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Merge pull request mavlink#377 from dronecore/add-action-features
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Add action features
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@julianoes
julianoes authored May 3, 2018
2 parents 24367f7 + 43750ee commit a563d2f
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Showing 3 changed files with 466 additions and 23 deletions.
163 changes: 140 additions & 23 deletions backend/src/plugins/action/action_service_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,61 +5,178 @@ namespace dronecore {
namespace backend {

template <typename Action = Action>
class ActionServiceImpl final : public dronecore::rpc::action::ActionService::Service
class ActionServiceImpl final : public rpc::action::ActionService::Service
{
public:
ActionServiceImpl(const Action &action)
ActionServiceImpl(Action &action)
: _action(action) {}

grpc::Status Arm(grpc::ServerContext * /* context */,
const dronecore::rpc::action::ArmRequest * /* request */,
dronecore::rpc::action::ArmResponse *response)
const rpc::action::ArmRequest * /* request */,
rpc::action::ArmResponse *response) override
{
auto action_result = _action.arm();
auto rpc_result = static_cast<dronecore::rpc::action::ActionResult::Result>(action_result);

auto *rpc_action_result = new dronecore::rpc::action::ActionResult();
if (response != nullptr) {
fillResponseWithResult(response, action_result);
}

return grpc::Status::OK;
}

template <typename ResponseType>
void fillResponseWithResult(ResponseType *response, ActionResult &action_result) const
{
auto rpc_result = static_cast<rpc::action::ActionResult::Result>(action_result);

auto *rpc_action_result = new rpc::action::ActionResult();
rpc_action_result->set_result(rpc_result);
rpc_action_result->set_result_str(dronecore::action_result_str(action_result));
rpc_action_result->set_result_str(action_result_str(action_result));

response->set_allocated_action_result(rpc_action_result);
}

grpc::Status Disarm(grpc::ServerContext * /* context */,
const rpc::action::DisarmRequest * /* request */,
rpc::action::DisarmResponse *response) override
{
auto action_result = _action.disarm();

if (response != nullptr) {
fillResponseWithResult(response, action_result);
}

return grpc::Status::OK;
}

grpc::Status Takeoff(grpc::ServerContext * /* context */,
const dronecore::rpc::action::TakeoffRequest * /* request */,
dronecore::rpc::action::TakeoffResponse *response)
const rpc::action::TakeoffRequest * /* request */,
rpc::action::TakeoffResponse *response) override
{
auto action_result = _action.takeoff();
auto rpc_result = static_cast<dronecore::rpc::action::ActionResult::Result>(action_result);

auto *rpc_action_result = new dronecore::rpc::action::ActionResult();
rpc_action_result->set_result(rpc_result);
rpc_action_result->set_result_str(dronecore::action_result_str(action_result));

response->set_allocated_action_result(rpc_action_result);
if (response != nullptr) {
fillResponseWithResult(response, action_result);
}

return grpc::Status::OK;
}

grpc::Status Land(grpc::ServerContext * /* context */,
const dronecore::rpc::action::LandRequest * /* request */,
dronecore::rpc::action::LandResponse *response)
const rpc::action::LandRequest * /* request */,
rpc::action::LandResponse *response) override
{
auto action_result = _action.land();
auto rpc_result = static_cast<dronecore::rpc::action::ActionResult::Result>(action_result);

auto *rpc_action_result = new dronecore::rpc::action::ActionResult();
rpc_action_result->set_result(rpc_result);
rpc_action_result->set_result_str(dronecore::action_result_str(action_result));
if (response != nullptr) {
fillResponseWithResult(response, action_result);
}

response->set_allocated_action_result(rpc_action_result);
return grpc::Status::OK;
}

grpc::Status Kill(grpc::ServerContext * /* context */,
const rpc::action::KillRequest * /* request */,
rpc::action::KillResponse *response) override
{
auto action_result = _action.kill();

if (response != nullptr) {
fillResponseWithResult(response, action_result);
}

return grpc::Status::OK;
}

grpc::Status ReturnToLaunch(grpc::ServerContext * /* context */,
const rpc::action::ReturnToLaunchRequest * /* request */,
rpc::action::ReturnToLaunchResponse *response) override
{
auto action_result = _action.return_to_launch();

if (response != nullptr) {
fillResponseWithResult(response, action_result);
}

return grpc::Status::OK;
}

grpc::Status TransitionToFixedWings(grpc::ServerContext * /* context */,
const rpc::action::TransitionToFixedWingsRequest * /* request */,
rpc::action::TransitionToFixedWingsResponse *response) override
{
auto action_result = _action.transition_to_fixedwing();

if (response != nullptr) {
fillResponseWithResult(response, action_result);
}

return grpc::Status::OK;
}

grpc::Status TransitionToMulticopter(grpc::ServerContext * /* context */,
const rpc::action::TransitionToMulticopterRequest * /* request */,
rpc::action::TransitionToMulticopterResponse *response) override
{
auto action_result = _action.transition_to_multicopter();

if (response != nullptr) {
fillResponseWithResult(response, action_result);
}

return grpc::Status::OK;
}

grpc::Status GetTakeoffAltitude(grpc::ServerContext * /* context */,
const rpc::action::GetTakeoffAltitudeRequest * /* request */,
rpc::action::GetTakeoffAltitudeResponse *response) override
{
if (response != nullptr) {
auto takeoff_altitude = _action.get_takeoff_altitude_m();
response->set_altitude_m(takeoff_altitude);
}

return grpc::Status::OK;
}

grpc::Status SetTakeoffAltitude(grpc::ServerContext * /* context */,
const rpc::action::SetTakeoffAltitudeRequest *request,
rpc::action::SetTakeoffAltitudeResponse * /* response */) override
{
if (request != nullptr) {
const auto requested_altitude = request->altitude_m();
_action.set_takeoff_altitude(requested_altitude);
}

return grpc::Status::OK;
}

grpc::Status GetMaximumSpeed(grpc::ServerContext * /* context */,
const rpc::action::GetMaximumSpeedRequest * /* request */,
rpc::action::GetMaximumSpeedResponse *response) override
{
if (response != nullptr) {
auto max_speed = _action.get_max_speed_m_s();
response->set_speed_m_s(max_speed);
}

return grpc::Status::OK;
}

grpc::Status SetMaximumSpeed(grpc::ServerContext * /* context */,
const rpc::action::SetMaximumSpeedRequest *request,
rpc::action::SetMaximumSpeedResponse * /* response */) override
{
if (request != nullptr) {
const auto requested_speed = request->speed_m_s();
_action.set_max_speed(requested_speed);
}

return grpc::Status::OK;
}

private:
const Action &_action;
Action &_action;
};

} // namespace backend
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