Merge pull request #307 from mavlink/pr-update-proto-and-version

Update proto and mavsdk_server version

MAVSDK_SERVER_VERSION

@@ -1,4 +1,4 @@
-v0.35.1
+v0.36.0
 
 
 

mavsdk/gimbal.py

@@ -42,6 +42,172 @@ def __str__(self):
         return self.name
 
 
+class ControlMode(Enum):
+    """
+     Control mode
+
+     Values
+     ------
+     NONE
+          Indicates that the component does not have control over the gimbal
+
+     PRIMARY
+          To take primary control over the gimbal
+
+     SECONDARY
+          To take secondary control over the gimbal
+
+     """
+
+
+    NONE = 0
+    PRIMARY = 1
+    SECONDARY = 2
+
+    def translate_to_rpc(self):
+        if self == ControlMode.NONE:
+            return gimbal_pb2.CONTROL_MODE_NONE
+        if self == ControlMode.PRIMARY:
+            return gimbal_pb2.CONTROL_MODE_PRIMARY
+        if self == ControlMode.SECONDARY:
+            return gimbal_pb2.CONTROL_MODE_SECONDARY
+
+    @staticmethod
+    def translate_from_rpc(rpc_enum_value):
+        """ Parses a gRPC response """
+        if rpc_enum_value == gimbal_pb2.CONTROL_MODE_NONE:
+            return ControlMode.NONE
+        if rpc_enum_value == gimbal_pb2.CONTROL_MODE_PRIMARY:
+            return ControlMode.PRIMARY
+        if rpc_enum_value == gimbal_pb2.CONTROL_MODE_SECONDARY:
+            return ControlMode.SECONDARY
+
+    def __str__(self):
+        return self.name
+
+
+class ControlStatus:
+    """
+     Control status
+
+     Parameters
+     ----------
+     control_mode : ControlMode
+          Control mode (none, primary or secondary)
+
+     sysid_primary_control : int32_t
+          Sysid of the component that has primary control over the gimbal (0 if no one is in control)
+
+     compid_primary_control : int32_t
+          Compid of the component that has primary control over the gimbal (0 if no one is in control)
+
+     sysid_secondary_control : int32_t
+          Sysid of the component that has secondary control over the gimbal (0 if no one is in control)
+
+     compid_secondary_control : int32_t
+          Compid of the component that has secondary control over the gimbal (0 if no one is in control)
+
+     """
+
+
+
+    def __init__(
+            self,
+            control_mode,
+            sysid_primary_control,
+            compid_primary_control,
+            sysid_secondary_control,
+            compid_secondary_control):
+        """ Initializes the ControlStatus object """
+        self.control_mode = control_mode
+        self.sysid_primary_control = sysid_primary_control
+        self.compid_primary_control = compid_primary_control
+        self.sysid_secondary_control = sysid_secondary_control
+        self.compid_secondary_control = compid_secondary_control
+
+    def __equals__(self, to_compare):
+        """ Checks if two ControlStatus are the same """
+        try:
+            # Try to compare - this likely fails when it is compared to a non
+            # ControlStatus object
+            return \
+                (self.control_mode == to_compare.control_mode) and \
+                (self.sysid_primary_control == to_compare.sysid_primary_control) and \
+                (self.compid_primary_control == to_compare.compid_primary_control) and \
+                (self.sysid_secondary_control == to_compare.sysid_secondary_control) and \
+                (self.compid_secondary_control == to_compare.compid_secondary_control)
+
+        except AttributeError:
+            return False
+
+    def __str__(self):
+        """ ControlStatus in string representation """
+        struct_repr = ", ".join([
+                "control_mode: " + str(self.control_mode),
+                "sysid_primary_control: " + str(self.sysid_primary_control),
+                "compid_primary_control: " + str(self.compid_primary_control),
+                "sysid_secondary_control: " + str(self.sysid_secondary_control),
+                "compid_secondary_control: " + str(self.compid_secondary_control)
+                ])
+
+        return f"ControlStatus: [{struct_repr}]"
+
+    @staticmethod
+    def translate_from_rpc(rpcControlStatus):
+        """ Translates a gRPC struct to the SDK equivalent """
+        return ControlStatus(
+
+                ControlMode.translate_from_rpc(rpcControlStatus.control_mode),
+
+
+                rpcControlStatus.sysid_primary_control,
+
+
+                rpcControlStatus.compid_primary_control,
+
+
+                rpcControlStatus.sysid_secondary_control,
+
+
+                rpcControlStatus.compid_secondary_control
+                )
+
+    def translate_to_rpc(self, rpcControlStatus):
+        """ Translates this SDK object into its gRPC equivalent """
+
+
+
+
+        rpcControlStatus.control_mode = self.control_mode.translate_to_rpc()
+
+
+
+
+
+        rpcControlStatus.sysid_primary_control = self.sysid_primary_control
+
+
+
+
+
+        rpcControlStatus.compid_primary_control = self.compid_primary_control
+
+
+
+
+
+        rpcControlStatus.sysid_secondary_control = self.sysid_secondary_control
+
+
+
+
+
+        rpcControlStatus.compid_secondary_control = self.compid_secondary_control
+
+
+
+
+
 class GimbalResult:
     """
      Result type.
@@ -243,6 +409,40 @@ async def set_pitch_and_yaw(self, pitch_deg, yaw_deg):
             raise GimbalError(result, "set_pitch_and_yaw()", pitch_deg, yaw_deg)
 
 
+    async def set_pitch_rate_and_yaw_rate(self, pitch_rate_deg_s, yaw_rate_deg_s):
+        """
+         Set gimbal angular rates around pitch and yaw axes.
+
+         This sets the desired angular rates around pitch and yaw axes of a gimbal.
+         Will return when the command is accepted, however, it might
+         take the gimbal longer to actually reach the angular rate.
+
+         Parameters
+         ----------
+         pitch_rate_deg_s : float
+              Angular rate around pitch axis in degrees/second (negative downward)
+
+         yaw_rate_deg_s : float
+              Angular rate around yaw axis in degrees/second (positive is clock-wise)
+
+         Raises
+         ------
+         GimbalError
+             If the request fails. The error contains the reason for the failure.
+        """
+
+        request = gimbal_pb2.SetPitchRateAndYawRateRequest()
+        request.pitch_rate_deg_s = pitch_rate_deg_s
+        request.yaw_rate_deg_s = yaw_rate_deg_s
+        response = await self._stub.SetPitchRateAndYawRate(request)
+
+
+        result = self._extract_result(response)
+
+        if result.result is not GimbalResult.Result.SUCCESS:
+            raise GimbalError(result, "set_pitch_rate_and_yaw_rate()", pitch_rate_deg_s, yaw_rate_deg_s)
+
+
     async def set_mode(self, gimbal_mode):
         """
          Set gimbal mode.
@@ -314,4 +514,91 @@ async def set_roi_location(self, latitude_deg, longitude_deg, altitude_m):
 
         if result.result is not GimbalResult.Result.SUCCESS:
             raise GimbalError(result, "set_roi_location()", latitude_deg, longitude_deg, altitude_m)
-
+
+
+    async def take_control(self, control_mode):
+        """
+         Take control.
+
+         There can be only two components in control of a gimbal at any given time.
+         One with "primary" control, and one with "secondary" control. The way the
+         secondary control is implemented is not specified and hence depends on the
+         vehicle.
+
+         Components are expected to be cooperative, which means that they can
+         override each other and should therefore do it carefully.
+
+         Parameters
+         ----------
+         control_mode : ControlMode
+              Control mode (primary or secondary)
+
+         Raises
+         ------
+         GimbalError
+             If the request fails. The error contains the reason for the failure.
+        """
+
+        request = gimbal_pb2.TakeControlRequest()
+
+        request.control_mode = control_mode.translate_to_rpc()
+
+
+        response = await self._stub.TakeControl(request)
+
+
+        result = self._extract_result(response)
+
+        if result.result is not GimbalResult.Result.SUCCESS:
+            raise GimbalError(result, "take_control()", control_mode)
+
+
+    async def release_control(self):
+        """
+         Release control.
+
+         Release control, such that other components can control the gimbal.
+
+         Raises
+         ------
+         GimbalError
+             If the request fails. The error contains the reason for the failure.
+        """
+
+        request = gimbal_pb2.ReleaseControlRequest()
+        response = await self._stub.ReleaseControl(request)
+
+
+        result = self._extract_result(response)
+
+        if result.result is not GimbalResult.Result.SUCCESS:
+            raise GimbalError(result, "release_control()")
+
+
+    async def control(self):
+        """
+         Subscribe to control status updates.
+
+         This allows a component to know if it has primary, secondary or
+         no control over the gimbal. Also, it gives the system and component ids
+         of the other components in control (if any).
+
+         Yields
+         -------
+         control_status : ControlStatus
+              Control status
+
+         
+        """
+
+        request = gimbal_pb2.SubscribeControlRequest()
+        control_stream = self._stub.SubscribeControl(request)
+
+        try:
+            async for response in control_stream:
+
+
+
+                yield ControlStatus.translate_from_rpc(response.control_status)
+        finally:
+            control_stream.cancel()