Merge pull request #676 from mavlink/pr-update-to-2.7.0

Update to mavsdk_server v2.7.0

MAVSDK_SERVER_VERSION

@@ -1 +1 @@
-v2.6.0
+v2.7.0

mavsdk/action.py

@@ -130,6 +130,9 @@ class Result(Enum):
          FAILED
               Action failed
 
+         INVALID_ARGUMENT
+              Invalid argument
+
          """
 
 
@@ -147,6 +150,7 @@ class Result(Enum):
         PARAMETER_ERROR = 11
         UNSUPPORTED = 12
         FAILED = 13
+        INVALID_ARGUMENT = 14
 
         def translate_to_rpc(self):
             if self == ActionResult.Result.UNKNOWN:
@@ -177,6 +181,8 @@ def translate_to_rpc(self):
                 return action_pb2.ActionResult.RESULT_UNSUPPORTED
             if self == ActionResult.Result.FAILED:
                 return action_pb2.ActionResult.RESULT_FAILED
+            if self == ActionResult.Result.INVALID_ARGUMENT:
+                return action_pb2.ActionResult.RESULT_INVALID_ARGUMENT
 
         @staticmethod
         def translate_from_rpc(rpc_enum_value):
@@ -209,6 +215,8 @@ def translate_from_rpc(rpc_enum_value):
                 return ActionResult.Result.UNSUPPORTED
             if rpc_enum_value == action_pb2.ActionResult.RESULT_FAILED:
                 return ActionResult.Result.FAILED
+            if rpc_enum_value == action_pb2.ActionResult.RESULT_INVALID_ARGUMENT:
+                return ActionResult.Result.INVALID_ARGUMENT
 
         def __str__(self):
             return self.name
@@ -637,6 +645,8 @@ async def set_actuator(self, index, value):
         """
          Send command to set the value of an actuator.
 
+         Note that the index of the actuator starts at 1 and that the value goes from -1 to 1.
+
          Parameters
          ----------
          index : int32_t

mavsdk/action_pb2_grpc.py

@@ -271,6 +271,8 @@ def Hold(self, request, context):
     def SetActuator(self, request, context):
         """
         Send command to set the value of an actuator.
+
+        Note that the index of the actuator starts at 1 and that the value goes from -1 to 1.
         """
         context.set_code(grpc.StatusCode.UNIMPLEMENTED)
         context.set_details('Method not implemented!')

mavsdk/arm_authorizer_server.py

@@ -0,0 +1,313 @@
+# -*- coding: utf-8 -*-
+# DO NOT EDIT! This file is auto-generated from
+# https://github.com/mavlink/MAVSDK-Python/tree/main/other/templates/py
+from ._base import AsyncBase
+from . import arm_authorizer_server_pb2, arm_authorizer_server_pb2_grpc
+from enum import Enum
+
+
+class RejectionReason(Enum):
+    """
+ 
+
+     Values
+     ------
+     GENERIC
+          Not a specific reason
+
+     NONE
+          Authorizer will send the error as string to GCS
+
+     INVALID_WAYPOINT
+          At least one waypoint have a invalid value
+
+     TIMEOUT
+          Timeout in the authorizer process(in case it depends on network)
+
+     AIRSPACE_IN_USE
+          Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
+
+     BAD_WEATHER
+          Weather is not good to fly
+
+     """
+
+
+    GENERIC = 0
+    NONE = 1
+    INVALID_WAYPOINT = 2
+    TIMEOUT = 3
+    AIRSPACE_IN_USE = 4
+    BAD_WEATHER = 5
+
+    def translate_to_rpc(self):
+        if self == RejectionReason.GENERIC:
+            return arm_authorizer_server_pb2.REJECTION_REASON_GENERIC
+        if self == RejectionReason.NONE:
+            return arm_authorizer_server_pb2.REJECTION_REASON_NONE
+        if self == RejectionReason.INVALID_WAYPOINT:
+            return arm_authorizer_server_pb2.REJECTION_REASON_INVALID_WAYPOINT
+        if self == RejectionReason.TIMEOUT:
+            return arm_authorizer_server_pb2.REJECTION_REASON_TIMEOUT
+        if self == RejectionReason.AIRSPACE_IN_USE:
+            return arm_authorizer_server_pb2.REJECTION_REASON_AIRSPACE_IN_USE
+        if self == RejectionReason.BAD_WEATHER:
+            return arm_authorizer_server_pb2.REJECTION_REASON_BAD_WEATHER
+
+    @staticmethod
+    def translate_from_rpc(rpc_enum_value):
+        """ Parses a gRPC response """
+        if rpc_enum_value == arm_authorizer_server_pb2.REJECTION_REASON_GENERIC:
+            return RejectionReason.GENERIC
+        if rpc_enum_value == arm_authorizer_server_pb2.REJECTION_REASON_NONE:
+            return RejectionReason.NONE
+        if rpc_enum_value == arm_authorizer_server_pb2.REJECTION_REASON_INVALID_WAYPOINT:
+            return RejectionReason.INVALID_WAYPOINT
+        if rpc_enum_value == arm_authorizer_server_pb2.REJECTION_REASON_TIMEOUT:
+            return RejectionReason.TIMEOUT
+        if rpc_enum_value == arm_authorizer_server_pb2.REJECTION_REASON_AIRSPACE_IN_USE:
+            return RejectionReason.AIRSPACE_IN_USE
+        if rpc_enum_value == arm_authorizer_server_pb2.REJECTION_REASON_BAD_WEATHER:
+            return RejectionReason.BAD_WEATHER
+
+    def __str__(self):
+        return self.name
+
+
+class ArmAuthorizerServerResult:
+    """
+ 
+
+     Parameters
+     ----------
+     result : Result
+          Result enum value
+
+     result_str : std::string
+          Human-readable English string describing the result
+
+     """
+
+
+
+    class Result(Enum):
+        """
+     
+
+         Values
+         ------
+         UNKNOWN
+              Unknown result
+
+         SUCCESS
+              Command accepted
+
+         FAILED
+              Command failed
+
+         """
+
+
+        UNKNOWN = 0
+        SUCCESS = 1
+        FAILED = 2
+
+        def translate_to_rpc(self):
+            if self == ArmAuthorizerServerResult.Result.UNKNOWN:
+                return arm_authorizer_server_pb2.ArmAuthorizerServerResult.RESULT_UNKNOWN
+            if self == ArmAuthorizerServerResult.Result.SUCCESS:
+                return arm_authorizer_server_pb2.ArmAuthorizerServerResult.RESULT_SUCCESS
+            if self == ArmAuthorizerServerResult.Result.FAILED:
+                return arm_authorizer_server_pb2.ArmAuthorizerServerResult.RESULT_FAILED
+
+        @staticmethod
+        def translate_from_rpc(rpc_enum_value):
+            """ Parses a gRPC response """
+            if rpc_enum_value == arm_authorizer_server_pb2.ArmAuthorizerServerResult.RESULT_UNKNOWN:
+                return ArmAuthorizerServerResult.Result.UNKNOWN
+            if rpc_enum_value == arm_authorizer_server_pb2.ArmAuthorizerServerResult.RESULT_SUCCESS:
+                return ArmAuthorizerServerResult.Result.SUCCESS
+            if rpc_enum_value == arm_authorizer_server_pb2.ArmAuthorizerServerResult.RESULT_FAILED:
+                return ArmAuthorizerServerResult.Result.FAILED
+
+        def __str__(self):
+            return self.name
+
+
+    def __init__(
+            self,
+            result,
+            result_str):
+        """ Initializes the ArmAuthorizerServerResult object """
+        self.result = result
+        self.result_str = result_str
+
+    def __eq__(self, to_compare):
+        """ Checks if two ArmAuthorizerServerResult are the same """
+        try:
+            # Try to compare - this likely fails when it is compared to a non
+            # ArmAuthorizerServerResult object
+            return \
+                (self.result == to_compare.result) and \
+                (self.result_str == to_compare.result_str)
+
+        except AttributeError:
+            return False
+
+    def __str__(self):
+        """ ArmAuthorizerServerResult in string representation """
+        struct_repr = ", ".join([
+                "result: " + str(self.result),
+                "result_str: " + str(self.result_str)
+                ])
+
+        return f"ArmAuthorizerServerResult: [{struct_repr}]"
+
+    @staticmethod
+    def translate_from_rpc(rpcArmAuthorizerServerResult):
+        """ Translates a gRPC struct to the SDK equivalent """
+        return ArmAuthorizerServerResult(
+
+                ArmAuthorizerServerResult.Result.translate_from_rpc(rpcArmAuthorizerServerResult.result),
+
+
+                rpcArmAuthorizerServerResult.result_str
+                )
+
+    def translate_to_rpc(self, rpcArmAuthorizerServerResult):
+        """ Translates this SDK object into its gRPC equivalent """
+
+
+
+
+        rpcArmAuthorizerServerResult.result = self.result.translate_to_rpc()
+
+
+
+
+
+        rpcArmAuthorizerServerResult.result_str = self.result_str
+
+
+
+
+
+
+class ArmAuthorizerServerError(Exception):
+    """ Raised when a ArmAuthorizerServerResult is a fail code """
+
+    def __init__(self, result, origin, *params):
+        self._result = result
+        self._origin = origin
+        self._params = params
+
+    def __str__(self):
+        return f"{self._result.result}: '{self._result.result_str}'; origin: {self._origin}; params: {self._params}"
+
+
+class ArmAuthorizerServer(AsyncBase):
+    """
+ 
+
+     Generated by dcsdkgen - MAVSDK ArmAuthorizerServer API
+    """
+
+    # Plugin name
+    name = "ArmAuthorizerServer"
+
+    def _setup_stub(self, channel):
+        """ Setups the api stub """
+        self._stub = arm_authorizer_server_pb2_grpc.ArmAuthorizerServerServiceStub(channel)
+
+
+    def _extract_result(self, response):
+        """ Returns the response status and description """
+        return ArmAuthorizerServerResult.translate_from_rpc(response.arm_authorizer_server_result)
+
+
+    async def arm_authorization(self):
+        """
+         Subscribe to arm authorization request messages. Each request received should respond to using RespondArmAuthorization
+
+         Yields
+         -------
+         system_id : uint32_t
+              vehicle system id
+
+         
+        """
+
+        request = arm_authorizer_server_pb2.SubscribeArmAuthorizationRequest()
+        arm_authorization_stream = self._stub.SubscribeArmAuthorization(request)
+
+        try:
+            async for response in arm_authorization_stream:
+
+
+
+                yield response.system_id
+        finally:
+            arm_authorization_stream.cancel()
+
+    async def accept_arm_authorization(self, valid_time_s):
+        """
+         Authorize arm for the specific time
+
+         Parameters
+         ----------
+         valid_time_s : int32_t
+              Time in seconds for which this authorization is valid
+
+         Raises
+         ------
+         ArmAuthorizerServerError
+             If the request fails. The error contains the reason for the failure.
+        """
+
+        request = arm_authorizer_server_pb2.AcceptArmAuthorizationRequest()
+        request.valid_time_s = valid_time_s
+        response = await self._stub.AcceptArmAuthorization(request)
+
+
+        result = self._extract_result(response)
+
+        if result.result != ArmAuthorizerServerResult.Result.SUCCESS:
+            raise ArmAuthorizerServerError(result, "accept_arm_authorization()", valid_time_s)
+
+
+    async def reject_arm_authorization(self, temporarily, reason, extra_info):
+        """
+         Reject arm authorization request
+
+         Parameters
+         ----------
+         temporarily : bool
+              True if the answer should be TEMPORARILY_REJECTED, false for DENIED
+
+         reason : RejectionReason
+              Reason for the arm to be rejected
+
+         extra_info : int32_t
+              Extra information specific to the rejection reason (see https://mavlink.io/en/services/arm_authorization.html)
+
+         Raises
+         ------
+         ArmAuthorizerServerError
+             If the request fails. The error contains the reason for the failure.
+        """
+
+        request = arm_authorizer_server_pb2.RejectArmAuthorizationRequest()
+        request.temporarily = temporarily
+
+        request.reason = reason.translate_to_rpc()
+
+
+        request.extra_info = extra_info
+        response = await self._stub.RejectArmAuthorization(request)
+
+
+        result = self._extract_result(response)
+
+        if result.result != ArmAuthorizerServerResult.Result.SUCCESS:
+            raise ArmAuthorizerServerError(result, "reject_arm_authorization()", temporarily, reason, extra_info)
+