Bump mavsdk_server to v0.40.0

Package.resolved

@@ -15,8 +15,8 @@
         "repositoryURL": "https://github.com/mavlink/MAVSDK-XCFramework",
         "state": {
           "branch": null,
-          "revision": "ef704436a0ea3ba3dd207146cda8ff65518cf55b",
-          "version": "0.39.0"
+          "revision": "8c5fb3a00cac10cb777c146f70cd827328c593fe",
+          "version": "0.40.0"
         }
       },
       {

Package.swift

@@ -23,7 +23,7 @@ let package = Package(
   dependencies: [
     .package(url: "https://github.com/grpc/grpc-swift", from: "1.0.0"),
     .package(url: "https://github.com/ReactiveX/RxSwift.git", from: "5.0.0"),
-    .package(url: "https://github.com/mavlink/MAVSDK-XCFramework", .exact("0.39.0"))
+    .package(url: "https://github.com/mavlink/MAVSDK-XCFramework", .exact("0.40.0"))
   ],
   targets: [
     .target(name: "Mavsdk",

README.md

@@ -9,7 +9,7 @@ The official MAVSDK client for Swift. This cross-platform gRPC library communica
 Add the following to your Package.swift dependencies:
 ```
 dependencies: [
-     .package(url: "https://github.com/mavlink/Mavsdk", from: "0.12.0"),
+     .package(url: "https://github.com/mavlink/Mavsdk", from: "0.13.0"),
 ],
 ```
 And add each product within each target as needed (`MavsdkServer` may be optional):

Sources/Mavsdk/Generated/Action.swift

@@ -705,6 +705,47 @@ public class Action {
         }
     }
 
+    /**
+     Send command to set the value of an actuator.
+
+     - Parameters:
+        - index: Index of actuator (starting with 1)
+        - value: Value to set the actuator to (normalized from [-1..1])
+
+     */
+    public func setActuator(index: Int32, value: Float) -> Completable {
+        return Completable.create { completable in
+            var request = Mavsdk_Rpc_Action_SetActuatorRequest()
+
+
+
+            request.index = index
+
+
+
+            request.value = value
+
+
+
+            do {
+
+                let response = self.service.setActuator(request)
+
+                let result = try response.response.wait().actionResult
+                if (result.result == Mavsdk_Rpc_Action_ActionResult.Result.success) {
+                    completable(.completed)
+                } else {
+                    completable(.error(ActionError(code: ActionResult.Result.translateFromRpc(result.result), description: result.resultStr)))
+                }
+
+            } catch {
+                completable(.error(error))
+            }
+
+            return Disposables.create()
+        }
+    }
+
     /**
      Send command to transition the drone to fixedwing.
 

Sources/Mavsdk/Generated/Info.swift

@@ -110,18 +110,25 @@ public class Info {
      */
     public struct Identification: Equatable {
         public let hardwareUid: String
+        public let legacyUid: UInt64
 
 
 
         /**
          Initializes a new `Identification`.
 
 
-         - Parameter hardwareUid:  UID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.
+         - Parameters:
+
+            - hardwareUid:  UID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.
+
+            - legacyUid:  Legacy UID of the hardware, referred to as uid in MAVLink (formerly exposed during system discovery as UUID).
+
 
          */
-        public init(hardwareUid: String) {
+        public init(hardwareUid: String, legacyUid: UInt64) {
             self.hardwareUid = hardwareUid
+            self.legacyUid = legacyUid
         }
 
         internal var rpcIdentification: Mavsdk_Rpc_Info_Identification {
@@ -131,16 +138,22 @@ public class Info {
             rpcIdentification.hardwareUid = hardwareUid
 
 
+
+
+            rpcIdentification.legacyUid = legacyUid
+
+
 
             return rpcIdentification
         }
 
         internal static func translateFromRpc(_ rpcIdentification: Mavsdk_Rpc_Info_Identification) -> Identification {
-            return Identification(hardwareUid: rpcIdentification.hardwareUid)
+            return Identification(hardwareUid: rpcIdentification.hardwareUid, legacyUid: rpcIdentification.legacyUid)
         }
 
         public static func == (lhs: Identification, rhs: Identification) -> Bool {
             return lhs.hardwareUid == rhs.hardwareUid
+                && lhs.legacyUid == rhs.legacyUid
         }
     }
 

Sources/Mavsdk/Generated/action.grpc.swift

@@ -92,6 +92,11 @@ internal protocol Mavsdk_Rpc_Action_ActionServiceClientProtocol: GRPCClient {
     callOptions: CallOptions?
   ) -> UnaryCall<Mavsdk_Rpc_Action_HoldRequest, Mavsdk_Rpc_Action_HoldResponse>
 
+  func setActuator(
+    _ request: Mavsdk_Rpc_Action_SetActuatorRequest,
+    callOptions: CallOptions?
+  ) -> UnaryCall<Mavsdk_Rpc_Action_SetActuatorRequest, Mavsdk_Rpc_Action_SetActuatorResponse>
+
   func transitionToFixedwing(
     _ request: Mavsdk_Rpc_Action_TransitionToFixedwingRequest,
     callOptions: CallOptions?
@@ -407,6 +412,25 @@ extension Mavsdk_Rpc_Action_ActionServiceClientProtocol {
     )
   }
 
+  ///
+  /// Send command to set the value of an actuator.
+  ///
+  /// - Parameters:
+  ///   - request: Request to send to SetActuator.
+  ///   - callOptions: Call options.
+  /// - Returns: A `UnaryCall` with futures for the metadata, status and response.
+  internal func setActuator(
+    _ request: Mavsdk_Rpc_Action_SetActuatorRequest,
+    callOptions: CallOptions? = nil
+  ) -> UnaryCall<Mavsdk_Rpc_Action_SetActuatorRequest, Mavsdk_Rpc_Action_SetActuatorResponse> {
+    return self.makeUnaryCall(
+      path: "/mavsdk.rpc.action.ActionService/SetActuator",
+      request: request,
+      callOptions: callOptions ?? self.defaultCallOptions,
+      interceptors: self.interceptors?.makeSetActuatorInterceptors() ?? []
+    )
+  }
+
   ///
   /// Send command to transition the drone to fixedwing.
   ///
@@ -606,6 +630,9 @@ internal protocol Mavsdk_Rpc_Action_ActionServiceClientInterceptorFactoryProtoco
   /// - Returns: Interceptors to use when invoking 'hold'.
   func makeHoldInterceptors() -> [ClientInterceptor<Mavsdk_Rpc_Action_HoldRequest, Mavsdk_Rpc_Action_HoldResponse>]
 
+  /// - Returns: Interceptors to use when invoking 'setActuator'.
+  func makeSetActuatorInterceptors() -> [ClientInterceptor<Mavsdk_Rpc_Action_SetActuatorRequest, Mavsdk_Rpc_Action_SetActuatorResponse>]
+
   /// - Returns: Interceptors to use when invoking 'transitionToFixedwing'.
   func makeTransitionToFixedwingInterceptors() -> [ClientInterceptor<Mavsdk_Rpc_Action_TransitionToFixedwingRequest, Mavsdk_Rpc_Action_TransitionToFixedwingResponse>]
 
@@ -748,6 +775,10 @@ internal protocol Mavsdk_Rpc_Action_ActionServiceProvider: CallHandlerProvider {
   /// it implies a change to a PX4-specific mode.
   func hold(request: Mavsdk_Rpc_Action_HoldRequest, context: StatusOnlyCallContext) -> EventLoopFuture<Mavsdk_Rpc_Action_HoldResponse>
 
+  ///
+  /// Send command to set the value of an actuator.
+  func setActuator(request: Mavsdk_Rpc_Action_SetActuatorRequest, context: StatusOnlyCallContext) -> EventLoopFuture<Mavsdk_Rpc_Action_SetActuatorResponse>
+
   ///
   /// Send command to transition the drone to fixedwing.
   ///
@@ -907,6 +938,15 @@ extension Mavsdk_Rpc_Action_ActionServiceProvider {
         userFunction: self.hold(request:context:)
       )
 
+    case "SetActuator":
+      return UnaryServerHandler(
+        context: context,
+        requestDeserializer: ProtobufDeserializer<Mavsdk_Rpc_Action_SetActuatorRequest>(),
+        responseSerializer: ProtobufSerializer<Mavsdk_Rpc_Action_SetActuatorResponse>(),
+        interceptors: self.interceptors?.makeSetActuatorInterceptors() ?? [],
+        userFunction: self.setActuator(request:context:)
+      )
+
     case "TransitionToFixedwing":
       return UnaryServerHandler(
         context: context,
@@ -1035,6 +1075,10 @@ internal protocol Mavsdk_Rpc_Action_ActionServiceServerInterceptorFactoryProtoco
   ///   Defaults to calling `self.makeInterceptors()`.
   func makeHoldInterceptors() -> [ServerInterceptor<Mavsdk_Rpc_Action_HoldRequest, Mavsdk_Rpc_Action_HoldResponse>]
 
+  /// - Returns: Interceptors to use when handling 'setActuator'.
+  ///   Defaults to calling `self.makeInterceptors()`.
+  func makeSetActuatorInterceptors() -> [ServerInterceptor<Mavsdk_Rpc_Action_SetActuatorRequest, Mavsdk_Rpc_Action_SetActuatorResponse>]
+
   /// - Returns: Interceptors to use when handling 'transitionToFixedwing'.
   ///   Defaults to calling `self.makeInterceptors()`.
   func makeTransitionToFixedwingInterceptors() -> [ServerInterceptor<Mavsdk_Rpc_Action_TransitionToFixedwingRequest, Mavsdk_Rpc_Action_TransitionToFixedwingResponse>]

Sources/Mavsdk/Generated/action.pb.swift

@@ -485,6 +485,43 @@ struct Mavsdk_Rpc_Action_HoldResponse {
   fileprivate var _actionResult: Mavsdk_Rpc_Action_ActionResult? = nil
 }
 
+struct Mavsdk_Rpc_Action_SetActuatorRequest {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  /// Index of actuator (starting with 1)
+  var index: Int32 = 0
+
+  /// Value to set the actuator to (normalized from [-1..1])
+  var value: Float = 0
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+}
+
+struct Mavsdk_Rpc_Action_SetActuatorResponse {
+  // SwiftProtobuf.Message conformance is added in an extension below. See the
+  // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
+  // methods supported on all messages.
+
+  var actionResult: Mavsdk_Rpc_Action_ActionResult {
+    get {return _actionResult ?? Mavsdk_Rpc_Action_ActionResult()}
+    set {_actionResult = newValue}
+  }
+  /// Returns true if `actionResult` has been explicitly set.
+  var hasActionResult: Bool {return self._actionResult != nil}
+  /// Clears the value of `actionResult`. Subsequent reads from it will return its default value.
+  mutating func clearActionResult() {self._actionResult = nil}
+
+  var unknownFields = SwiftProtobuf.UnknownStorage()
+
+  init() {}
+
+  fileprivate var _actionResult: Mavsdk_Rpc_Action_ActionResult? = nil
+}
+
 struct Mavsdk_Rpc_Action_TransitionToFixedwingRequest {
   // SwiftProtobuf.Message conformance is added in an extension below. See the
   // `Message` and `Message+*Additions` files in the SwiftProtobuf library for
@@ -1573,6 +1610,76 @@ extension Mavsdk_Rpc_Action_HoldResponse: SwiftProtobuf.Message, SwiftProtobuf._
   }
 }
 
+extension Mavsdk_Rpc_Action_SetActuatorRequest: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".SetActuatorRequest"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .same(proto: "index"),
+    2: .same(proto: "value"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularInt32Field(value: &self.index) }()
+      case 2: try { try decoder.decodeSingularFloatField(value: &self.value) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    if self.index != 0 {
+      try visitor.visitSingularInt32Field(value: self.index, fieldNumber: 1)
+    }
+    if self.value != 0 {
+      try visitor.visitSingularFloatField(value: self.value, fieldNumber: 2)
+    }
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Action_SetActuatorRequest, rhs: Mavsdk_Rpc_Action_SetActuatorRequest) -> Bool {
+    if lhs.index != rhs.index {return false}
+    if lhs.value != rhs.value {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
+extension Mavsdk_Rpc_Action_SetActuatorResponse: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
+  static let protoMessageName: String = _protobuf_package + ".SetActuatorResponse"
+  static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
+    1: .standard(proto: "action_result"),
+  ]
+
+  mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
+    while let fieldNumber = try decoder.nextFieldNumber() {
+      // The use of inline closures is to circumvent an issue where the compiler
+      // allocates stack space for every case branch when no optimizations are
+      // enabled. https://github.com/apple/swift-protobuf/issues/1034
+      switch fieldNumber {
+      case 1: try { try decoder.decodeSingularMessageField(value: &self._actionResult) }()
+      default: break
+      }
+    }
+  }
+
+  func traverse<V: SwiftProtobuf.Visitor>(visitor: inout V) throws {
+    if let v = self._actionResult {
+      try visitor.visitSingularMessageField(value: v, fieldNumber: 1)
+    }
+    try unknownFields.traverse(visitor: &visitor)
+  }
+
+  static func ==(lhs: Mavsdk_Rpc_Action_SetActuatorResponse, rhs: Mavsdk_Rpc_Action_SetActuatorResponse) -> Bool {
+    if lhs._actionResult != rhs._actionResult {return false}
+    if lhs.unknownFields != rhs.unknownFields {return false}
+    return true
+  }
+}
+
 extension Mavsdk_Rpc_Action_TransitionToFixedwingRequest: SwiftProtobuf.Message, SwiftProtobuf._MessageImplementationBase, SwiftProtobuf._ProtoNameProviding {
   static let protoMessageName: String = _protobuf_package + ".TransitionToFixedwingRequest"
   static let _protobuf_nameMap = SwiftProtobuf._NameMap()

Sources/Mavsdk/Generated/info.pb.swift

@@ -248,6 +248,9 @@ struct Mavsdk_Rpc_Info_Identification {
   /// UID of the hardware. This refers to uid2 of MAVLink. If the system does not support uid2 yet, this is all zeros.
   var hardwareUid: String = String()
 
+  /// Legacy UID of the hardware, referred to as uid in MAVLink (formerly exposed during system discovery as UUID).
+  var legacyUid: UInt64 = 0
+
   var unknownFields = SwiftProtobuf.UnknownStorage()
 
   init() {}
@@ -719,6 +722,7 @@ extension Mavsdk_Rpc_Info_Identification: SwiftProtobuf.Message, SwiftProtobuf._
   static let protoMessageName: String = _protobuf_package + ".Identification"
   static let _protobuf_nameMap: SwiftProtobuf._NameMap = [
     1: .standard(proto: "hardware_uid"),
+    2: .standard(proto: "legacy_uid"),
   ]
 
   mutating func decodeMessage<D: SwiftProtobuf.Decoder>(decoder: inout D) throws {
@@ -728,6 +732,7 @@ extension Mavsdk_Rpc_Info_Identification: SwiftProtobuf.Message, SwiftProtobuf._
       // enabled. https://github.com/apple/swift-protobuf/issues/1034
       switch fieldNumber {
       case 1: try { try decoder.decodeSingularStringField(value: &self.hardwareUid) }()
+      case 2: try { try decoder.decodeSingularUInt64Field(value: &self.legacyUid) }()
       default: break
       }
     }
@@ -737,11 +742,15 @@ extension Mavsdk_Rpc_Info_Identification: SwiftProtobuf.Message, SwiftProtobuf._
     if !self.hardwareUid.isEmpty {
       try visitor.visitSingularStringField(value: self.hardwareUid, fieldNumber: 1)
     }
+    if self.legacyUid != 0 {
+      try visitor.visitSingularUInt64Field(value: self.legacyUid, fieldNumber: 2)
+    }
     try unknownFields.traverse(visitor: &visitor)
   }
 
   static func ==(lhs: Mavsdk_Rpc_Info_Identification, rhs: Mavsdk_Rpc_Info_Identification) -> Bool {
     if lhs.hardwareUid != rhs.hardwareUid {return false}
+    if lhs.legacyUid != rhs.legacyUid {return false}
     if lhs.unknownFields != rhs.unknownFields {return false}
     return true
   }