Change connection CLI, add TCP server connections

examples/ftp_server/ftp_server.cpp

@@ -15,34 +15,31 @@ using namespace mavsdk;
 
 void usage(const std::string& bin_name)
 {
-    std::cerr << "Usage : " << bin_name << " <remote_ip> <remote_port> <root_dir>\n"
-              << '\n'
-              << "    Start mavlink FTP server on <root_dir>\n"
-              << "    sending heartbeats to <remote_ip>:<remote_port>\n";
+    std::cerr << "Usage : " << bin_name << " <connection> <root_dir>" << std::endl;
 }
 
 int main(int argc, char** argv)
 {
-    if (argc != 4) {
+    if (argc != 3) {
         usage(argv[0]);
         return 1;
     }
 
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::CompanionComputer}};
-    ConnectionResult connection_result = mavsdk.setup_udp_remote(argv[1], std::stoi(argv[2]));
+    ConnectionResult connection_result = mavsdk.add_any_connection(argv[1]);
     if (connection_result != ConnectionResult::Success) {
         std::cerr << "Error setting up Mavlink FTP server.\n";
         return 1;
     }
 
     auto component = mavsdk.server_component();
     auto ftp_server = FtpServer{component};
-    ftp_server.set_root_dir(argv[3]);
+    ftp_server.set_root_dir(argv[2]);
 
-    std::cout << "Mavlink FTP server running.\n"
-              << '\n'
-              << "Remote:       " << argv[1] << ":" << argv[2] << '\n'
-              << "Component ID: " << std::to_string(component->component_id()) << '\n';
+    std::cout << "MAVLink FTP server running\n"
+              << "  connection: " << argv[1] << '\n'
+              << "  directory: " << argv[2] << '\n'
+              << "  component ID: " << std::to_string(component->component_id()) << std::endl;
 
     while (true) {
         std::this_thread::sleep_for(std::chrono::seconds(1));

src/integration_tests/action_goto.cpp

@@ -11,7 +11,7 @@ TEST(SitlTest, PX4ActionGoto)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/action_hold.cpp

@@ -11,7 +11,7 @@ TEST(SitlTest, PX4ActionHold)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/action_hover_async.cpp

@@ -11,7 +11,7 @@ TEST(SitlTest, ActionHoverAsync)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     auto system = std::shared_ptr<System>{nullptr};

src/integration_tests/action_hover_sync.cpp

@@ -48,7 +48,7 @@ void takeoff_and_hover_at_altitude(float altitude_m)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -125,7 +125,7 @@ void takeoff_and_hover_at_altitude_apm(float altitude_m)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/action_takeoff_and_kill.cpp

@@ -10,7 +10,7 @@ using namespace mavsdk;
 TEST(SitlTest, ActionTakeoffAndKill)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
-    ASSERT_EQ(mavsdk.add_udp_connection(), ConnectionResult::Success);
+    ASSERT_EQ(mavsdk.add_any_connection("udpin://0.0.0.0:14540"), ConnectionResult::Success);
 
     {
         LogInfo() << "Waiting to discover vehicle";

src/integration_tests/action_transition_multicopter_fixedwing.cpp

@@ -12,7 +12,7 @@ TEST(SitlTest, PX4ActionTransitionSync_standard_vtol)
     // Init & connect
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/calibration.cpp

@@ -18,7 +18,7 @@ TEST(HardwareTest, CalibrationGyro)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -47,7 +47,7 @@ TEST(HardwareTest, CalibrationAccelerometer)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -76,7 +76,7 @@ TEST(HardwareTest, CalibrationMagnetometer)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -105,7 +105,7 @@ TEST(HardwareTest, CalibrationLevelHorizon)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -134,7 +134,7 @@ TEST(HardwareTest, CalibrationGimbalAccelerometer)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -163,7 +163,7 @@ TEST(HardwareTest, CalibrationGyroWithTelemetry)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -206,7 +206,7 @@ TEST(HardwareTest, CalibrationGyroCancelled)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/camera_capture_info.cpp

@@ -12,7 +12,7 @@ TEST(CameraTest, CaptureInfo)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/camera_format.cpp

@@ -11,7 +11,7 @@ TEST(CameraTest, Format)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/camera_mode.cpp

@@ -11,7 +11,7 @@ TEST(CameraTest, SetModeSync)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -50,7 +50,7 @@ TEST(CameraTest, SetModeAsync)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/camera_reset_settings.cpp

@@ -11,7 +11,7 @@ TEST(CameraTest, ResetSettings)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/camera_settings.cpp

@@ -38,7 +38,7 @@ TEST(CameraTest, ShowSettingsAndOptions)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -127,7 +127,7 @@ TEST(CameraTest, SetSettings)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult connection_ret = mavsdk.add_udp_connection();
+    ConnectionResult connection_ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(connection_ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -265,7 +265,7 @@ TEST(CameraTest, SubscribeCurrentSettings)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult connection_ret = mavsdk.add_udp_connection();
+    ConnectionResult connection_ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(connection_ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -329,7 +329,7 @@ TEST(CameraTest, SubscribePossibleSettings)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult connection_ret = mavsdk.add_udp_connection();
+    ConnectionResult connection_ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(connection_ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/camera_status.cpp

@@ -13,7 +13,7 @@ TEST(CameraTest, Status)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/camera_take_photo.cpp

@@ -56,7 +56,7 @@ TEST(CameraTest, TakePhotosMultiple)
 
     const int num_photos_to_take = 3;
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/camera_take_photo_interval.cpp

@@ -19,7 +19,7 @@ TEST(CameraTest, TakePhotoInterval)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/follow_me.cpp

@@ -33,7 +33,7 @@ TEST(SitlTest, PX4FollowMeOneLocation)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ConnectionResult::Success, ret);
 
     // Wait for system to connect via heartbeat.
@@ -116,7 +116,7 @@ TEST(SitlTest, PX4FollowMeMultiLocationWithConfig)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ConnectionResult::Success, ret);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/geofence.cpp

@@ -13,7 +13,7 @@ TEST(SitlTest, PX4GeofenceInclusion)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/gimbal.cpp

@@ -25,7 +25,7 @@ TEST(SitlTestGimbal, GimbalMove)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -74,7 +74,7 @@ TEST(SitlTestGimbal, GimbalAngles)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -126,7 +126,7 @@ TEST(SitlTestGimbal, GimbalTakeoffAndMove)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.
@@ -240,7 +240,7 @@ TEST(SitlTestGimbal, GimbalROIOffboard)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/info.cpp

@@ -9,7 +9,7 @@ TEST(SitlTest, PX4Info)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     // Wait for system to connect via heartbeat.

src/integration_tests/log_files.cpp

@@ -14,7 +14,7 @@ TEST(HardwareTest, LogFiles)
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
     // ConnectionResult ret = mavsdk.add_serial_connection("/dev/ttyACM0");
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     std::this_thread::sleep_for(std::chrono::seconds(2));
@@ -69,7 +69,7 @@ TEST(HardwareTest, LogFilesDownloadFailsIfPathIsDirectory)
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
     // ConnectionResult ret = mavsdk.add_serial_connection("/dev/ttyACM0");
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     std::this_thread::sleep_for(std::chrono::seconds(2));
@@ -125,7 +125,7 @@ TEST(HardwareTest, LogFilesDownloadFailsIfFileAlreadyExists)
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
     // ConnectionResult ret = mavsdk.add_serial_connection("/dev/ttyACM0");
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     std::this_thread::sleep_for(std::chrono::seconds(2));

src/integration_tests/logging.cpp

@@ -9,7 +9,7 @@ TEST(SitlTest, PX4Logging)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
 
-    ConnectionResult ret = mavsdk.add_udp_connection();
+    ConnectionResult ret = mavsdk.add_any_connection("udpin://0.0.0.0:14540");
     ASSERT_EQ(ret, ConnectionResult::Success);
 
     std::this_thread::sleep_for(std::chrono::seconds(2));

src/integration_tests/mavlink_passthrough.cpp

@@ -10,7 +10,7 @@ using namespace mavsdk;
 TEST(SitlTest, PX4MavlinkPassthrough)
 {
     Mavsdk mavsdk{Mavsdk::Configuration{Mavsdk::ComponentType::GroundStation}};
-    ASSERT_EQ(mavsdk.add_udp_connection(), ConnectionResult::Success);
+    ASSERT_EQ(mavsdk.add_any_connection("udpin://0.0.0.0:14540"), ConnectionResult::Success);
 
     {
         LogInfo() << "Waiting to discover vehicle";