Winch and Gripper plugins

src/mavsdk/core/system_impl.cpp

@@ -340,6 +340,8 @@ std::string SystemImpl::component_name(uint8_t component_id)
             return "Gimbal";
         case MAV_COMP_ID_MISSIONPLANNER:
             return "Ground station";
+        case MAV_COMP_ID_WINCH:
+            return "Winch";
         default:
             return "Unsupported component";
     }

src/mavsdk/plugins/gripper/CMakeLists.txt

@@ -0,0 +1,15 @@
+target_sources(mavsdk
+    PRIVATE
+    gripper.cpp
+    gripper_impl.cpp
+)
+
+target_include_directories(mavsdk PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include/mavsdk>
+    )
+
+install(FILES
+    include/plugins/gripper/gripper.h
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/mavsdk/plugins/gripper
+)

src/mavsdk/plugins/gripper/gripper.cpp

@@ -0,0 +1,75 @@
+// WARNING: THIS FILE IS AUTOGENERATED! As such, it should not be edited.
+// Edits need to be made to the proto files
+// (see https://github.com/mavlink/MAVSDK-Proto/blob/master/protos/gripper/gripper.proto)
+
+#include <iomanip>
+
+#include "gripper_impl.h"
+#include "plugins/gripper/gripper.h"
+
+namespace mavsdk {
+
+Gripper::Gripper(System& system) : PluginBase(), _impl{std::make_unique<GripperImpl>(system)} {}
+
+Gripper::Gripper(std::shared_ptr<System> system) :
+    PluginBase(),
+    _impl{std::make_unique<GripperImpl>(system)}
+{}
+
+Gripper::~Gripper() {}
+
+void Gripper::grab_async(uint32_t instance, const ResultCallback callback)
+{
+    _impl->grab_async(instance, callback);
+}
+
+Gripper::Result Gripper::grab(uint32_t instance) const
+{
+    return _impl->grab(instance);
+}
+
+void Gripper::release_async(uint32_t instance, const ResultCallback callback)
+{
+    _impl->release_async(instance, callback);
+}
+
+Gripper::Result Gripper::release(uint32_t instance) const
+{
+    return _impl->release(instance);
+}
+
+std::ostream& operator<<(std::ostream& str, Gripper::Result const& result)
+{
+    switch (result) {
+        case Gripper::Result::Unknown:
+            return str << "Unknown";
+        case Gripper::Result::Success:
+            return str << "Success";
+        case Gripper::Result::NoSystem:
+            return str << "No System";
+        case Gripper::Result::Busy:
+            return str << "Busy";
+        case Gripper::Result::Timeout:
+            return str << "Timeout";
+        case Gripper::Result::Unsupported:
+            return str << "Unsupported";
+        case Gripper::Result::Failed:
+            return str << "Failed";
+        default:
+            return str << "Unknown";
+    }
+}
+
+std::ostream& operator<<(std::ostream& str, Gripper::GripperAction const& gripper_action)
+{
+    switch (gripper_action) {
+        case Gripper::GripperAction::Release:
+            return str << "Release";
+        case Gripper::GripperAction::Grab:
+            return str << "Grab";
+        default:
+            return str << "Unknown";
+    }
+}
+
+} // namespace mavsdk

src/mavsdk/plugins/gripper/gripper_impl.cpp

@@ -0,0 +1,118 @@
+#include "gripper_impl.h"
+
+namespace mavsdk {
+
+GripperImpl::GripperImpl(System& system) : PluginImplBase(system)
+{
+    _parent->register_plugin(this);
+}
+
+GripperImpl::GripperImpl(std::shared_ptr<System> system) : PluginImplBase(std::move(system))
+{
+    _parent->register_plugin(this);
+}
+
+GripperImpl::~GripperImpl()
+{
+    _parent->unregister_plugin(this);
+}
+
+void GripperImpl::init() {}
+
+void GripperImpl::deinit() {}
+
+void GripperImpl::enable() {}
+
+void GripperImpl::disable() {}
+
+void GripperImpl::grab_async(uint32_t instance, const Gripper::ResultCallback callback)
+{
+    MavlinkCommandSender::CommandLong command{};
+
+    command.command = MAV_CMD_DO_GRIPPER;
+    command.params.maybe_param1 = instance;
+    command.params.maybe_param2 = static_cast<float>(Gripper::GripperAction::Grab);
+
+    command.target_component_id = MAV_COMPONENT::MAV_COMP_ID_WINCH; // TODO
+
+    _parent->send_command_async(
+        command, [this, callback](MavlinkCommandSender::Result result, float) {
+            command_result_callback(result, callback);
+        });
+}
+
+Gripper::Result GripperImpl::grab(uint32_t instance)
+{
+    auto prom = std::promise<Gripper::Result>();
+    auto fut = prom.get_future();
+
+    grab_async(instance, [&prom](Gripper::Result result) { prom.set_value(result); });
+
+    return fut.get();
+}
+
+void GripperImpl::release_async(uint32_t instance, const Gripper::ResultCallback callback)
+{
+    MavlinkCommandSender::CommandLong command{};
+
+    command.command = MAV_CMD_DO_GRIPPER;
+    command.params.maybe_param1 = instance;
+    command.params.maybe_param2 = static_cast<float>(Gripper::GripperAction::Release);
+
+    command.target_component_id = MAV_COMPONENT::MAV_COMP_ID_WINCH; // TODO
+
+    _parent->send_command_async(
+        command, [this, callback](MavlinkCommandSender::Result result, float) {
+            command_result_callback(result, callback);
+        });
+}
+
+Gripper::Result GripperImpl::release(uint32_t instance)
+{
+    auto prom = std::promise<Gripper::Result>();
+    auto fut = prom.get_future();
+
+    release_async(instance, [&prom](Gripper::Result result) { prom.set_value(result); });
+
+    return fut.get();
+}
+
+Gripper::Result GripperImpl::gripper_result_from_command_result(MavlinkCommandSender::Result result)
+{
+    switch (result) {
+        case MavlinkCommandSender::Result::Success:
+            return Gripper::Result::Success;
+        case MavlinkCommandSender::Result::NoSystem:
+            return Gripper::Result::NoSystem;
+        case MavlinkCommandSender::Result::ConnectionError:
+            // Fallthrough
+        case MavlinkCommandSender::Result::Timeout:
+            return Gripper::Result::Timeout;
+        case MavlinkCommandSender::Result::Busy:
+            return Gripper::Result::Busy;
+        case MavlinkCommandSender::Result::Denied:
+            // Fallthrough
+        case MavlinkCommandSender::Result::TemporarilyRejected:
+            // Fallthrough
+        case MavlinkCommandSender::Result::Failed:
+            return Gripper::Result::Failed;
+        case MavlinkCommandSender::Result::Unsupported:
+            return Gripper::Result::Unsupported;
+        default:
+            return Gripper::Result::Unknown;
+    }
+}
+
+void GripperImpl::command_result_callback(
+    MavlinkCommandSender::Result command_result, const Gripper::ResultCallback& callback) const
+{
+    Gripper::Result action_result = gripper_result_from_command_result(command_result);
+
+    if (callback) {
+        auto temp_callback = callback;
+        _parent->call_user_callback(
+            [temp_callback, action_result]() { temp_callback(action_result); });
+    }
+}
+
+} // namespace mavsdk

src/mavsdk/plugins/gripper/gripper_impl.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include "plugins/gripper/gripper.h"
+
+#include "plugin_impl_base.h"
+
+namespace mavsdk {
+
+class GripperImpl : public PluginImplBase {
+public:
+    explicit GripperImpl(System& system);
+    explicit GripperImpl(std::shared_ptr<System> system);
+
+    ~GripperImpl() override;
+
+    void init() override;
+    void deinit() override;
+
+    void enable() override;
+    void disable() override;
+
+    void grab_async(uint32_t instance, const Gripper::ResultCallback callback);
+    Gripper::Result grab(uint32_t instance);
+
+    void release_async(uint32_t instance, const Gripper::ResultCallback callback);
+    Gripper::Result release(uint32_t instance);
+
+private:
+    static Gripper::Result gripper_result_from_command_result(MavlinkCommandSender::Result result);
+
+    void command_result_callback(
+        MavlinkCommandSender::Result command_result, const Gripper::ResultCallback& callback) const;
+};
+
+} // namespace mavsdk