Added arm authorization server functionality (#334)

* Added arm authorization server functionality

* Changed arm_authorizer_server respond functions reutrn types

* Updates RejectionReason enum names in arm_authorizer_server

Co-authored-by: Julian Oes <julian@oes.ch>

---------

Co-authored-by: Julian Oes <julian@oes.ch>

protos/arm_authorizer_server/arm_authorizer_server.proto

@@ -0,0 +1,66 @@
+syntax = "proto3";
+
+package mavsdk.rpc.arm_authorizer;
+
+import "mavsdk_options.proto";
+
+option java_package = "io.mavsdk.arm_authorizer";
+option java_outer_classname = "ArmAuthorizerProto";
+
+service ArmAuthorizerServerService {
+ // Subscribe to arm authorization request messages. Each request received should respond to using RespondArmAuthorization
+ rpc SubscribeArmAuthorization(SubscribeArmAuthorizationRequest) returns(stream SubscribeArmAuthorizationResponse) { option (mavsdk.options.async_type) = ASYNC; }
+
+ // Authorize arm for the specific time
+ rpc AcceptArmAuthorization(AcceptArmAuthorizationRequest) returns(AcceptArmAuthorizationResponse) { option (mavsdk.options.async_type) = SYNC; }
+
+ // Reject arm authorization request
+ rpc RejectArmAuthorization(RejectArmAuthorizationRequest) returns(RejectArmAuthorizationResponse) { option (mavsdk.options.async_type) = SYNC; }
+}
+
+// Messages for SubscribeArmAuthorization
+message SubscribeArmAuthorizationRequest {}
+message SubscribeArmAuthorizationResponse {
+ uint32 system_id = 1; // vehicle system id
+}
+
+// Messages for RespondArmAuthorization
+message AcceptArmAuthorizationRequest {
+ int32 valid_time_s = 1; // Time in seconds for which this authorization is valid
+}
+
+// Result type
+message AcceptArmAuthorizationResponse {
+ ArmAutorizerServerResult arm_authorizer_server_result = 1; // Result enum value
+}
+
+// Messages for RespondArmAuthorization
+message RejectArmAuthorizationRequest {
+ bool temporarily = 1; // True if the answer should be TEMPORARILY_REJECTED, false for DENIED
+ RejectionReason reason = 2; // Reason for the arm to be rejected
+ int32 extra_info = 3; // Extra information specific to the rejection reason (see https://mavlink.io/en/services/arm_authorization.html)
+}
+
+// Result type
+message RejectArmAuthorizationResponse {
+ ArmAutorizerServerResult arm_authorizer_server_result = 1; // Result enum value
+}
+
+message ArmAutorizerServerResult {
+ enum Result {
+ RESULT_SUCCESS = 0; // Command accepted
+ RESULT_FAILED = 1; // Command failed
+ }
+
+ Result result = 1; // Result enum value
+ string result_str = 2; // Human-readable English string describing the result
+}
+
+enum RejectionReason {
+ REJECTION_REASON_GENERIC = 0; // Not a specific reason
+ REJECTION_REASON_NONE = 1; // Authorizer will send the error as string to GCS
+ REJECTION_REASON_INVALID_WAYPOINT = 2; // At least one waypoint have a invalid value
+ REJECTION_REASON_TIMEOUT = 3; // Timeout in the authorizer process(in case it depends on network)
+ REJECTION_REASON_AIRSPACE_IN_USE = 4; // Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
+ REJECTION_REASON_BAD_WEATHER = 5; // Weather is not good to fly
+}