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fail early in case of error from mavsdk stream #9

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fail early in case of error from mavsdk stream #9

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6bd4a22
fail early in case of error from mavsdk stream
ykhedar Nov 23, 2024
bbf5003
cleanup duplicates from j2 templates and removed redundant break from…
ykhedar Dec 1, 2024
2fd92cc
auto formatting after source generation
ykhedar Dec 1, 2024
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430 changes: 180 additions & 250 deletions Sources/action/action.go
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1,044 changes: 192 additions & 852 deletions Sources/action/action.pb.go
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1 change: 1 addition & 0 deletions Sources/action/action_grpc.pb.go
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189 changes: 79 additions & 110 deletions Sources/action_server/action_server.go
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Original file line number Diff line number Diff line change
Expand Up @@ -2,24 +2,24 @@ package action_server

import (
"context"
"fmt"
"io"
"log"

codes "google.golang.org/grpc/codes"
"google.golang.org/grpc/status"
status "google.golang.org/grpc/status"
)

type ServiceImpl struct {
Client ActionServerServiceClient
}

/*
Subscribe to ARM/DISARM commands


ArmDisarm Subscribe to ARM/DISARM commands
*/
func (a *ServiceImpl) ArmDisarm(
ctx context.Context,

func (a *ServiceImpl) ArmDisarm(ctx context.Context) (<-chan *ArmDisarm, error) {
) (<-chan *ArmDisarm, error) {
ch := make(chan *ArmDisarm)
request := &SubscribeArmDisarmRequest{}
stream, err := a.Client.SubscribeArmDisarm(ctx, request)
Expand All @@ -38,8 +38,7 @@ func (a *ServiceImpl) ArmDisarm(ctx context.Context) (<-chan *ArmDisarm, error)
if s, ok := status.FromError(err); ok && s.Code() == codes.Canceled {
return
}
fmt.Printf("Unable to receive ArmDisarm messages, err: %v\n", err)
break
log.Fatalf("Unable to receive ArmDisarm messages, err: %v", err)
}
ch <- m.GetArm()
}
Expand All @@ -48,12 +47,12 @@ func (a *ServiceImpl) ArmDisarm(ctx context.Context) (<-chan *ArmDisarm, error)
}

/*
Subscribe to DO_SET_MODE


FlightModeChange Subscribe to DO_SET_MODE
*/
func (a *ServiceImpl) FlightModeChange(
ctx context.Context,

func (a *ServiceImpl) FlightModeChange(ctx context.Context) (<-chan FlightMode, error) {
) (<-chan FlightMode, error) {
ch := make(chan FlightMode)
request := &SubscribeFlightModeChangeRequest{}
stream, err := a.Client.SubscribeFlightModeChange(ctx, request)
Expand All @@ -72,8 +71,7 @@ func (a *ServiceImpl) FlightModeChange(ctx context.Context) (<-chan FlightMode,
if s, ok := status.FromError(err); ok && s.Code() == codes.Canceled {
return
}
fmt.Printf("Unable to receive FlightModeChange messages, err: %v\n", err)
break
log.Fatalf("Unable to receive FlightModeChange messages, err: %v", err)
}
ch <- m.GetFlightMode()
}
Expand All @@ -82,12 +80,12 @@ func (a *ServiceImpl) FlightModeChange(ctx context.Context) (<-chan FlightMode,
}

/*
Subscribe to takeoff command


Takeoff Subscribe to takeoff command
*/
func (a *ServiceImpl) Takeoff(
ctx context.Context,

func (a *ServiceImpl) Takeoff(ctx context.Context) (<-chan bool, error) {
) (<-chan bool, error) {
ch := make(chan bool)
request := &SubscribeTakeoffRequest{}
stream, err := a.Client.SubscribeTakeoff(ctx, request)
Expand All @@ -106,8 +104,7 @@ func (a *ServiceImpl) Takeoff(ctx context.Context) (<-chan bool, error) {
if s, ok := status.FromError(err); ok && s.Code() == codes.Canceled {
return
}
fmt.Printf("Unable to receive Takeoff messages, err: %v\n", err)
break
log.Fatalf("Unable to receive Takeoff messages, err: %v", err)
}
ch <- m.GetTakeoff()
}
Expand All @@ -116,12 +113,12 @@ func (a *ServiceImpl) Takeoff(ctx context.Context) (<-chan bool, error) {
}

/*
Subscribe to land command


Land Subscribe to land command
*/
func (a *ServiceImpl) Land(
ctx context.Context,

func (a *ServiceImpl) Land(ctx context.Context) (<-chan bool, error) {
) (<-chan bool, error) {
ch := make(chan bool)
request := &SubscribeLandRequest{}
stream, err := a.Client.SubscribeLand(ctx, request)
Expand All @@ -140,8 +137,7 @@ func (a *ServiceImpl) Land(ctx context.Context) (<-chan bool, error) {
if s, ok := status.FromError(err); ok && s.Code() == codes.Canceled {
return
}
fmt.Printf("Unable to receive Land messages, err: %v\n", err)
break
log.Fatalf("Unable to receive Land messages, err: %v", err)
}
ch <- m.GetLand()
}
Expand All @@ -150,12 +146,12 @@ func (a *ServiceImpl) Land(ctx context.Context) (<-chan bool, error) {
}

/*
Subscribe to reboot command


Reboot Subscribe to reboot command
*/
func (a *ServiceImpl) Reboot(
ctx context.Context,

func (a *ServiceImpl) Reboot(ctx context.Context) (<-chan bool, error) {
) (<-chan bool, error) {
ch := make(chan bool)
request := &SubscribeRebootRequest{}
stream, err := a.Client.SubscribeReboot(ctx, request)
Expand All @@ -174,8 +170,7 @@ func (a *ServiceImpl) Reboot(ctx context.Context) (<-chan bool, error) {
if s, ok := status.FromError(err); ok && s.Code() == codes.Canceled {
return
}
fmt.Printf("Unable to receive Reboot messages, err: %v\n", err)
break
log.Fatalf("Unable to receive Reboot messages, err: %v", err)
}
ch <- m.GetReboot()
}
Expand All @@ -184,12 +179,12 @@ func (a *ServiceImpl) Reboot(ctx context.Context) (<-chan bool, error) {
}

/*
Subscribe to shutdown command


Shutdown Subscribe to shutdown command
*/
func (a *ServiceImpl) Shutdown(
ctx context.Context,

func (a *ServiceImpl) Shutdown(ctx context.Context) (<-chan bool, error) {
) (<-chan bool, error) {
ch := make(chan bool)
request := &SubscribeShutdownRequest{}
stream, err := a.Client.SubscribeShutdown(ctx, request)
Expand All @@ -208,8 +203,7 @@ func (a *ServiceImpl) Shutdown(ctx context.Context) (<-chan bool, error) {
if s, ok := status.FromError(err); ok && s.Code() == codes.Canceled {
return
}
fmt.Printf("Unable to receive Shutdown messages, err: %v\n", err)
break
log.Fatalf("Unable to receive Shutdown messages, err: %v", err)
}
ch <- m.GetShutdown()
}
Expand All @@ -218,12 +212,12 @@ func (a *ServiceImpl) Shutdown(ctx context.Context) (<-chan bool, error) {
}

/*
Subscribe to terminate command


Terminate Subscribe to terminate command
*/
func (a *ServiceImpl) Terminate(
ctx context.Context,

func (a *ServiceImpl) Terminate(ctx context.Context) (<-chan bool, error) {
) (<-chan bool, error) {
ch := make(chan bool)
request := &SubscribeTerminateRequest{}
stream, err := a.Client.SubscribeTerminate(ctx, request)
Expand All @@ -242,8 +236,7 @@ func (a *ServiceImpl) Terminate(ctx context.Context) (<-chan bool, error) {
if s, ok := status.FromError(err); ok && s.Code() == codes.Canceled {
return
}
fmt.Printf("Unable to receive Terminate messages, err: %v\n", err)
break
log.Fatalf("Unable to receive Terminate messages, err: %v", err)
}
ch <- m.GetTerminate()
}
Expand All @@ -252,19 +245,16 @@ func (a *ServiceImpl) Terminate(ctx context.Context) (<-chan bool, error) {
}

/*
Can the vehicle takeoff

Parameters
----------
allowTakeoff bool


SetAllowTakeoff Can the vehicle takeoff
*/
func (s *ServiceImpl) SetAllowTakeoff(
ctx context.Context,
allowTakeoff bool,

func (s *ServiceImpl) SetAllowTakeoff(ctx context.Context, allowTakeoff bool) (*SetAllowTakeoffResponse, error) {

request := &SetAllowTakeoffRequest{}
request.AllowTakeoff = allowTakeoff
) (*SetAllowTakeoffResponse, error) {
request := &SetAllowTakeoffRequest{
AllowTakeoff: allowTakeoff,
}
response, err := s.Client.SetAllowTakeoff(ctx, request)
if err != nil {
return nil, err
Expand All @@ -273,22 +263,18 @@ func (s *ServiceImpl) SetAllowTakeoff(ctx context.Context, allowTakeoff bool) (*
}

/*
Can the vehicle arm when requested

Parameters
----------
armable bool

forceArmable bool


SetArmable Can the vehicle arm when requested
*/

func (s *ServiceImpl) SetArmable(ctx context.Context, armable bool, forceArmable bool) (*SetArmableResponse, error) {

request := &SetArmableRequest{}
request.Armable = armable
request.ForceArmable = forceArmable
func (s *ServiceImpl) SetArmable(
ctx context.Context,
armable bool,
forceArmable bool,

) (*SetArmableResponse, error) {
request := &SetArmableRequest{
Armable: armable,
ForceArmable: forceArmable,
}
response, err := s.Client.SetArmable(ctx, request)
if err != nil {
return nil, err
Expand All @@ -297,22 +283,18 @@ func (s *ServiceImpl) SetArmable(ctx context.Context, armable bool, forceArmable
}

/*
Can the vehicle disarm when requested

Parameters
----------
disarmable bool

forceDisarmable bool


SetDisarmable Can the vehicle disarm when requested
*/

func (s *ServiceImpl) SetDisarmable(ctx context.Context, disarmable bool, forceDisarmable bool) (*SetDisarmableResponse, error) {

request := &SetDisarmableRequest{}
request.Disarmable = disarmable
request.ForceDisarmable = forceDisarmable
func (s *ServiceImpl) SetDisarmable(
ctx context.Context,
disarmable bool,
forceDisarmable bool,

) (*SetDisarmableResponse, error) {
request := &SetDisarmableRequest{
Disarmable: disarmable,
ForceDisarmable: forceDisarmable,
}
response, err := s.Client.SetDisarmable(ctx, request)
if err != nil {
return nil, err
Expand All @@ -321,21 +303,16 @@ func (s *ServiceImpl) SetDisarmable(ctx context.Context, disarmable bool, forceD
}

/*
Set which modes the vehicle can transition to (Manual always allowed)

Parameters
----------
flightModes *AllowableFlightModes



SetAllowableFlightModes Set which modes the vehicle can transition to (Manual always allowed)
*/
func (s *ServiceImpl) SetAllowableFlightModes(
ctx context.Context,
flightModes *AllowableFlightModes,

func (s *ServiceImpl) SetAllowableFlightModes(ctx context.Context, flightModes *AllowableFlightModes) (*SetAllowableFlightModesResponse, error) {

request := &SetAllowableFlightModesRequest{}
request.FlightModes = flightModes

) (*SetAllowableFlightModesResponse, error) {
request := &SetAllowableFlightModesRequest{
FlightModes: flightModes,
}
response, err := s.Client.SetAllowableFlightModes(ctx, request)
if err != nil {
return nil, err
Expand All @@ -344,24 +321,16 @@ func (s *ServiceImpl) SetAllowableFlightModes(ctx context.Context, flightModes *
}

/*
Get which modes the vehicle can transition to (Manual always allowed)



Returns
-------
False
FlightModes : AllowableFlightModes


GetAllowableFlightModes Get which modes the vehicle can transition to (Manual always allowed)
*/
func (s *ServiceImpl) GetAllowableFlightModes(
ctx context.Context,

func (s *ServiceImpl) GetAllowableFlightModes(ctx context.Context) (*GetAllowableFlightModesResponse, error) {
) (*GetAllowableFlightModesResponse, error) {
request := &GetAllowableFlightModesRequest{}
response, err := s.Client.GetAllowableFlightModes(ctx, request)
if err != nil {
return nil, err
}
return response, nil

}
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