core: consolidate components and usage types

This should make dealing with the configuration and components a bit
clearer.

Signed-off-by: Julian Oes <[email protected]>

src/integration_tests/camera_take_photo.cpp

@@ -12,17 +12,16 @@ TEST(CameraTest, TakePhotoSingle)
 {
     Mavsdk mavsdk_groundstation;
     mavsdk_groundstation.set_configuration(
-        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::GroundStation});
+        Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation});
 
     Mavsdk mavsdk_camera;
-    mavsdk_camera.set_configuration(
-        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::Camera});
+    mavsdk_camera.set_configuration(Mavsdk::Configuration{Mavsdk::ComponentType::Camera});
 
     ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);
     ASSERT_EQ(mavsdk_camera.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);
 
     auto camera_server =
-        CameraServer{mavsdk_camera.server_component_by_type(Mavsdk::ServerComponentType::Camera)};
+        CameraServer{mavsdk_camera.server_component_by_type(Mavsdk::ComponentType::Camera)};
     camera_server.subscribe_take_photo([&camera_server](int32_t index) {
         LogInfo() << "Let's take photo " << index;
 

src/integration_tests/connection.cpp

@@ -29,7 +29,7 @@ connection_test(const std::string& client_system_address, const std::string& ser
 {
     // Start instance as a UDP server pretending to be an autopilot
     Mavsdk mavsdk_server;
-    Mavsdk::Configuration config_autopilot(Mavsdk::Configuration::UsageType::Autopilot);
+    Mavsdk::Configuration config_autopilot(Mavsdk::ComponentType::Autopilot);
     mavsdk_server.set_configuration(config_autopilot);
     ConnectionResult ret_server = mavsdk_server.add_any_connection(server_system_address);
     ASSERT_EQ(ret_server, ConnectionResult::Success);

src/integration_tests/statustext.cpp

@@ -16,12 +16,12 @@ static const auto type = ServerUtility::StatusTextType::Info;
 TEST(StatusTextTest, TestServer)
 {
     Mavsdk mavsdk_gcs;
-    Mavsdk::Configuration config_gcs(Mavsdk::Configuration::UsageType::GroundStation);
+    Mavsdk::Configuration config_gcs(Mavsdk::ComponentType::GroundStation);
     mavsdk_gcs.set_configuration(config_gcs);
     ASSERT_EQ(mavsdk_gcs.add_udp_connection(24550), ConnectionResult::Success);
 
     Mavsdk mavsdk_onboard;
-    Mavsdk::Configuration config_onboard(Mavsdk::Configuration::UsageType::CompanionComputer);
+    Mavsdk::Configuration config_onboard(Mavsdk::ComponentType::CompanionComputer);
     mavsdk_onboard.set_configuration(config_onboard);
     ASSERT_EQ(mavsdk_onboard.setup_udp_remote("127.0.0.1", 24550), ConnectionResult::Success);
 

src/mavsdk/core/include/mavsdk/mavsdk.h

@@ -223,23 +223,23 @@ class Mavsdk {
      */
     std::optional<std::shared_ptr<System>> first_autopilot(double timeout_s) const;
 
+    /**
+     * @brief ComponentType of configurations, used for automatic ID setting
+     */
+    enum class ComponentType {
+        Autopilot, /**< @brief SDK is used as an autopilot. */
+        GroundStation, /**< @brief SDK is used as a ground station. */
+        CompanionComputer, /**< @brief SDK is used as a companion computer on board the MAV. */
+        Camera, /** < @brief SDK is used as a camera. */
+        Custom /**< @brief the SDK is used in a custom configuration, no automatic ID will be
+                  provided */
+    };
+
     /**
      * @brief Possible configurations.
      */
     class Configuration {
     public:
-        /**
-         * @brief UsageTypes of configurations, used for automatic ID setting
-         */
-        enum class UsageType {
-            Autopilot, /**< @brief SDK is used as an autopilot. */
-            GroundStation, /**< @brief SDK is used as a ground station. */
-            CompanionComputer, /**< @brief SDK is used as a companion computer on board the MAV. */
-            Camera, /** < @brief SDK is used as a camera. */
-            Custom /**< @brief the SDK is used in a custom configuration, no automatic ID will be
-                      provided */
-        };
-
         /**
          * @brief Create new Configuration via manually configured
          * system and component ID.
@@ -250,11 +250,11 @@ class Mavsdk {
         explicit Configuration(
             uint8_t system_id, uint8_t component_id, bool always_send_heartbeats);
         /**
-         * @brief Create new Configuration using a usage type.
+         * @brief Create new Configuration using a component type.
          * In this mode, the system and component ID will be automatically chosen.
-         * @param usage_type the usage type, used for automatically choosing ids.
+         * @param component_type the component type, used for automatically choosing ids.
          */
-        explicit Configuration(UsageType usage_type);
+        explicit Configuration(ComponentType component_type);
 
         Configuration() = delete;
         ~Configuration() = default;
@@ -292,21 +292,21 @@ class Mavsdk {
          */
         void set_always_send_heartbeats(bool always_send_heartbeats);
 
-        /** @brief Usage type of this configuration, used for automatic ID set */
-        UsageType get_usage_type() const;
+        /** @brief Component type of this configuration, used for automatic ID set */
+        ComponentType get_component_type() const;
 
         /**
-         * @brief Set the usage type of this configuration.
+         * @brief Set the component type of this configuration.
          */
-        void set_usage_type(UsageType usage_type);
+        void set_component_type(ComponentType component_type);
 
     private:
         uint8_t _system_id;
         uint8_t _component_id;
         bool _always_send_heartbeats;
-        UsageType _usage_type;
+        ComponentType _component_type;
 
-        static Mavsdk::Configuration::UsageType usage_type_for_component(uint8_t component_id);
+        static Mavsdk::ComponentType component_type_for_component_id(uint8_t component_id);
     };
 
     /**
@@ -367,30 +367,19 @@ class Mavsdk {
      */
     void unsubscribe_on_new_system(NewSystemHandle handle);
 
-    /**
-     * @brief High level type of a server component.
-     */
-    enum class ServerComponentType {
-        Autopilot, /**< @brief The component identifies as an autopilot. */
-        GroundStation, /**< @brief The component identifies as a ground station. */
-        CompanionComputer, /**< @brief The component identifies as a companion computer on board the
-                              system. */
-        Camera, /** < @brief The component identifies as a camera. */
-    };
-
     /**
      * @brief Get server component by a high level type.
      *
      * This represents a server component of the MAVSDK instance.
      *
-     * @param server_component_type The high level type of the component.
+     * @param component_type The high level type of the component.
      * @param instance The instance of the component if there are multiple, starting at 0.
      *
      * @return A valid shared pointer to a server component if it was successful, an empty pointer
      * otherwise.
      */
     std::shared_ptr<ServerComponent>
-    server_component_by_type(ServerComponentType server_component_type, unsigned instance = 0);
+    server_component_by_type(ComponentType component_type, unsigned instance = 0);
 
     /**
      * @brief Get server component by the low MAVLink component ID.

src/mavsdk/core/lazy_server_plugin.h

@@ -16,7 +16,7 @@ template<typename ServerPlugin> class LazyServerPlugin {
         std::lock_guard<std::mutex> lock(_mutex);
         if (_server_plugin == nullptr) {
             _server_plugin = std::make_unique<ServerPlugin>(
-                _mavsdk.server_component_by_type(Mavsdk::ServerComponentType::CompanionComputer));
+                _mavsdk.server_component_by_type(Mavsdk::ComponentType::CompanionComputer));
         }
         return _server_plugin.get();
     }

src/mavsdk/core/mavsdk.cpp

@@ -96,7 +96,7 @@ void Mavsdk::unsubscribe_on_new_system(NewSystemHandle handle)
 }
 
 std::shared_ptr<ServerComponent>
-Mavsdk::server_component_by_type(ServerComponentType server_component_type, unsigned instance)
+Mavsdk::server_component_by_type(ComponentType server_component_type, unsigned instance)
 {
     return _impl->server_component_by_type(server_component_type, instance);
 }
@@ -111,50 +111,49 @@ Mavsdk::Configuration::Configuration(
     _system_id(system_id),
     _component_id(component_id),
     _always_send_heartbeats(always_send_heartbeats),
-    _usage_type(usage_type_for_component(component_id))
+    _component_type(component_type_for_component_id(component_id))
 {}
 
-Mavsdk::Configuration::UsageType
-Mavsdk::Configuration::usage_type_for_component(uint8_t component_id)
+Mavsdk::ComponentType Mavsdk::Configuration::component_type_for_component_id(uint8_t component_id)
 {
     switch (component_id) {
         case MavsdkImpl::DEFAULT_COMPONENT_ID_GCS:
-            return UsageType::GroundStation;
+            return ComponentType::GroundStation;
         case MavsdkImpl::DEFAULT_COMPONENT_ID_CC:
-            return UsageType::CompanionComputer;
+            return ComponentType::CompanionComputer;
         case MavsdkImpl::DEFAULT_COMPONENT_ID_AUTOPILOT:
-            return UsageType::Autopilot;
+            return ComponentType::Autopilot;
         case MavsdkImpl::DEFAULT_COMPONENT_ID_CAMERA:
-            return UsageType::Camera;
+            return ComponentType::Camera;
         default:
-            return UsageType::Custom;
+            return ComponentType::Custom;
     }
 }
 
-Mavsdk::Configuration::Configuration(UsageType usage_type) :
+Mavsdk::Configuration::Configuration(ComponentType component_type) :
     _system_id(MavsdkImpl::DEFAULT_SYSTEM_ID_GCS),
     _component_id(MavsdkImpl::DEFAULT_COMPONENT_ID_GCS),
     _always_send_heartbeats(false),
-    _usage_type(usage_type)
+    _component_type(component_type)
 {
-    switch (usage_type) {
-        case Mavsdk::Configuration::UsageType::GroundStation:
+    switch (component_type) {
+        case Mavsdk::ComponentType::GroundStation:
             _system_id = MavsdkImpl::DEFAULT_SYSTEM_ID_GCS;
             _component_id = MavsdkImpl::DEFAULT_COMPONENT_ID_GCS;
             _always_send_heartbeats = false;
             break;
-        case Mavsdk::Configuration::UsageType::CompanionComputer:
+        case Mavsdk::ComponentType::CompanionComputer:
             // TODO implement auto-detection of system ID - maybe from heartbeats?
             _system_id = MavsdkImpl::DEFAULT_SYSTEM_ID_CC;
             _component_id = MavsdkImpl::DEFAULT_COMPONENT_ID_CC;
             _always_send_heartbeats = true;
             break;
-        case Mavsdk::Configuration::UsageType::Autopilot:
+        case Mavsdk::ComponentType::Autopilot:
             _system_id = MavsdkImpl::DEFAULT_SYSTEM_ID_AUTOPILOT;
             _component_id = MavsdkImpl::DEFAULT_COMPONENT_ID_AUTOPILOT;
             _always_send_heartbeats = true;
             break;
-        case Mavsdk::Configuration::UsageType::Camera:
+        case Mavsdk::ComponentType::Camera:
             _system_id = MavsdkImpl::DEFAULT_SYSTEM_ID_CAMERA;
             _component_id = MavsdkImpl::DEFAULT_COMPONENT_ID_CAMERA;
             _always_send_heartbeats = true;
@@ -194,14 +193,14 @@ void Mavsdk::Configuration::set_always_send_heartbeats(bool always_send_heartbea
     _always_send_heartbeats = always_send_heartbeats;
 }
 
-Mavsdk::Configuration::UsageType Mavsdk::Configuration::get_usage_type() const
+Mavsdk::ComponentType Mavsdk::Configuration::get_component_type() const
 {
-    return _usage_type;
+    return _component_type;
 }
 
-void Mavsdk::Configuration::set_usage_type(Mavsdk::Configuration::UsageType usage_type)
+void Mavsdk::Configuration::set_component_type(Mavsdk::ComponentType component_type)
 {
-    _usage_type = usage_type;
+    _component_type = component_type;
 }
 
 void Mavsdk::intercept_incoming_messages_async(std::function<bool(mavlink_message_t&)> callback)

src/mavsdk/core/mavsdk_impl.cpp

@@ -164,27 +164,27 @@ std::optional<std::shared_ptr<System>> MavsdkImpl::first_autopilot(double timeou
     }
 }
 
-std::shared_ptr<ServerComponent> MavsdkImpl::server_component_by_type(
-    Mavsdk::ServerComponentType server_component_type, unsigned instance)
+std::shared_ptr<ServerComponent>
+MavsdkImpl::server_component_by_type(Mavsdk::ComponentType server_component_type, unsigned instance)
 {
     switch (server_component_type) {
-        case Mavsdk::ServerComponentType::Autopilot:
+        case Mavsdk::ComponentType::Autopilot:
             if (instance == 0) {
                 return server_component_by_id(MAV_COMP_ID_AUTOPILOT1);
             } else {
                 LogErr() << "Only autopilot instance 0 is valid";
                 return {};
             }
 
-        case Mavsdk::ServerComponentType::GroundStation:
+        case Mavsdk::ComponentType::GroundStation:
             if (instance == 0) {
                 return server_component_by_id(MAV_COMP_ID_MISSIONPLANNER);
             } else {
                 LogErr() << "Only one ground station supported at this time";
                 return {};
             }
 
-        case Mavsdk::ServerComponentType::CompanionComputer:
+        case Mavsdk::ComponentType::CompanionComputer:
             if (instance == 0) {
                 return server_component_by_id(MAV_COMP_ID_ONBOARD_COMPUTER);
             } else if (instance == 1) {
@@ -198,7 +198,7 @@ std::shared_ptr<ServerComponent> MavsdkImpl::server_component_by_type(
                 return {};
             }
 
-        case Mavsdk::ServerComponentType::Camera:
+        case Mavsdk::ComponentType::Camera:
             if (instance == 0) {
                 return server_component_by_id(MAV_COMP_ID_CAMERA);
             } else if (instance == 1) {
@@ -342,7 +342,7 @@ void MavsdkImpl::receive_message(mavlink_message_t& message, Connection* connect
     // mavlink instances which leads to existing implementations (including
     // examples and integration tests) to connect to QGroundControl by accident
     // instead of PX4 because the check `has_autopilot()` is not used.
-    if (_configuration.get_usage_type() == Mavsdk::Configuration::UsageType::GroundStation &&
+    if (_configuration.get_component_type() == Mavsdk::ComponentType::GroundStation &&
         message.sysid == 255 && message.compid == MAV_COMP_ID_MISSIONPLANNER) {
         if (_message_logging_on) {
             LogDebug() << "Ignoring messages from QGC as we are also a ground station";
@@ -677,20 +677,20 @@ Autopilot MavsdkImpl::autopilot() const
 // FIXME: this should be per component
 uint8_t MavsdkImpl::get_mav_type() const
 {
-    switch (_configuration.get_usage_type()) {
-        case Mavsdk::Configuration::UsageType::Autopilot:
+    switch (_configuration.get_component_type()) {
+        case Mavsdk::ComponentType::Autopilot:
             return MAV_TYPE_GENERIC;
 
-        case Mavsdk::Configuration::UsageType::GroundStation:
+        case Mavsdk::ComponentType::GroundStation:
             return MAV_TYPE_GCS;
 
-        case Mavsdk::Configuration::UsageType::CompanionComputer:
+        case Mavsdk::ComponentType::CompanionComputer:
             return MAV_TYPE_ONBOARD_CONTROLLER;
 
-        case Mavsdk::Configuration::UsageType::Camera:
+        case Mavsdk::ComponentType::Camera:
             return MAV_TYPE_CAMERA;
 
-        case Mavsdk::Configuration::UsageType::Custom:
+        case Mavsdk::ComponentType::Custom:
             return MAV_TYPE_GENERIC;
 
         default:

src/mavsdk/core/mavsdk_impl.h

@@ -100,8 +100,8 @@ class MavsdkImpl {
     void intercept_incoming_messages_async(std::function<bool(mavlink_message_t&)> callback);
     void intercept_outgoing_messages_async(std::function<bool(mavlink_message_t&)> callback);
 
-    std::shared_ptr<ServerComponent> server_component_by_type(
-        Mavsdk::ServerComponentType server_component_type, unsigned instance = 0);
+    std::shared_ptr<ServerComponent>
+    server_component_by_type(Mavsdk::ComponentType server_component_type, unsigned instance = 0);
     std::shared_ptr<ServerComponent> server_component_by_id(uint8_t component_id);
 
     Time time{};
@@ -149,7 +149,7 @@ class MavsdkImpl {
 
     CallbackList<> _new_system_callbacks{};
 
-    Mavsdk::Configuration _configuration{Mavsdk::Configuration::UsageType::GroundStation};
+    Mavsdk::Configuration _configuration{Mavsdk::ComponentType::GroundStation};
 
     struct UserCallback {
         UserCallback() = default;

src/system_tests/action_arm_disarm.cpp

@@ -11,18 +11,17 @@ TEST(SystemTest, ActionArmDisarm)
 {
     Mavsdk mavsdk_groundstation;
     mavsdk_groundstation.set_configuration(
-        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::GroundStation});
+        Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation});
 
     Mavsdk mavsdk_autopilot;
-    mavsdk_autopilot.set_configuration(
-        Mavsdk::Configuration{Mavsdk::Configuration::UsageType::Autopilot});
+    mavsdk_autopilot.set_configuration(Mavsdk::Configuration{Mavsdk::ComponentType::Autopilot});
 
     ASSERT_EQ(mavsdk_groundstation.add_any_connection("udp://:17000"), ConnectionResult::Success);
     ASSERT_EQ(
         mavsdk_autopilot.add_any_connection("udp://127.0.0.1:17000"), ConnectionResult::Success);
 
-    auto action_server = ActionServer{
-        mavsdk_autopilot.server_component_by_type(Mavsdk::ServerComponentType::Autopilot)};
+    auto action_server =
+        ActionServer{mavsdk_autopilot.server_component_by_type(Mavsdk::ComponentType::Autopilot)};
 
     auto maybe_system = mavsdk_groundstation.first_autopilot(10.0);
     ASSERT_TRUE(maybe_system);