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Enable geofence in mavsdk_server #870

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merged 1 commit into from
Oct 7, 2019
Merged

Enable geofence in mavsdk_server #870

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3 changes: 2 additions & 1 deletion src/backend/src/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -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
Expand Down Expand Up @@ -43,6 +43,7 @@ target_link_libraries(mavsdk_server
PRIVATE
mavsdk_action
mavsdk_calibration
mavsdk_geofence
mavsdk_gimbal
mavsdk_camera
mavsdk_mission
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1 change: 1 addition & 0 deletions src/backend/src/grpc_server.cpp
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Expand Up @@ -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);
Expand Down
10 changes: 8 additions & 2 deletions src/backend/src/grpc_server.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand All @@ -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()),
Expand Down Expand Up @@ -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;
Expand Down
4 changes: 2 additions & 2 deletions src/plugins/geofence/include/plugins/geofence/geofence.h
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Expand Up @@ -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. */
};

/**
Expand Down