grpc : Dynamic plugin loading

Split proto files(one for each plugin), load plugins based on plugins.conf file

grpc/proto/action.proto

@@ -0,0 +1,30 @@
+syntax = "proto3";
+
+package dronecorerpc;
+
+service ActionRPC {
+    rpc Arm(ActionEmpty) returns(ActionResult) {}
+    rpc TakeOff(ActionEmpty) returns(ActionResult) {}
+    rpc Land(ActionEmpty) returns(ActionResult) {}
+}
+
+// FIXME these different Empty types are ugly
+message ActionEmpty {}
+
+message ActionResult {
+
+    enum Result {
+        SUCCESS = 0;
+        NO_DEVICE = 1;
+        CONNECTION_ERROR = 2;
+        BUSY = 3;
+        COMMAND_DENIED = 4;
+        COMMAND_DENIED_LANDED_STATE_UNKNOWN = 5;
+        COMMAND_DENIED_NOT_LANDED = 6;
+        TIMEOUT = 7;
+        UNKNOWN = 8;
+    }
+    Result result = 1;
+    string result_str = 2;
+}
+

grpc/proto/dronecore.proto

@@ -5,68 +5,6 @@ package dronecorerpc;
 
 // Interface exported by the server.
 service DroneCoreRPC {
-    rpc Arm(Empty) returns(ActionResult) {}
-    rpc TakeOff(Empty) returns(ActionResult) {}
-    rpc Land(Empty) returns(ActionResult) {}
-    rpc SendMission(Mission) returns(MissionResult) {}
-    rpc StartMission(Empty) returns(MissionResult) {}
 }
 
 message Empty {}
-
-message ActionResult {
-
-    enum Result {
-        Result_SUCCESS = 0;
-        Result_NO_DEVICE = 1;
-        Result_CONNECTION_ERROR = 2;
-        Result_BUSY = 3;
-        Result_COMMAND_DENIED = 4;
-        Result_COMMAND_DENIED_LANDED_STATE_UNKNOWN = 5;
-        Result_COMMAND_DENIED_NOT_LANDED = 6;
-        Result_TIMEOUT = 7;
-        Result_UNKNOWN = 8;
-    }
-    Result result = 1;
-    string result_str = 2;
-}
-
-message MissionResult {
-
-    enum Result {
-        Result_SUCCESS = 0;
-        Result_ERROR = 1;
-        Result_TOO_MANY_MISSION_ITEMS = 2;
-        Result_BUSY = 3;
-        Result_TIMEOUT = 4;
-        Result_INVALID_ARGUMENT = 5;
-        Result_UNKNOWN = 6;
-    }
-    Result result = 1;
-    string result_str = 2;
-}
-
-message MissionItem {
-
-    enum CameraAction {
-        CameraAction_TAKE_PHOTO = 0;
-        CameraAction_START_PHOTO_INTERVAL = 1;
-        CameraAction_STOP_PHOTO_INTERVAL = 2;
-        CameraAction_START_VIDEO = 3;
-        CameraAction_STOP_VIDEO = 4;
-        CameraAction_NONE = 5;
-    }
-
-    double latitude_deg = 1;
-    double longitude_deg = 2;
-    double relative_altitude_m = 3;
-    float speed_m_s = 4;
-    bool is_fly_through = 5;
-    float gimbal_pitch_deg = 6;
-    float gimbal_yaw_deg = 7;
-    CameraAction camera_action = 8;
-}
-
-message Mission {
-    repeated MissionItem mission_items = 1;
-}

grpc/proto/mission.proto

@@ -0,0 +1,51 @@
+syntax = "proto3";
+
+package dronecorerpc;
+
+service MissionRPC {
+    rpc SendMission(Mission) returns(MissionResult) {}
+    rpc StartMission(MissionEmpty) returns(MissionResult) {}
+}
+
+message MissionEmpty {}
+
+message MissionResult {
+
+    enum Result {
+        SUCCESS = 0;
+        ERROR = 1;
+        TOO_MANY_MISSION_ITEMS = 2;
+        BUSY = 3;
+        TIMEOUT = 4;
+        INVALID_ARGUMENT = 5;
+        UNKNOWN = 6;
+    }
+    Result result = 1;
+    string result_str = 2;
+}
+
+message MissionItem {
+    double latitude_deg = 1;
+    double longitude_deg = 2;
+    double relative_altitude_m = 3;
+    float speed_m_s = 4;
+    bool is_fly_through = 5;
+    float gimbal_pitch_deg = 6;
+    float gimbal_yaw_deg = 7;
+
+    enum CameraAction {
+        NONE = 0;
+        TAKE_PHOTO = 1;
+        START_PHOTO_INTERVAL = 2;
+        STOP_PHOTO_INTERVAL = 3;
+        START_VIDEO = 4;
+        STOP_VIDEO = 5;
+    }
+    CameraAction camera_action = 8;
+}
+
+message Mission {
+    repeated MissionItem mission_items = 1;
+}
+
+

grpc/proto/plugins.conf

@@ -0,0 +1,3 @@
+telemetry
+action
+mission

grpc/proto/telemetry.proto

@@ -0,0 +1,16 @@
+syntax = "proto3";
+
+package dronecorerpc;
+
+service TelemetryRPC {
+    rpc TelemetryPositionSubscription(TelemetryEmpty) returns(stream TelemetryPosition) {}
+}
+
+message TelemetryEmpty {}
+
+message TelemetryPosition {
+    double latitude_deg = 1;
+    double longitude_deg = 2;
+    float absolute_altitude_m = 3;
+    float relative_altitude_m = 4;
+}

grpc/python_client/CMakeLists.txt

@@ -16,4 +16,33 @@ if(${PYTHONINTERP_FOUND})
             ${proto_dir}/dronecore.proto
         DEPENDS ${proto_dir}/dronecore.proto
     )
+    add_custom_command(TARGET pydronecore
+        COMMAND ${PYTHON_EXECUTABLE}
+            -m grpc_tools.protoc
+            -I ${proto_dir}
+            --python_out=.
+            --grpc_python_out=.
+            ${proto_dir}/action.proto
+        DEPENDS ${proto_dir}/action.proto
+    )
+
+    add_custom_command(TARGET pydronecore
+        COMMAND ${PYTHON_EXECUTABLE}
+            -m grpc_tools.protoc
+            -I ${proto_dir}
+            --python_out=.
+            --grpc_python_out=.
+            ${proto_dir}/mission.proto
+        DEPENDS ${proto_dir}/mission.proto
+    )
+
+    add_custom_command(TARGET pydronecore
+        COMMAND ${PYTHON_EXECUTABLE}
+            -m grpc_tools.protoc
+            -I ${proto_dir}
+            --python_out=.
+            --grpc_python_out=.
+            ${proto_dir}/telemetry.proto
+        DEPENDS ${proto_dir}/telemetry.proto
+    )
 endif()

grpc/python_client/async_client.py

@@ -4,15 +4,44 @@
 import grpc
 import time
 import dronecore_pb2 as dc
-import dronecore_pb2_grpc
+#import dronecore_pb2_grpc
+# import dronecore_pb2_grpc
+import action_pb2 as dc_action
+import action_pb2_grpc
+import telemetry_pb2 as dc_telemetry
+import telemetry_pb2_grpc
+
+class Colors:
+    BLUE = "\033[34m"
+    RESET = "\033[0m"
 
 def wait_until(status):
     ret = status.result()
     return ret
 
+def print_altitude(telemetry_stub, stop):
+    for i, position in enumerate(
+        telemetry_stub.TelemetryPositionSubscription(
+            dc_telemetry.TelemetryEmpty())):
+        # Position updates with SITL are too fast, we skip 9/10.
+        if i % 10 == 0:
+            print(Colors.BLUE, end="")
+            print("Got relative altitude: {:.2f} m".
+                  format(position.relative_altitude_m))
+            print(Colors.RESET, end="")
+        if stop.is_set():
+            break
+
 def run():
     channel = grpc.insecure_channel('0.0.0.0:50051')
-    stub = dronecore_pb2_grpc.DroneCoreRPCStub(channel)
+#    stub = dronecore_pb2_grpc.DroneCoreRPCStub(channel)
+    action_stub = action_pb2_grpc.ActionRPCStub(channel)
+    telemetry_stub = telemetry_pb2_grpc.TelemetryRPCStub(channel)
+
+    # We use this stop event later to stop the thread.
+    t_stop = threading.Event()
+    t = threading.Thread(target=print_altitude, args=(telemetry_stub, t_stop))
+    t.start()
 
     arm_result = stub.Arm.future(dc.Empty())
     arm_result = wait_until(arm_result)
@@ -38,7 +67,7 @@ def run():
         print("landing ok")
     else:
         print("landing failed: " + land_result.result_str)
-
+    time.sleep(3)
 
 if __name__ == '__main__':
     run()

grpc/python_client/fly_mission.py

@@ -6,7 +6,12 @@
 from threading import Thread
 import time
 import dronecore_pb2 as dc
-import dronecore_pb2_grpc
+#import dronecore_pb2_grpc
+# import dronecore_pb2_grpc
+import action_pb2 as dc_action
+import action_pb2_grpc
+import mission_pb2 as dc_mission
+import mission_pb2_grpc
 
 
 thread_status = True
@@ -22,7 +27,9 @@ def wait_func(future_status):
 def run():
     global thread_status
     channel = grpc.insecure_channel('0.0.0.0:50051')
-    stub = dronecore_pb2_grpc.DroneCoreRPCStub(channel)
+#    stub = dronecore_pb2_grpc.DroneCoreRPCStub(channel)
+    action_stub = action_pb2_grpc.ActionRPCStub(channel)
+    mission_stub = mission_pb2_grpc.MissionRPCStub(channel)
 
     mission_items = []
 
@@ -86,13 +93,13 @@ def run():
         gimbal_yaw_deg=0,
         camera_action=dc.MissionItem.CameraAction_STOP_PHOTO_INTERVAL))
 
-    stub.SendMission(dc.Mission(mission_items=mission_items))
+    mission_stub.SendMission(dc.Mission(mission_items=mission_items))
     time.sleep(1)
 
-    stub.Arm(dc.Empty())
+    action_stub.Arm(dc.Empty())
     time.sleep(1)
 
-    future_status = stub.StartMission.future(dc.Empty())
+    future_status = mission_stub.StartMission.future(dc_mission.MissionEmpty())
     t = Thread(target=wait_func, args=(future_status,))
     t.start()
 

grpc/python_client/sync_client.py

@@ -4,30 +4,32 @@
 import grpc
 import time
 import dronecore_pb2 as dc
-import dronecore_pb2_grpc
-
+#import dronecore_pb2_grpc
+import action_pb2 as dc_action
+import action_pb2_grpc
 
 def run():
     channel = grpc.insecure_channel('0.0.0.0:50051')
-    stub = dronecore_pb2_grpc.DroneCoreRPCStub(channel)
+#    stub = dronecore_pb2_grpc.DroneCoreRPCStub(channel)
+	action_stub = action_pb2_grpc.ActionRPCStub(channel)
 
-    arm_result = stub.Arm(dc.Empty())
+    arm_result = action_stub.Arm(dc.Empty())
     if arm_result.result == dc.ActionResult.SUCCESS:
         print("arming ok")
     else:
         print("arming failed: " + arm_result.result_str)
 
     time.sleep(2)
 
-    takeoff_result = stub.TakeOff(dc.Empty())
+    takeoff_result = action_stub.TakeOff(dc.Empty())
     if takeoff_result.result == dc.ActionResult.SUCCESS:
         print("takeoff ok")
     else:
         print("takeoff failed: " + takeoff_result.result_str)
 
     time.sleep(5)
 
-    land_result = stub.Land(dc.Empty())
+    land_result = action_stub.Land(dc.Empty())
     if land_result.result == dc.ActionResult.SUCCESS:
         print("landing ok")
     else: