From e8c96cc50b7cb9bb10fb1dee561328af85a468b1 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 17 Dec 2024 14:20:40 +1300
Subject: [PATCH 1/2] examples: Add example on how to use mavsdk_server lib

This just shows how to use the C API to instantiate the gRPC server.
---
 examples/CMakeLists.txt                       |  3 ++
 examples/start_stop_server/CMakeLists.txt     | 22 ++++++++++++
 .../start_stop_server/start_stop_server.cpp   | 36 +++++++++++++++++++
 3 files changed, 61 insertions(+)
 create mode 100644 examples/start_stop_server/CMakeLists.txt
 create mode 100644 examples/start_stop_server/start_stop_server.cpp

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 183a27865..66c59d252 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -46,3 +46,6 @@ add_subdirectory(transponder)
 add_subdirectory(tune)
 add_subdirectory(vtol_transition)
 add_subdirectory(winch)
+
+# Disabled, requires mavsdk_server library.
+#add_subdirectory(start_stop_server)
diff --git a/examples/start_stop_server/CMakeLists.txt b/examples/start_stop_server/CMakeLists.txt
new file mode 100644
index 000000000..f520f98e4
--- /dev/null
+++ b/examples/start_stop_server/CMakeLists.txt
@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.10.2)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+project(start_stop_server)
+
+add_executable(start_stop_server
+    start_stop_server.cpp
+)
+
+find_package(MAVSDK REQUIRED)
+
+target_link_libraries(start_stop_server
+    MAVSDK::mavsdk_server
+)
+
+if(NOT MSVC)
+    add_compile_options(start_stop_server PRIVATE -Wall -Wextra)
+else()
+    add_compile_options(start_stop_server PRIVATE -W2)
+endif()
diff --git a/examples/start_stop_server/start_stop_server.cpp b/examples/start_stop_server/start_stop_server.cpp
new file mode 100644
index 000000000..6bad0bfa2
--- /dev/null
+++ b/examples/start_stop_server/start_stop_server.cpp
@@ -0,0 +1,36 @@
+//
+// Example how to use C API of mavsdk_server.
+//
+
+#include <mavsdk/mavsdk.h>
+#include <mavsdk/mavsdk_server/mavsdk_server_api.h>
+#include <iostream>
+#include <csignal>
+
+using namespace mavsdk;
+
+static struct MavsdkServer* mavsdk_server;
+
+void signal_handler(int sig)
+{
+    std::cout << "Received SIGUSR1 signal" << std::endl;
+
+    mavsdk_server_stop(mavsdk_server);
+}
+
+int main(int argc, char* argv[])
+{
+    if (argc != 2) {
+        std::cout << "Connection string required as argument" << std::endl;
+        return 1;
+    }
+
+    signal(SIGUSR1, signal_handler);
+
+    mavsdk_server_init(&mavsdk_server);
+    mavsdk_server_run(mavsdk_server, argv[1], 50051);
+
+    mavsdk_server_destroy(mavsdk_server);
+
+    return 0;
+}

From c18538b001d741797bbdd647c1062e8ecd999320 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Wed, 18 Dec 2024 15:19:30 +1300
Subject: [PATCH 2/2] examples: close with Ctrl+C instead of SIGUSR1

---
 examples/start_stop_server/start_stop_server.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/start_stop_server/start_stop_server.cpp b/examples/start_stop_server/start_stop_server.cpp
index 6bad0bfa2..ff7286a67 100644
--- a/examples/start_stop_server/start_stop_server.cpp
+++ b/examples/start_stop_server/start_stop_server.cpp
@@ -13,7 +13,7 @@ static struct MavsdkServer* mavsdk_server;
 
 void signal_handler(int sig)
 {
-    std::cout << "Received SIGUSR1 signal" << std::endl;
+    std::cout << "Received signal " << sig << std::endl;
 
     mavsdk_server_stop(mavsdk_server);
 }
@@ -25,7 +25,7 @@ int main(int argc, char* argv[])
         return 1;
     }
 
-    signal(SIGUSR1, signal_handler);
+    signal(SIGINT, signal_handler);
 
     mavsdk_server_init(&mavsdk_server);
     mavsdk_server_run(mavsdk_server, argv[1], 50051);