Merge pull request #353 from mavlink/update-to-v0.40.0

Update mavsdk to v0.40.0

Author: JonasVautherin

MAVSDK_SERVER_VERSION

@@ -1,4 +1 @@
-v0.39.0
-
-
-
+v0.40.0

mavsdk/action.py

@@ -617,6 +617,36 @@ async def hold(self):
             raise ActionError(result, "hold()")
 
 
+    async def set_actuator(self, index, value):
+        """
+         Send command to set the value of an actuator.
+
+         Parameters
+         ----------
+         index : int32_t
+              Index of actuator (starting with 1)
+
+         value : float
+              Value to set the actuator to (normalized from [-1..1])
+
+         Raises
+         ------
+         ActionError
+             If the request fails. The error contains the reason for the failure.
+        """
+
+        request = action_pb2.SetActuatorRequest()
+        request.index = index
+        request.value = value
+        response = await self._stub.SetActuator(request)
+
+        
+        result = self._extract_result(response)
+
+        if result.result is not ActionResult.Result.SUCCESS:
+            raise ActionError(result, "set_actuator()", index, value)
+        
+
     async def transition_to_fixedwing(self):
         """
          Send command to transition the drone to fixedwing.

mavsdk/action_pb2.py

@@ -75,6 +75,11 @@ def __init__(self, channel):
                 request_serializer=action_dot_action__pb2.HoldRequest.SerializeToString,
                 response_deserializer=action_dot_action__pb2.HoldResponse.FromString,
                 )
+        self.SetActuator = channel.unary_unary(
+                '/mavsdk.rpc.action.ActionService/SetActuator',
+                request_serializer=action_dot_action__pb2.SetActuatorRequest.SerializeToString,
+                response_deserializer=action_dot_action__pb2.SetActuatorResponse.FromString,
+                )
         self.TransitionToFixedwing = channel.unary_unary(
                 '/mavsdk.rpc.action.ActionService/TransitionToFixedwing',
                 request_serializer=action_dot_action__pb2.TransitionToFixedwingRequest.SerializeToString,
@@ -258,6 +263,14 @@ def Hold(self, request, context):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def SetActuator(self, request, context):
+        """
+        Send command to set the value of an actuator.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
     def TransitionToFixedwing(self, request, context):
         """
         Send command to transition the drone to fixedwing.
@@ -393,6 +406,11 @@ def add_ActionServiceServicer_to_server(servicer, server):
                     request_deserializer=action_dot_action__pb2.HoldRequest.FromString,
                     response_serializer=action_dot_action__pb2.HoldResponse.SerializeToString,
             ),
+            'SetActuator': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetActuator,
+                    request_deserializer=action_dot_action__pb2.SetActuatorRequest.FromString,
+                    response_serializer=action_dot_action__pb2.SetActuatorResponse.SerializeToString,
+            ),
             'TransitionToFixedwing': grpc.unary_unary_rpc_method_handler(
                     servicer.TransitionToFixedwing,
                     request_deserializer=action_dot_action__pb2.TransitionToFixedwingRequest.FromString,
@@ -648,6 +666,23 @@ def Hold(request,
             options, channel_credentials,
             insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
 
+    @staticmethod
+    def SetActuator(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(request, target, '/mavsdk.rpc.action.ActionService/SetActuator',
+            action_dot_action__pb2.SetActuatorRequest.SerializeToString,
+            action_dot_action__pb2.SetActuatorResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
     @staticmethod
     def TransitionToFixedwing(request,
             target,

mavsdk/action_pb2_grpc.py

@@ -12,9 +12,6 @@ class ConnectionState:
 
      Parameters
      ----------
-     uuid : uint64_t
-          UUID of the vehicle
-
      is_connected : bool
           Whether the vehicle got connected or disconnected
 
@@ -24,10 +21,8 @@ class ConnectionState:
 
     def __init__(
             self,
-            uuid,
             is_connected):
         """ Initializes the ConnectionState object """
-        self.uuid = uuid
         self.is_connected = is_connected
 
     def __equals__(self, to_compare):
@@ -36,7 +31,6 @@ def __equals__(self, to_compare):
             # Try to compare - this likely fails when it is compared to a non
             # ConnectionState object
             return \
-                (self.uuid == to_compare.uuid) and \
                 (self.is_connected == to_compare.is_connected)
 
         except AttributeError:
@@ -45,7 +39,6 @@ def __equals__(self, to_compare):
     def __str__(self):
         """ ConnectionState in string representation """
         struct_repr = ", ".join([
-                "uuid: " + str(self.uuid),
                 "is_connected: " + str(self.is_connected)
                 ])
 
@@ -56,9 +49,6 @@ def translate_from_rpc(rpcConnectionState):
         """ Translates a gRPC struct to the SDK equivalent """
         return ConnectionState(
 
-                rpcConnectionState.uuid,
-                
-                
                 rpcConnectionState.is_connected
                 )
 
@@ -68,12 +58,6 @@ def translate_to_rpc(self, rpcConnectionState):
 
 
 
-        rpcConnectionState.uuid = self.uuid
-            
-        
-        
-        
-            
         rpcConnectionState.is_connected = self.is_connected
 
 

mavsdk/core.py

@@ -89,31 +89,38 @@ class Identification:
      hardware_uid : std::string
           UID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.
 
+     legacy_uid : uint64_t
+          Legacy UID of the hardware, referred to as uid in MAVLink (formerly exposed during system discovery as UUID).
+
      """
 
 
 
     def __init__(
             self,
-            hardware_uid):
+            hardware_uid,
+            legacy_uid):
         """ Initializes the Identification object """
         self.hardware_uid = hardware_uid
+        self.legacy_uid = legacy_uid
 
     def __equals__(self, to_compare):
         """ Checks if two Identification are the same """
         try:
             # Try to compare - this likely fails when it is compared to a non
             # Identification object
             return \
-                (self.hardware_uid == to_compare.hardware_uid)
+                (self.hardware_uid == to_compare.hardware_uid) and \
+                (self.legacy_uid == to_compare.legacy_uid)
 
         except AttributeError:
             return False
 
     def __str__(self):
         """ Identification in string representation """
         struct_repr = ", ".join([
-                "hardware_uid: " + str(self.hardware_uid)
+                "hardware_uid: " + str(self.hardware_uid),
+                "legacy_uid: " + str(self.legacy_uid)
                 ])
 
         return f"Identification: [{struct_repr}]"
@@ -123,7 +130,10 @@ def translate_from_rpc(rpcIdentification):
         """ Translates a gRPC struct to the SDK equivalent """
         return Identification(
 
-                rpcIdentification.hardware_uid
+                rpcIdentification.hardware_uid,
+                
+                
+                rpcIdentification.legacy_uid
                 )
 
     def translate_to_rpc(self, rpcIdentification):
@@ -136,6 +146,12 @@ def translate_to_rpc(self, rpcIdentification):
 
 
 
+        
+            
+        rpcIdentification.legacy_uid = self.legacy_uid
+            
+        
+        
 
 
 class Product: