Merge pull request #78 from mavlink/update-to-0.11.0

Update to mavsdk_server v0.48.0

Author: JonasVautherin

README.md

@@ -19,7 +19,7 @@ MAVSDK-Java is distributed through MavenCentral, meaning that it can be imported
 ```
 dependencies {
     ...
-    implementation 'io.mavsdk:mavsdk:0.10.0'
+    implementation 'io.mavsdk:mavsdk:0.11.0'
     ...
 }
 ```
@@ -29,8 +29,8 @@ For Android, `mavsdk_server` is distributed as an Android library (`aar`):
 ```
 dependencies {
     ...
-    implementation 'io.mavsdk:mavsdk:0.10.0'
-    implementation 'io.mavsdk:mavsdk-server:0.10.0'
+    implementation 'io.mavsdk:mavsdk:0.11.0'
+    implementation 'io.mavsdk:mavsdk-server:0.11.0'
     ...
 }
 ```

mavsdk_server/build.gradle

@@ -19,7 +19,7 @@ allprojects {
         jcenter()
     }
 
-    def mavsdk_server_release = "v0.43.0"
+    def mavsdk_server_release = "v0.48.0"
 
     task extractMavsdkServer(type: Copy) {
         mkdir project.buildDir.getAbsolutePath() + "/tmp"
@@ -132,7 +132,7 @@ android {
         archivesBaseName = 'mavsdk-server'
         group = 'io.mavsdk'
         versionCode 1
-        version '0.10.0'
+        version '0.11.0'
 
         ndk {
             abiFilters 'arm64-v8a', 'armeabi-v7a', 'x86', 'x86_64'

mavsdk_server/src/main/cpp/native-lib.cpp

@@ -8,22 +8,27 @@
 
 extern "C"
 {
-    void onServerStarted(void* port_promise) {
-        auto* promise = static_cast<std::promise<void>*>(port_promise);
-        promise->set_value();
+    JNIEXPORT jlong JNICALL
+    Java_io_mavsdk_mavsdkserver_MavsdkServer_initNative(JNIEnv *env, jobject thiz) {
+        MavsdkServer* mavsdk_server;
+        mavsdk_server_init(&mavsdk_server);
+        return reinterpret_cast<jlong>(mavsdk_server);
     }
 
-    JNIEXPORT jlong JNICALL
-    Java_io_mavsdk_mavsdkserver_MavsdkServer_runNative(JNIEnv* env, jobject thiz, jstring system_address, jint mavsdk_server_port)
+    JNIEXPORT jboolean JNICALL
+    Java_io_mavsdk_mavsdkserver_MavsdkServer_runNative(JNIEnv* env, jobject thiz, jlong mavsdkServerHandle, jstring system_address, jint mavsdk_server_port)
     {
         const char* native_connection_url = env->GetStringUTFChars(system_address, 0);
+        auto mavsdk_server = reinterpret_cast<MavsdkServer*>(mavsdkServerHandle);
 
         LOGD("Running mavsdk_server with connection url: %s", native_connection_url);
-        auto mavsdk_server = mavsdk_server_run(native_connection_url, mavsdk_server_port);
+        if (!mavsdk_server_run(mavsdk_server, native_connection_url, mavsdk_server_port)) {
+            return false;
+        }
+
         auto server_port = mavsdk_server_get_port(mavsdk_server);
         LOGD("mavsdk_server is now running, listening on port %d", server_port);
-
-        return reinterpret_cast<jlong>(mavsdk_server);
+        return true;
     }
 
     JNIEXPORT jint JNICALL

mavsdk_server/src/main/java/io/mavsdk/mavsdkserver/MavsdkServer.java

@@ -50,14 +50,22 @@ public int run(String systemAddress) {
    *     For UDP : udp://[bind_host][:bind_port]
    *     For Serial : serial:///path/to/serial/dev[:baudrate]
    * @param mavsdkServerPort The port on which the server should listen for a `System`.
-   * @return A handle to the started MavsdkServer, to be used with other native functions.
+   * @return The port on which MavsdkServer listens for a `System` to connect.
+   *     A return value of 0 means that the server failed to start.
    */
   public int run(String systemAddress, int mavsdkServerPort) {
-    mavsdkServerHandle = runNative(systemAddress, mavsdkServerPort);
+    mavsdkServerHandle = initNative();
+
+    if (!runNative(mavsdkServerHandle, systemAddress, mavsdkServerPort)) {
+      return 0;
+    }
+
     return getPort(mavsdkServerHandle);
   }
 
-  private native long runNative(String systemAddress, int mavsdkServerPort);
+  private native long initNative();
+
+  private native boolean runNative(long mavsdkServerHandle, String systemAddress, int mavsdkServerPort);
 
   private native int getPort(long mavsdkServerHandle);
 

mavsdk_server/src/main/jniLibs/include/mavsdk_server_api.h

@@ -4,21 +4,38 @@
 extern "C" {
 #endif
 
+#ifdef __cplusplus
+#include <cstdint>
+#else
+#include <stdint.h>
+#endif
+
 #ifdef WINDOWS
 #define DLLExport __declspec(dllexport)
 #else
 #define DLLExport __attribute__((visibility("default")))
 #endif
 
-DLLExport struct MavsdkServer*
-mavsdk_server_run(const char* system_address, const int mavsdk_server_port);
+DLLExport void mavsdk_server_init(struct MavsdkServer** mavsdk_server);
+
+DLLExport int mavsdk_server_run(
+    struct MavsdkServer* mavsdk_server, const char* system_address, const int mavsdk_server_port);
+
+DLLExport int mavsdk_server_run_with_mavlink_ids(
+    struct MavsdkServer* mavsdk_server,
+    const char* system_address,
+    const int mavsdk_server_port,
+    const uint8_t system_id,
+    const uint8_t component_id);
 
 DLLExport int mavsdk_server_get_port(struct MavsdkServer* mavsdk_server);
 
 DLLExport void mavsdk_server_attach(struct MavsdkServer* mavsdk_server);
 
 DLLExport void mavsdk_server_stop(struct MavsdkServer* mavsdk_server);
 
+DLLExport void mavsdk_server_destroy(struct MavsdkServer* mavsdk_server);
+
 #ifdef __cplusplus
 }
 #endif

sdk/README.md

@@ -8,7 +8,7 @@ Because it is deployed on Maven Central, adding MAVSDK-Java to your project is a
 
 ```groovy
 dependencies {
-    implementation 'io.mavsdk:mavsdk:0.10.0'
+    implementation 'io.mavsdk:mavsdk:0.11.0'
 }
 ```
 

sdk/build.gradle

@@ -17,7 +17,7 @@ subprojects {
 
     group = 'io.mavsdk'
     archivesBaseName = 'mavsdk'
-    version = '0.10.0'
+    version = '0.11.0'
 
     repositories {
         jcenter()