Ehung/no dji

Package.swift

@@ -26,14 +26,24 @@ let package = Package(
   ],
   dependencies: [
     .package(url: "https://github.com/grpc/grpc-swift", from: "1.0.0"),
-    .package(url: "https://github.com/ReactiveX/RxSwift.git", from: "6.5.0")
+    .package(url: "https://github.com/ReactiveX/RxSwift.git", from: "6.5.0"),
+    .package(url: "https://github.com/apple/swift-protobuf.git", .exact("1.19.0")),
+    .package(url: "https://github.com/apple/swift-nio.git", .exact("2.40.0")),
+    .package(url: "https://github.com/apple/swift-nio-extras.git", .exact("1.12.1")),
+    .package(url: "https://github.com/apple/swift-nio-http2.git", .exact("1.22.0")),
+    .package(url: "https://github.com/apple/swift-log.git", .exact("1.4.2")),
   ],
   targets: [
     .target(name: "Mavsdk",
             dependencies: [
+                "MavsdkServer",
                 .product(name: "GRPC", package: "grpc-swift"),
                 .product(name: "RxSwift", package: "RxSwift"),
-                .product(name: "RxBlocking", package: "RxSwift")
+                .product(name: "SwiftProtobuf", package: "swift-protobuf"),
+                .product(name: "NIO", package: "swift-nio"),
+                .product(name: "NIOExtras", package: "swift-nio-extras"),
+                .product(name: "NIOHTTP2", package: "swift-nio-http2"),
+                .product(name: "Logging", package: "swift-log"),
             ],
             exclude: [
               "proto",
@@ -47,8 +57,8 @@ let package = Package(
             ]
     ),
     .binaryTarget(name: "mavsdk_server",
-                      url: "https://github.com/mavlink/MAVSDK/releases/download/v1.4.4/mavsdk_server.xcframework.zip",
-                      checksum: "a8c116952919a415a4d8bf166831f0ba4e87c26f4ba33f07aacec9073bc45be6"),
+                      url: "https://github.com/Esri/MAVSDK-Swift/releases/download/1.2.0-appleSilicone/mavsdk_server.xcframework.zip",
+                      checksum: "6b317ae5c4fece38f877f07457997c23b8012d0685d0f14e7df38665d3000b64"),
     .testTarget(name: "MavsdkTests",
                 dependencies: [
                   "Mavsdk",

Sources/Mavsdk/Drone.swift

@@ -4,12 +4,13 @@ import MavsdkServer
 
 public class Drone {
     private let scheduler: SchedulerType
-    private var mavsdkServer: MavsdkServer?
+    public var mavsdkServer: MavsdkServer?
 
     public var action: Action!
     public var calibration: Calibration!
     public var camera: Camera!
     public var core: Core!
+    public var failure: Failure!
     public var followMe: FollowMe!
     public var ftp: Ftp!
     public var geofence: Geofence!
@@ -22,8 +23,10 @@ public class Drone {
     public var mocap: Mocap!
     public var offboard: Offboard!
     public var param: Param!
+    public var rtk: Rtk!
     public var shell: Shell!
     public var telemetry: Telemetry!
+    public var transponder: Transponder!
     public var tune: Tune!
 
     public init(scheduler: SchedulerType = ConcurrentDispatchQueueScheduler(qos: .background)) {
@@ -76,6 +79,7 @@ public class Drone {
         self.calibration = Calibration(address: address, port: port, scheduler: scheduler)
         self.camera = Camera(address: address, port: port, scheduler: scheduler)
         self.core = Core(address: address, port: port, scheduler: scheduler)
+        self.failure = Failure(address: address, port: port, scheduler: scheduler)
         self.followMe = FollowMe(address: address, port: port, scheduler: scheduler)
         self.ftp = Ftp(address: address, port: port, scheduler: scheduler)
         self.geofence = Geofence(address: address, port: port, scheduler: scheduler)
@@ -88,8 +92,10 @@ public class Drone {
         self.mocap = Mocap(address: address, port: port, scheduler: scheduler)
         self.offboard = Offboard(address: address, port: port, scheduler: scheduler)
         self.param = Param(address: address, port: port, scheduler: scheduler)
+        self.rtk = Rtk(address: address, port: port, scheduler: scheduler)
         self.shell = Shell(address: address, port: port, scheduler: scheduler)
         self.telemetry = Telemetry(address: address, port: port, scheduler: scheduler)
+        self.transponder = Transponder(address: address, port: port, scheduler: scheduler)
         self.tune = Tune(address: address, port: port, scheduler: scheduler)
     }
 

Sources/Mavsdk/Generated/Param.swift

@@ -158,11 +158,64 @@ public class Param {
     }
 
     /**
-     Type collecting all integer and float parameters.
+     Type for custom parameters
+     */
+    public struct CustomParam: Equatable {
+        public let name: String
+        public let value: String
+
+
+
+        /**
+         Initializes a new `CustomParam`.
+
+
+         - Parameters:
+
+            - name:  Name of the parameter
+
+            - value:  Value of the parameter (max len 128 bytes)
+
+
+         */
+        public init(name: String, value: String) {
+            self.name = name
+            self.value = value
+        }
+
+        internal var rpcCustomParam: Mavsdk_Rpc_Param_CustomParam {
+            var rpcCustomParam = Mavsdk_Rpc_Param_CustomParam()
+
+
+            rpcCustomParam.name = name
+
+
+
+
+            rpcCustomParam.value = value
+
+
+
+            return rpcCustomParam
+        }
+
+        internal static func translateFromRpc(_ rpcCustomParam: Mavsdk_Rpc_Param_CustomParam) -> CustomParam {
+            return CustomParam(name: rpcCustomParam.name, value: rpcCustomParam.value)
+        }
+
+        public static func == (lhs: CustomParam, rhs: CustomParam) -> Bool {
+            return lhs.name == rhs.name
+                && lhs.value == rhs.value
+        }
+    }
+
+    /**
+     Type collecting all integer, float, and custom parameters.
      */
     public struct AllParams: Equatable {
         public let intParams: [IntParam]
         public let floatParams: [FloatParam]
+        public let customParams: [CustomParam]
 
 
 
@@ -176,11 +229,14 @@ public class Param {
 
             - floatParams:  Collection of all parameter names and values of type float
 
+            - customParams:  Collection of all parameter names and values of type custom
+
 
          */
-        public init(intParams: [IntParam], floatParams: [FloatParam]) {
+        public init(intParams: [IntParam], floatParams: [FloatParam], customParams: [CustomParam]) {
             self.intParams = intParams
             self.floatParams = floatParams
+            self.customParams = customParams
         }
 
         internal var rpcAllParams: Mavsdk_Rpc_Param_AllParams {
@@ -195,17 +251,23 @@ public class Param {
             rpcAllParams.floatParams = floatParams.map{ $0.rpcFloatParam }
 
 
+
+
+            rpcAllParams.customParams = customParams.map{ $0.rpcCustomParam }
+
+
 
             return rpcAllParams
         }
 
         internal static func translateFromRpc(_ rpcAllParams: Mavsdk_Rpc_Param_AllParams) -> AllParams {
-            return AllParams(intParams: rpcAllParams.intParams.map{ IntParam.translateFromRpc($0) }, floatParams: rpcAllParams.floatParams.map{ FloatParam.translateFromRpc($0) })
+            return AllParams(intParams: rpcAllParams.intParams.map{ IntParam.translateFromRpc($0) }, floatParams: rpcAllParams.floatParams.map{ FloatParam.translateFromRpc($0) }, customParams: rpcAllParams.customParams.map{ CustomParam.translateFromRpc($0) })
         }
 
         public static func == (lhs: AllParams, rhs: AllParams) -> Bool {
             return lhs.intParams == rhs.intParams
                 && lhs.floatParams == rhs.floatParams
+                && lhs.customParams == rhs.customParams
         }
     }
 
@@ -237,6 +299,8 @@ public class Param {
             case paramNameTooLong
             ///  No system connected.
             case noSystem
+            ///  Param value too long (> 128).
+            case paramValueTooLong
             case UNRECOGNIZED(Int)
 
             internal var rpcResult: Mavsdk_Rpc_Param_ParamResult.Result {
@@ -255,6 +319,8 @@ public class Param {
                     return .paramNameTooLong
                 case .noSystem:
                     return .noSystem
+                case .paramValueTooLong:
+                    return .paramValueTooLong
                 case .UNRECOGNIZED(let i):
                     return .UNRECOGNIZED(i)
                 }
@@ -276,6 +342,8 @@ public class Param {
                     return .paramNameTooLong
                 case .noSystem:
                     return .noSystem
+                case .paramValueTooLong:
+                    return .paramValueTooLong
                 case .UNRECOGNIZED(let i):
                     return .UNRECOGNIZED(i)
                 }
@@ -495,6 +563,90 @@ public class Param {
         }
     }
 
+    /**
+     Get a custom parameter.
+
+     If the type is wrong, the result will be `WRONG_TYPE`.
+
+     - Parameter name: Name of the parameter
+
+     */
+    public func getParamCustom(name: String) -> Single<String> {
+        return Single<String>.create { single in
+            var request = Mavsdk_Rpc_Param_GetParamCustomRequest()
+
+
+
+            request.name = name
+
+
+
+            do {
+                let response = self.service.getParamCustom(request)
+
+
+                let result = try response.response.wait().paramResult
+                if (result.result != Mavsdk_Rpc_Param_ParamResult.Result.success) {
+                    single(.failure(ParamError(code: ParamResult.Result.translateFromRpc(result.result), description: result.resultStr)))
+
+                    return Disposables.create()
+                }
+
+
+    	    let value = try response.response.wait().value
+
+                single(.success(value))
+            } catch {
+                single(.failure(error))
+            }
+
+            return Disposables.create()
+        }
+    }
+
+    /**
+     Set a custom parameter.
+
+     If the type is wrong, the result will be `WRONG_TYPE`.
+
+     - Parameters:
+        - name: Name of the parameter to set
+        - value: Value the parameter should be set to
+
+     */
+    public func setParamCustom(name: String, value: String) -> Completable {
+        return Completable.create { completable in
+            var request = Mavsdk_Rpc_Param_SetParamCustomRequest()
+
+
+
+            request.name = name
+
+
+
+            request.value = value
+
+
+
+            do {
+
+                let response = self.service.setParamCustom(request)
+
+                let result = try response.response.wait().paramResult
+                if (result.result == Mavsdk_Rpc_Param_ParamResult.Result.success) {
+                    completable(.completed)
+                } else {
+                    completable(.error(ParamError(code: ParamResult.Result.translateFromRpc(result.result), description: result.resultStr)))
+                }
+
+            } catch {
+                completable(.error(error))
+            }
+
+            return Disposables.create()
+        }
+    }
+
     /**
      Get all parameters.