Add gimbal support

backend/src/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.1)
 
-set(COMPONENTS_LIST core action calibration camera mission telemetry info)
+set(COMPONENTS_LIST core action calibration gimbal camera mission telemetry info)
 
 include(cmake/compile_proto.cmake)
 
@@ -38,6 +38,7 @@ target_link_libraries(backend
     dronecode_sdk
     dronecode_sdk_action
     dronecode_sdk_calibration
+    dronecode_sdk_gimbal
     dronecode_sdk_camera
     dronecode_sdk_mission
     dronecode_sdk_telemetry

backend/src/core/core_service_impl.h

@@ -43,8 +43,8 @@ class CoreServiceImpl final : public dronecode_sdk::rpc::core::CoreService::Serv
                        const rpc::core::ListRunningPluginsRequest * /* request */,
                        dronecode_sdk::rpc::core::ListRunningPluginsResponse *response) override
     {
-        std::string plugin_names[7] = {
-            "action", "calibration", "camera", "core", "mission", "telemetry", "info"};
+        std::string plugin_names[8] = {
+            "action", "calibration", "gimbal", "camera", "core", "mission", "telemetry", "info"};
 
         for (const auto plugin_name : plugin_names) {
             auto plugin_info = response->add_plugin_info();

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(&_gimbal_service);
     builder.RegisterService(&_camera_service);
     builder.RegisterService(&_mission_service);
     builder.RegisterService(&_telemetry_service);

backend/src/grpc_server.h

@@ -15,6 +15,8 @@
 #include "mission/mission_service_impl.h"
 #include "telemetry/telemetry_service_impl.h"
 #include "info/info_service_impl.h"
+#include "plugins/gimbal/gimbal.h"
+#include "gimbal/gimbal_service_impl.h"
 
 namespace dronecode_sdk {
 namespace backend {
@@ -28,6 +30,8 @@ class GRPCServer {
         _action_service(_action),
         _calibration(_dc.system()),
         _calibration_service(_calibration),
+        _gimbal(_dc.system()),
+        _gimbal_service(_gimbal),
         _camera(_dc.system()),
         _camera_service(_camera),
         _mission(_dc.system()),
@@ -51,6 +55,8 @@ class GRPCServer {
     ActionServiceImpl<> _action_service;
     Calibration _calibration;
     CalibrationServiceImpl<> _calibration_service;
+    Gimbal _gimbal;
+    GimbalServiceImpl<> _gimbal_service;
     Camera _camera;
     CameraServiceImpl<> _camera_service;
     Mission _mission;

backend/src/plugins/gimbal/gimbal_service_impl.h

@@ -0,0 +1,41 @@
+#include "plugins/gimbal/gimbal.h"
+#include "gimbal/gimbal.grpc.pb.h"
+
+namespace dronecode_sdk {
+namespace backend {
+
+template<typename Gimbal = Gimbal>
+class GimbalServiceImpl final : public rpc::gimbal::GimbalService::Service {
+public:
+    GimbalServiceImpl(Gimbal &gimbal) : _gimbal(gimbal) {}
+
+    grpc::Status SetPitchAndYaw(grpc::ServerContext * /*  context */,
+                                const rpc::gimbal::SetPitchAndYawRequest *request,
+                                rpc::gimbal::SetPitchAndYawResponse *response) override
+    {
+        if (request != nullptr) {
+            const auto requested_gimbal_pitch = request->pitch_deg();
+            const auto requested_gimbal_yaw = request->yaw_deg();
+
+            const auto gimbal_result =
+                _gimbal.set_pitch_and_yaw(requested_gimbal_pitch, requested_gimbal_yaw);
+
+            if (response != nullptr) {
+                auto *rpc_gimbal_result = new rpc::gimbal::GimbalResult();
+                rpc_gimbal_result->set_result(
+                    static_cast<rpc::gimbal::GimbalResult::Result>(gimbal_result));
+                rpc_gimbal_result->set_result_str(dronecode_sdk::Gimbal::result_str(gimbal_result));
+
+                response->set_allocated_gimbal_result(rpc_gimbal_result);
+            }
+        }
+
+        return grpc::Status::OK;
+    }
+
+private:
+    Gimbal &_gimbal;
+};
+
+} // namespace backend
+} // namespace dronecode_sdk