Skip to content

Commit

Permalink
protos: add component_metadata and component_metadata_server (#338)
Browse files Browse the repository at this point in the history
  • Loading branch information
bkueng authored Apr 26, 2024
1 parent bc8c30b commit 34bce6d
Show file tree
Hide file tree
Showing 4 changed files with 130 additions and 136 deletions.
65 changes: 0 additions & 65 deletions protos/component_information/component_information.proto

This file was deleted.

This file was deleted.

98 changes: 98 additions & 0 deletions protos/component_metadata/component_metadata.proto
Original file line number Diff line number Diff line change
@@ -0,0 +1,98 @@
syntax = "proto3";

package mavsdk.rpc.component_metadata;

import "mavsdk_options.proto";

option java_package = "io.mavsdk.component_metadata";
option java_outer_classname = "ComponentMetadataProto";

// Access component metadata json definitions, such as parameters.
service ComponentMetadataService {

/*
* Request metadata from a specific component. This is used to start requesting metadata from a component.
* The metadata can later be accessed via subscription (see below) or GetMetadata.
*/
rpc RequestComponent(RequestComponentRequest) returns(RequestComponentResponse) { option (mavsdk.options.async_type) = SYNC; }

/*
* Request metadata from the autopilot component. This is used to start requesting metadata from the autopilot.
* The metadata can later be accessed via subscription (see below) or GetMetadata.
*/
rpc RequestAutopilotComponent(RequestAutopilotComponentRequest) returns(RequestAutopilotComponentResponse) { option (mavsdk.options.async_type) = SYNC; }

/*
* Register a callback that gets called when metadata is available
*/
rpc SubscribeMetadataAvailable(SubscribeMetadataAvailableRequest) returns(stream MetadataAvailableResponse) { option (mavsdk.options.async_type) = ASYNC; }

/*
* Access metadata. This can be used if you know the metadata is available already, otherwise use
* the subscription to get notified when it becomes available.
*/
rpc GetMetadata(GetMetadataRequest) returns(GetMetadataResponse) { option (mavsdk.options.async_type) = SYNC; }
}

message RequestComponentRequest {
uint32 compid = 1; // The component ID to request
}

message GetMetadataRequest {
uint32 compid = 1; // The component ID to request
MetadataType metadata_type = 2; // The metadata type
}

message GetMetadataResponse {
ComponentMetadataResult component_metadata_result = 1;
MetadataData response = 2;
}

// Metadata response
message MetadataData {
string json_metadata = 1; // The JSON metadata
}

// Result type.
message ComponentMetadataResult {
// Possible results returned for GetMetadata
enum Result {
RESULT_SUCCESS = 0;
RESULT_NOT_AVAILABLE = 1;
RESULT_CONNECTION_ERROR = 2;
RESULT_UNSUPPORTED = 3;
RESULT_DENIED = 4;
RESULT_FAILED = 5;
RESULT_TIMEOUT = 6;
RESULT_NO_SYSTEM = 7;
RESULT_NOT_REQUESTED = 8;
}

Result result = 1; // Result enum value
string result_str = 2; // Human-readable English string describing the result
}

message RequestComponentResponse {}
message RequestAutopilotComponentRequest {}
message RequestAutopilotComponentResponse {}

message SubscribeMetadataAvailableRequest {}


message MetadataAvailableResponse {
MetadataUpdate data = 1;
}

// Metadata for a given component and type
message MetadataUpdate {
uint32 compid = 1; // The component ID
MetadataType type = 2; // The metadata type
string json_metadata = 3; // The JSON metadata
}

enum MetadataType {
METADATA_TYPE_ALL_COMPLETED = 0; // This is set in the subscription callback when all metadata types completed for a given component ID
METADATA_TYPE_PARAMETER = 1; // Parameter metadata
METADATA_TYPE_EVENTS = 2; // Event definitions
METADATA_TYPE_ACTUATORS = 3; // Actuator definitions
}
32 changes: 32 additions & 0 deletions protos/component_metadata_server/component_metadata_server.proto
Original file line number Diff line number Diff line change
@@ -0,0 +1,32 @@
syntax = "proto3";

package mavsdk.rpc.component_metadata_server;

import "mavsdk_options.proto";

option java_package = "io.mavsdk.component_metadata_server";
option java_outer_classname = "ComponentMetadataServerProto";

// Provide component metadata json definitions, such as parameters.
service ComponentMetadataServerService {
/*
* Provide metadata (can only be called once)
*/
rpc SetMetadata(SetMetadataRequest) returns(SetMetadataResponse) { option (mavsdk.options.async_type) = SYNC; }
}

message SetMetadataRequest {
repeated Metadata metadata = 1; // List of metadata
}
message SetMetadataResponse {}

message Metadata {
MetadataType type = 1; // The metadata type
string json_metadata = 2; // The JSON metadata
}

enum MetadataType {
METADATA_TYPE_PARAMETER = 0; // Parameter metadata
METADATA_TYPE_EVENTS = 1; // Event definitions
METADATA_TYPE_ACTUATORS = 2; // Actuator definitions
}

0 comments on commit 34bce6d

Please sign in to comment.