Enable geofence in mavsdk_server (#870)

mavlink · Oct 7, 2019 · 57c8092 · 57c8092
1 parent b481ab8
commit 57c8092
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Showing 4 changed files with 13 additions and 5 deletions.
diff --git a/src/backend/src/CMakeLists.txt b/src/backend/src/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.1)
 
-set(COMPONENTS_LIST action calibration camera core gimbal info mission offboard param telemetry)
+set(COMPONENTS_LIST action calibration camera core geofence gimbal info mission offboard param telemetry)
 
 foreach(COMPONENT_NAME ${COMPONENTS_LIST})
     add_library(${COMPONENT_NAME}_proto_gens STATIC
@@ -43,6 +43,7 @@ target_link_libraries(mavsdk_server
     PRIVATE
     mavsdk_action
     mavsdk_calibration
+    mavsdk_geofence
     mavsdk_gimbal
     mavsdk_camera
     mavsdk_mission

diff --git a/src/backend/src/grpc_server.cpp b/src/backend/src/grpc_server.cpp
@@ -16,6 +16,7 @@ void GRPCServer::run()
     builder.RegisterService(&_core);
     builder.RegisterService(&_action_service);
     builder.RegisterService(&_calibration_service);
+    builder.RegisterService(&_geofence_service);
     builder.RegisterService(&_gimbal_service);
     builder.RegisterService(&_camera_service);
     builder.RegisterService(&_mission_service);

diff --git a/src/backend/src/grpc_server.h b/src/backend/src/grpc_server.h
@@ -16,6 +16,8 @@
 #include "mission/mission_service_impl.h"
 #include "telemetry/telemetry_service_impl.h"
 #include "info/info_service_impl.h"
+#include "plugins/geofence/geofence.h"
+#include "geofence/geofence_service_impl.h"
 #include "plugins/gimbal/gimbal.h"
 #include "gimbal/gimbal_service_impl.h"
 #include "plugins/param/param.h"
@@ -35,6 +37,8 @@ class GRPCServer {
         _action_service(_action),
         _calibration(_dc.system()),
         _calibration_service(_calibration),
+        _geofence(_dc.system()),
+        _geofence_service(_geofence),
         _gimbal(_dc.system()),
         _gimbal_service(_gimbal),
         _camera(_dc.system()),
@@ -64,10 +68,12 @@ class GRPCServer {
     ActionServiceImpl<> _action_service;
     Calibration _calibration;
     CalibrationServiceImpl<> _calibration_service;
-    Gimbal _gimbal;
-    GimbalServiceImpl<> _gimbal_service;
     Camera _camera;
     CameraServiceImpl<> _camera_service;
+    Geofence _geofence;
+    GeofenceServiceImpl<> _geofence_service;
+    Gimbal _gimbal;
+    GimbalServiceImpl<> _gimbal_service;
     Mission _mission;
     MissionServiceImpl<> _mission_service;
     Offboard _offboard;

diff --git a/src/plugins/geofence/include/plugins/geofence/geofence.h b/src/plugins/geofence/include/plugins/geofence/geofence.h
@@ -38,13 +38,13 @@ class Geofence : public PluginBase {
      * @brief Possible results returned for geofence requests.
      */
     enum class Result {
-        SUCCESS = 0, /**< @brief %Request succeeded. */
+        UNKNOWN = 0, /**< @brief %Unknown result. */
+        SUCCESS, /**< @brief %Request succeeded. */
         ERROR, /**< @brief Error. */
         TOO_MANY_GEOFENCE_ITEMS, /**< @brief Too many Polygon objects in the geofence. */
         BUSY, /**< @brief %Vehicle busy. */
         TIMEOUT, /**< @brief Request timed out. */
         INVALID_ARGUMENT, /**< @brief Invalid argument. */
-        UNKNOWN /**< @brief %Request succeeded. */
     };
 
     /**