Merge pull request #1865 from mavlink/v1.4-rtk-missing

mavsdk_server: add missing Rtk plugin
mavlink · Jul 21, 2022 · 8b974d8 · 8b974d8
2 parents 2d2d85c + 9f9dbe0
commit 8b974d8
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Showing 3 changed files with 14 additions and 3 deletions.
diff --git a/src/mavsdk_server/src/CMakeLists.txt b/src/mavsdk_server/src/CMakeLists.txt
@@ -11,21 +11,24 @@ set(COMPONENTS_LIST
     ftp
     geofence
     gimbal
-    info log_files
+    info
+    log_files
     manual_control
     mission
     mission_raw
     mission_raw_server
-    mocap offboard
+    mocap
+    offboard
     param
     param_server
+    rtk
     server_utility
     shell
     telemetry
     telemetry_server
     tracking_server
-    tune
     transponder
+    tune
 )
 
 foreach(COMPONENT_NAME ${COMPONENTS_LIST})

diff --git a/src/mavsdk_server/src/grpc_server.cpp b/src/mavsdk_server/src/grpc_server.cpp
@@ -38,6 +38,7 @@ int GrpcServer::run()
     builder.RegisterService(&_offboard_service);
     builder.RegisterService(&_param_service);
     builder.RegisterService(&_param_server_service);
+    builder.RegisterService(&_rtk_service);
     builder.RegisterService(&_server_utility_service);
     builder.RegisterService(&_shell_service);
     builder.RegisterService(&_telemetry_service);
@@ -90,6 +91,7 @@ void GrpcServer::stop()
         _offboard_service.stop();
         _param_service.stop();
         _param_server_service.stop();
+        _rtk_service.stop();
         _server_utility_service.stop();
         _shell_service.stop();
         _telemetry_service.stop();

diff --git a/src/mavsdk_server/src/grpc_server.h b/src/mavsdk_server/src/grpc_server.h
@@ -44,6 +44,8 @@
 #include "param/param_service_impl.h"
 #include "plugins/param_server/param_server.h"
 #include "param_server/param_server_service_impl.h"
+#include "plugins/rtk/rtk.h"
+#include "rtk/rtk_service_impl.h"
 #include "plugins/server_utility/server_utility.h"
 #include "server_utility/server_utility_service_impl.h"
 #include "plugins/shell/shell.h"
@@ -104,6 +106,8 @@ class GrpcServer {
         _param_service(_param_lazy_plugin),
         _param_server_lazy_plugin(mavsdk),
         _param_server_service(_param_server_lazy_plugin),
+        _rtk_lazy_plugin(mavsdk),
+        _rtk_service(_rtk_lazy_plugin),
         _server_utility_lazy_plugin(mavsdk),
         _server_utility_service(_server_utility_lazy_plugin),
         _shell_lazy_plugin(mavsdk),
@@ -167,6 +171,8 @@ class GrpcServer {
     ParamServiceImpl<> _param_service;
     LazyPlugin<ParamServer> _param_server_lazy_plugin;
     ParamServerServiceImpl<> _param_server_service;
+    LazyPlugin<Rtk> _rtk_lazy_plugin;
+    RtkServiceImpl<> _rtk_service;
     LazyPlugin<ServerUtility> _server_utility_lazy_plugin;
     ServerUtilityServiceImpl<> _server_utility_service;
     LazyPlugin<Shell> _shell_lazy_plugin;