#[derive(Clone, PartialEq, ::prost::Message)]
pub struct SetPitchAndYawRequest {
#[prost(float, tag = "1")]
pub pitch_deg: f32,
#[prost(float, tag = "2")]
pub yaw_deg: f32,
}
#[derive(Clone, PartialEq, ::prost::Message)]
pub struct SetPitchAndYawResponse {
#[prost(message, optional, tag = "1")]
pub gimbal_result: ::core::option::Option<GimbalResult>,
}
#[derive(Clone, PartialEq, ::prost::Message)]
pub struct SetModeRequest {
#[prost(enumeration = "GimbalMode", tag = "1")]
pub gimbal_mode: i32,
}
#[derive(Clone, PartialEq, ::prost::Message)]
pub struct SetModeResponse {
#[prost(message, optional, tag = "1")]
pub gimbal_result: ::core::option::Option<GimbalResult>,
}
#[derive(Clone, PartialEq, ::prost::Message)]
pub struct SetRoiLocationRequest {
#[prost(double, tag = "1")]
pub latitude_deg: f64,
#[prost(double, tag = "2")]
pub longitude_deg: f64,
#[prost(float, tag = "3")]
pub altitude_m: f32,
}
#[derive(Clone, PartialEq, ::prost::Message)]
pub struct SetRoiLocationResponse {
#[prost(message, optional, tag = "1")]
pub gimbal_result: ::core::option::Option<GimbalResult>,
}
#[derive(Clone, PartialEq, ::prost::Message)]
pub struct GimbalResult {
#[prost(enumeration = "gimbal_result::Result", tag = "1")]
pub result: i32,
#[prost(string, tag = "2")]
pub result_str: ::prost::alloc::string::String,
}
pub mod gimbal_result {
#[derive(Clone, Copy, Debug, PartialEq, Eq, Hash, PartialOrd, Ord, ::prost::Enumeration)]
#[repr(i32)]
pub enum Result {
Unknown = 0,
Success = 1,
Error = 2,
Timeout = 3,
Unsupported = 4,
}
}
#[derive(Clone, Copy, Debug, PartialEq, Eq, Hash, PartialOrd, Ord, ::prost::Enumeration)]
#[repr(i32)]
pub enum GimbalMode {
YawFollow = 0,
YawLock = 1,
}
#[doc = r" Generated client implementations."]
pub mod gimbal_service_client {
#![allow(unused_variables, dead_code, missing_docs, clippy::let_unit_value)]
use tonic::codegen::*;
#[doc = " Provide control over a gimbal."]
#[derive(Debug, Clone)]
pub struct GimbalServiceClient<T> {
inner: tonic::client::Grpc<T>,
}
impl GimbalServiceClient<tonic::transport::Channel> {
#[doc = r" Attempt to create a new client by connecting to a given endpoint."]
pub async fn connect<D>(dst: D) -> Result<Self, tonic::transport::Error>
where
D: std::convert::TryInto<tonic::transport::Endpoint>,
D::Error: Into<StdError>,
{
let conn = tonic::transport::Endpoint::new(dst)?.connect().await?;
Ok(Self::new(conn))
}
}
impl<T> GimbalServiceClient<T>
where
T: tonic::client::GrpcService<tonic::body::BoxBody>,
T::ResponseBody: Body + Send + Sync + 'static,
T::Error: Into<StdError>,
<T::ResponseBody as Body>::Error: Into<StdError> + Send,
{
pub fn new(inner: T) -> Self {
let inner = tonic::client::Grpc::new(inner);
Self { inner }
}
pub fn with_interceptor<F>(
inner: T,
interceptor: F,
) -> GimbalServiceClient<InterceptedService<T, F>>
where
F: tonic::service::Interceptor,
T: tonic::codegen::Service<
http::Request<tonic::body::BoxBody>,
Response = http::Response<
<T as tonic::client::GrpcService<tonic::body::BoxBody>>::ResponseBody,
>,
>,
<T as tonic::codegen::Service<http::Request<tonic::body::BoxBody>>>::Error:
Into<StdError> + Send + Sync,
{
GimbalServiceClient::new(InterceptedService::new(inner, interceptor))
}
#[doc = r" Compress requests with `gzip`."]
#[doc = r""]
#[doc = r" This requires the server to support it otherwise it might respond with an"]
#[doc = r" error."]
pub fn send_gzip(mut self) -> Self {
self.inner = self.inner.send_gzip();
self
}
#[doc = r" Enable decompressing responses with `gzip`."]
pub fn accept_gzip(mut self) -> Self {
self.inner = self.inner.accept_gzip();
self
}
#[doc = ""]
#[doc = ""]
#[doc = " Set gimbal pitch and yaw angles."]
#[doc = ""]
#[doc = " This sets the desired pitch and yaw angles of a gimbal."]
#[doc = " Will return when the command is accepted, however, it might"]
#[doc = " take the gimbal longer to actually be set to the new angles."]
pub async fn set_pitch_and_yaw(
&mut self,
request: impl tonic::IntoRequest<super::SetPitchAndYawRequest>,
) -> Result<tonic::Response<super::SetPitchAndYawResponse>, tonic::Status> {
self.inner.ready().await.map_err(|e| {
tonic::Status::new(
tonic::Code::Unknown,
format!("Service was not ready: {}", e.into()),
)
})?;
let codec = tonic::codec::ProstCodec::default();
let path = http::uri::PathAndQuery::from_static(
"/mavsdk.rpc.gimbal.GimbalService/SetPitchAndYaw",
);
self.inner.unary(request.into_request(), path, codec).await
}
#[doc = ""]
#[doc = " Set gimbal mode."]
#[doc = ""]
#[doc = " This sets the desired yaw mode of a gimbal."]
#[doc = " Will return when the command is accepted. However, it might"]
#[doc = " take the gimbal longer to actually be set to the new angles."]
pub async fn set_mode(
&mut self,
request: impl tonic::IntoRequest<super::SetModeRequest>,
) -> Result<tonic::Response<super::SetModeResponse>, tonic::Status> {
self.inner.ready().await.map_err(|e| {
tonic::Status::new(
tonic::Code::Unknown,
format!("Service was not ready: {}", e.into()),
)
})?;
let codec = tonic::codec::ProstCodec::default();
let path =
http::uri::PathAndQuery::from_static("/mavsdk.rpc.gimbal.GimbalService/SetMode");
self.inner.unary(request.into_request(), path, codec).await
}
#[doc = ""]
#[doc = " Set gimbal region of interest (ROI)."]
#[doc = ""]
#[doc = " This sets a region of interest that the gimbal will point to."]
#[doc = " The gimbal will continue to point to the specified region until it"]
#[doc = " receives a new command."]
#[doc = " The function will return when the command is accepted, however, it might"]
#[doc = " take the gimbal longer to actually rotate to the ROI."]
pub async fn set_roi_location(
&mut self,
request: impl tonic::IntoRequest<super::SetRoiLocationRequest>,
) -> Result<tonic::Response<super::SetRoiLocationResponse>, tonic::Status> {
self.inner.ready().await.map_err(|e| {
tonic::Status::new(
tonic::Code::Unknown,
format!("Service was not ready: {}", e.into()),
)
})?;
let codec = tonic::codec::ProstCodec::default();
let path = http::uri::PathAndQuery::from_static(
"/mavsdk.rpc.gimbal.GimbalService/SetRoiLocation",
);
self.inner.unary(request.into_request(), path, codec).await
}
}
}
#[doc = r" Generated server implementations."]
pub mod gimbal_service_server {
#![allow(unused_variables, dead_code, missing_docs, clippy::let_unit_value)]
use tonic::codegen::*;
#[doc = "Generated trait containing gRPC methods that should be implemented for use with GimbalServiceServer."]
#[async_trait]
pub trait GimbalService: Send + Sync + 'static {
#[doc = ""]
#[doc = ""]
#[doc = " Set gimbal pitch and yaw angles."]
#[doc = ""]
#[doc = " This sets the desired pitch and yaw angles of a gimbal."]
#[doc = " Will return when the command is accepted, however, it might"]
#[doc = " take the gimbal longer to actually be set to the new angles."]
async fn set_pitch_and_yaw(
&self,
request: tonic::Request<super::SetPitchAndYawRequest>,
) -> Result<tonic::Response<super::SetPitchAndYawResponse>, tonic::Status>;
#[doc = ""]
#[doc = " Set gimbal mode."]
#[doc = ""]
#[doc = " This sets the desired yaw mode of a gimbal."]
#[doc = " Will return when the command is accepted. However, it might"]
#[doc = " take the gimbal longer to actually be set to the new angles."]
async fn set_mode(
&self,
request: tonic::Request<super::SetModeRequest>,
) -> Result<tonic::Response<super::SetModeResponse>, tonic::Status>;
#[doc = ""]
#[doc = " Set gimbal region of interest (ROI)."]
#[doc = ""]
#[doc = " This sets a region of interest that the gimbal will point to."]
#[doc = " The gimbal will continue to point to the specified region until it"]
#[doc = " receives a new command."]
#[doc = " The function will return when the command is accepted, however, it might"]
#[doc = " take the gimbal longer to actually rotate to the ROI."]
async fn set_roi_location(
&self,
request: tonic::Request<super::SetRoiLocationRequest>,
) -> Result<tonic::Response<super::SetRoiLocationResponse>, tonic::Status>;
}
#[doc = " Provide control over a gimbal."]
#[derive(Debug)]
pub struct GimbalServiceServer<T: GimbalService> {
inner: _Inner<T>,
accept_compression_encodings: (),
send_compression_encodings: (),
}
struct _Inner<T>(Arc<T>);
impl<T: GimbalService> GimbalServiceServer<T> {
pub fn new(inner: T) -> Self {
let inner = Arc::new(inner);
let inner = _Inner(inner);
Self {
inner,
accept_compression_encodings: Default::default(),
send_compression_encodings: Default::default(),
}
}
pub fn with_interceptor<F>(inner: T, interceptor: F) -> InterceptedService<Self, F>
where
F: tonic::service::Interceptor,
{
InterceptedService::new(Self::new(inner), interceptor)
}
}
impl<T, B> tonic::codegen::Service<http::Request<B>> for GimbalServiceServer<T>
where
T: GimbalService,
B: Body + Send + Sync + 'static,
B::Error: Into<StdError> + Send + 'static,
{
type Response = http::Response<tonic::body::BoxBody>;
type Error = Never;
type Future = BoxFuture<Self::Response, Self::Error>;
fn poll_ready(&mut self, _cx: &mut Context<'_>) -> Poll<Result<(), Self::Error>> {
Poll::Ready(Ok(()))
}
fn call(&mut self, req: http::Request<B>) -> Self::Future {
let inner = self.inner.clone();
match req.uri().path() {
"/mavsdk.rpc.gimbal.GimbalService/SetPitchAndYaw" => {
#[allow(non_camel_case_types)]
struct SetPitchAndYawSvc<T: GimbalService>(pub Arc<T>);
impl<T: GimbalService> tonic::server::UnaryService<super::SetPitchAndYawRequest>
for SetPitchAndYawSvc<T>
{
type Response = super::SetPitchAndYawResponse;
type Future = BoxFuture<tonic::Response<Self::Response>, tonic::Status>;
fn call(
&mut self,
request: tonic::Request<super::SetPitchAndYawRequest>,
) -> Self::Future {
let inner = self.0.clone();
let fut = async move { (*inner).set_pitch_and_yaw(request).await };
Box::pin(fut)
}
}
let accept_compression_encodings = self.accept_compression_encodings;
let send_compression_encodings = self.send_compression_encodings;
let inner = self.inner.clone();
let fut = async move {
let inner = inner.0;
let method = SetPitchAndYawSvc(inner);
let codec = tonic::codec::ProstCodec::default();
let mut grpc = tonic::server::Grpc::new(codec).apply_compression_config(
accept_compression_encodings,
send_compression_encodings,
);
let res = grpc.unary(method, req).await;
Ok(res)
};
Box::pin(fut)
}
"/mavsdk.rpc.gimbal.GimbalService/SetMode" => {
#[allow(non_camel_case_types)]
struct SetModeSvc<T: GimbalService>(pub Arc<T>);
impl<T: GimbalService> tonic::server::UnaryService<super::SetModeRequest> for SetModeSvc<T> {
type Response = super::SetModeResponse;
type Future = BoxFuture<tonic::Response<Self::Response>, tonic::Status>;
fn call(
&mut self,
request: tonic::Request<super::SetModeRequest>,
) -> Self::Future {
let inner = self.0.clone();
let fut = async move { (*inner).set_mode(request).await };
Box::pin(fut)
}
}
let accept_compression_encodings = self.accept_compression_encodings;
let send_compression_encodings = self.send_compression_encodings;
let inner = self.inner.clone();
let fut = async move {
let inner = inner.0;
let method = SetModeSvc(inner);
let codec = tonic::codec::ProstCodec::default();
let mut grpc = tonic::server::Grpc::new(codec).apply_compression_config(
accept_compression_encodings,
send_compression_encodings,
);
let res = grpc.unary(method, req).await;
Ok(res)
};
Box::pin(fut)
}
"/mavsdk.rpc.gimbal.GimbalService/SetRoiLocation" => {
#[allow(non_camel_case_types)]
struct SetRoiLocationSvc<T: GimbalService>(pub Arc<T>);
impl<T: GimbalService> tonic::server::UnaryService<super::SetRoiLocationRequest>
for SetRoiLocationSvc<T>
{
type Response = super::SetRoiLocationResponse;
type Future = BoxFuture<tonic::Response<Self::Response>, tonic::Status>;
fn call(
&mut self,
request: tonic::Request<super::SetRoiLocationRequest>,
) -> Self::Future {
let inner = self.0.clone();
let fut = async move { (*inner).set_roi_location(request).await };
Box::pin(fut)
}
}
let accept_compression_encodings = self.accept_compression_encodings;
let send_compression_encodings = self.send_compression_encodings;
let inner = self.inner.clone();
let fut = async move {
let inner = inner.0;
let method = SetRoiLocationSvc(inner);
let codec = tonic::codec::ProstCodec::default();
let mut grpc = tonic::server::Grpc::new(codec).apply_compression_config(
accept_compression_encodings,
send_compression_encodings,
);
let res = grpc.unary(method, req).await;
Ok(res)
};
Box::pin(fut)
}
_ => Box::pin(async move {
Ok(http::Response::builder()
.status(200)
.header("grpc-status", "12")
.header("content-type", "application/grpc")
.body(empty_body())
.unwrap())
}),
}
}
}
impl<T: GimbalService> Clone for GimbalServiceServer<T> {
fn clone(&self) -> Self {
let inner = self.inner.clone();
Self {
inner,
accept_compression_encodings: self.accept_compression_encodings,
send_compression_encodings: self.send_compression_encodings,
}
}
}
impl<T: GimbalService> Clone for _Inner<T> {
fn clone(&self) -> Self {
Self(self.0.clone())
}
}
impl<T: std::fmt::Debug> std::fmt::Debug for _Inner<T> {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
write!(f, "{:?}", self.0)
}
}
impl<T: GimbalService> tonic::transport::NamedService for GimbalServiceServer<T> {
const NAME: &'static str = "mavsdk.rpc.gimbal.GimbalService";
}
}