit> SetRateLandedState(double rateHz);
     IObservable<Unit> SetRateVtolState(double rateHz);
-    IObservable<Unit> SetRateAttitude(double rateHz);
+    IObservable<Unit> SetRateAttitudeQuaternion(double rateHz);
+    IObservable<Unit> SetRateAttitudeEuler(double rateHz);
     IObservable<Unit> SetRateCameraAttitude(double rateHz);
     IObservable<Unit> SetRateVelocityNed(double rateHz);
     IObservable<Unit> SetRateGpsInfo(double rateHz);
@@ -64,6 +66,7 @@ public interface ITelemetry
     IObservable<Unit> SetRateRawImu(double rateHz);
     IObservable<Unit> SetRateUnixEpochTime(double rateHz);
     IObservable<Unit> SetRateDistanceSensor(double rateHz);
+    IObservable<Unit> SetRateAltitude(double rateHz);
     IObservable<GpsGlobalOrigin> GetGpsGlobalOrigin();
   }
 }
diff --git a/MavSdk/Plugins/MissionRaw.cs b/MavSdk/Plugins/MissionRaw.cs
@@ -43,6 +43,48 @@ public IObservable<Unit> UploadMission(List<MissionItem> missionItems)
       });
     }
 
+    public IObservable<Unit> UploadGeofence(List<MissionItem> missionItems)
+    {
+      return Observable.Create<Unit>(observer =>
+      {
+        var request = new UploadGeofenceRequest();
+        request.MissionItems.AddRange(missionItems);
+        var uploadGeofenceResponse = _missionRawServiceClient.UploadGeofence(request);
+        var missionRawResult = uploadGeofenceResponse.MissionRawResult;
+        if (missionRawResult.Result == MissionRawResult.Types.Result.Success)
+        {
+          observer.OnCompleted();
+        }
+        else
+        {
+          observer.OnError(new MissionRawException(missionRawResult.Result, missionRawResult.ResultStr));
+        }
+
+        return Task.FromResult(Disposable.Empty);
+      });
+    }
+
+    public IObservable<Unit> UploadRallyPoints(List<MissionItem> missionItems)
+    {
+      return Observable.Create<Unit>(observer =>
+      {
+        var request = new UploadRallyPointsRequest();
+        request.MissionItems.AddRange(missionItems);
+        var uploadRallyPointsResponse = _missionRawServiceClient.UploadRallyPoints(request);
+        var missionRawResult = uploadRallyPointsResponse.MissionRawResult;
+        if (missionRawResult.Result == MissionRawResult.Types.Result.Success)
+        {
+          observer.OnCompleted();
+        }
+        else
+        {
+          observer.OnError(new MissionRawException(missionRawResult.Result, missionRawResult.ResultStr));
+        }
+
+        return Task.FromResult(Disposable.Empty);
+      });
+    }
+
     public IObservable<Unit> CancelMissionUpload()
     {
       return Observable.Create<Unit>(observer =>

diff --git a/MavSdk/Plugins/Telemetry.cs b/MavSdk/Plugins/Telemetry.cs
@@ -748,6 +748,28 @@ public IObservable<Heading> Heading()
       ));
     }
 
+    public IObservable<Altitude> Altitude()
+    {
+      return Observable.Using(() => _telemetryServiceClient.SubscribeAltitude(new SubscribeAltitudeRequest()),
+      reader => Observable.Create(
+        async (IObserver<Altitude> observer) =>
+        {
+          try
+          {
+            while (await reader.ResponseStream.MoveNext(CancellationToken.None))
+            {
+              observer.OnNext(reader.ResponseStream.Current.Altitude);
+            }
+            observer.OnCompleted();
+          }
+          catch (Exception ex)
+          {
+            observer.OnError(ex);
+          }
+        }
+      ));
+    }
+
     public IObservable<Unit> SetRatePosition(double rateHz)
     {
       return Observable.Create<Unit>(observer =>
@@ -853,14 +875,35 @@ public IObservable<Unit> SetRateVtolState(double rateHz)
       });
     }
 
-    public IObservable<Unit> SetRateAttitude(double rateHz)
+    public IObservable<Unit> SetRateAttitudeQuaternion(double rateHz)
+    {
+      return Observable.Create<Unit>(observer =>
+      {
+        var request = new SetRateAttitudeQuaternionRequest();
+        request.RateHz = rateHz;
+        var setRateAttitudeQuaternionResponse = _telemetryServiceClient.SetRateAttitudeQuaternion(request);
+        var telemetryResult = setRateAttitudeQuaternionResponse.TelemetryResult;
+        if (telemetryResult.Result == TelemetryResult.Types.Result.Success)
+        {
+          observer.OnCompleted();
+        }
+        else
+        {
+          observer.OnError(new TelemetryException(telemetryResult.Result, telemetryResult.ResultStr));
+        }
+
+        return Task.FromResult(Disposable.Empty);
+      });
+    }
+
+    public IObservable<Unit> SetRateAttitudeEuler(double rateHz)
     {
       return Observable.Create<Unit>(observer =>
       {
-        var request = new SetRateAttitudeRequest();
+        var request = new SetRateAttitudeEulerRequest();
         request.RateHz = rateHz;
-        var setRateAttitudeResponse = _telemetryServiceClient.SetRateAttitude(request);
-        var telemetryResult = setRateAttitudeResponse.TelemetryResult;
+        var setRateAttitudeEulerResponse = _telemetryServiceClient.SetRateAttitudeEuler(request);
+        var telemetryResult = setRateAttitudeEulerResponse.TelemetryResult;
         if (telemetryResult.Result == TelemetryResult.Types.Result.Success)
         {
           observer.OnCompleted();
@@ -1210,6 +1253,27 @@ public IObservable<Unit> SetRateDistanceSensor(double rateHz)
       });
     }
 
+    public IObservable<Unit> SetRateAltitude(double rateHz)
+    {
+      return Observable.Create<Unit>(observer =>
+      {
+        var request = new SetRateAltitudeRequest();
+        request.RateHz = rateHz;
+        var setRateAltitudeResponse = _telemetryServiceClient.SetRateAltitude(request);
+        var telemetryResult = setRateAltitudeResponse.TelemetryResult;
+        if (telemetryResult.Result == TelemetryResult.Types.Result.Success)
+        {
+          observer.OnCompleted();
+        }
+        else
+        {
+          observer.OnError(new TelemetryException(telemetryResult.Result, telemetryResult.ResultStr));
+        }
+
+        return Task.FromResult(Disposable.Empty);
+      });
+    }
+
     public IObservable<GpsGlobalOrigin> GetGpsGlobalOrigin()
     {
       return Observable.Create<GpsGlobalOrigin>(observer =>

diff --git a/Mavsdk/Plugins/CameraServer.cs b/Mavsdk/Plugins/CameraServer.cs
@@ -0,0 +1,123 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reactive;
+using System.Reactive.Disposables;
+using System.Reactive.Linq;
+using System.Threading;
+using System.Threading.Tasks;
+using Grpc.Net.Client;
+using Mavsdk.Rpc.CameraServer;
+
+using Version = Mavsdk.Rpc.Info.Version;
+
+namespace Mavsdk.Plugins
+{
+  public class CameraServer : ICameraServer
+  {
+    private readonly CameraServerService.CameraServerServiceClient _cameraServerServiceClient;
+
+    internal CameraServer(GrpcChannel channel)
+    {
+      _cameraServerServiceClient = new CameraServerService.CameraServerServiceClient(channel);
+    }
+
+    public IObservable<Unit> SetInformation(Information information)
+    {
+      return Observable.Create<Unit>(observer =>
+      {
+        var request = new SetInformationRequest();
+        request.Information = information;
+        var setInformationResponse = _cameraServerServiceClient.SetInformation(request);
+        var cameraServerResult = setInformationResponse.CameraServerResult;
+        if (cameraServerResult.Result == CameraServerResult.Types.Result.Success)
+        {
+          observer.OnCompleted();
+        }
+        else
+        {
+          observer.OnError(new CameraServerException(cameraServerResult.Result, cameraServerResult.ResultStr));
+        }
+
+        return Task.FromResult(Disposable.Empty);
+      });
+    }
+
+    public IObservable<Unit> SetInProgress(bool inProgress)
+    {
+      return Observable.Create<Unit>(observer =>
+      {
+        var request = new SetInProgressRequest();
+        request.InProgress = inProgress;
+        var setInProgressResponse = _cameraServerServiceClient.SetInProgress(request);
+        var cameraServerResult = setInProgressResponse.CameraServerResult;
+        if (cameraServerResult.Result == CameraServerResult.Types.Result.Success)
+        {
+          observer.OnCompleted();
+        }
+        else
+        {
+          observer.OnError(new CameraServerException(cameraServerResult.Result, cameraServerResult.ResultStr));
+        }
+
+        return Task.FromResult(Disposable.Empty);
+      });
+    }
+
+    public IObservable<int> TakePhoto()
+    {
+      return Observable.Using(() => _cameraServerServiceClient.SubscribeTakePhoto(new SubscribeTakePhotoRequest()),
+      reader => Observable.Create(
+        async (IObserver<int> observer) =>
+        {
+          try
+          {
+            while (await reader.ResponseStream.MoveNext(CancellationToken.None))
+            {
+              observer.OnNext(reader.ResponseStream.Current.Index);
+            }
+            observer.OnCompleted();
+          }
+          catch (Exception ex)
+          {
+            observer.OnError(ex);
+          }
+        }
+      ));
+    }
+
+    public IObservable<Unit> RespondTakePhoto(TakePhotoFeedback takePhotoFeedback, CaptureInfo captureInfo)
+    {
+      return Observable.Create<Unit>(observer =>
+      {
+        var request = new RespondTakePhotoRequest();
+        request.TakePhotoFeedback = takePhotoFeedback;
+        request.CaptureInfo = captureInfo;
+        var respondTakePhotoResponse = _cameraServerServiceClient.RespondTakePhoto(request);
+        var cameraServerResult = respondTakePhotoResponse.CameraServerResult;
+        if (cameraServerResult.Result == CameraServerResult.Types.Result.Success)
+        {
+          observer.OnCompleted();
+        }
+        else
+        {
+          observer.OnError(new CameraServerException(cameraServerResult.Result, cameraServerResult.ResultStr));
+        }
+
+        return Task.FromResult(Disposable.Empty);
+      });
+    }
+  }
+
+  public class CameraServerException : Exception
+  {
+    public CameraServerResult.Types.Result Result { get; }
+    public string ResultStr { get; }
+
+    public CameraServerException(CameraServerResult.Types.Result result, string resultStr)
+    {
+      Result = result;
+      ResultStr = resultStr;
+    }
+  }
+}
diff --git a/Mavsdk/Plugins/ICameraServer.cs b/Mavsdk/Plugins/ICameraServer.cs
@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Reactive;
+using Mavsdk.Rpc.CameraServer;
+
+using Version = Mavsdk.Rpc.Info.Version;
+
+namespace Mavsdk.Plugins
+{
+  public interface ICameraServer
+  {
+    IObservable<Unit> SetInformation(Information information);
+    IObservable<Unit> SetInProgress(bool inProgress);
+    IObservable<int> TakePhoto();
+    IObservable<Unit> RespondTakePhoto(TakePhotoFeedback takePhotoFeedback, CaptureInfo captureInfo);
+  }
+}
diff --git a/proto b/proto