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Add a way to connect to an already running instance of mavsdk server #211

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merged 1 commit into from
Jun 2, 2022
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Add a way to connect to an already running instance of mavsdk server #211

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14 changes: 14 additions & 0 deletions Sources/Mavsdk/Drone.swift
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,9 @@ public class Drone {
case connectionStopped
}

/**
* Create an instance of MavsdkServer and running with `systemAddress`, which is the address of the drone.
*/
public func connect(systemAddress: String = "udp://:14540") -> Completable {
return Completable.create { completable in
self.mavsdkServer = MavsdkServer()
Expand All @@ -57,6 +60,17 @@ public class Drone {
}
}

/**
* Connect MAVSDK to an already-running instance of MavsdkServer, locally or somewhere on the network.
*/
public func connect(mavsdkServerAddress: String, mavsdkServerPort: Int32 = 50051) -> Completable {
return Completable.create { completable in
self.initPlugins(address: mavsdkServerAddress, port: mavsdkServerPort)
completable(.completed)
return Disposables.create()
}
}

private func initPlugins(address: String = "localhost", port: Int32 = 50051) {
self.action = Action(address: address, port: port, scheduler: scheduler)
self.calibration = Calibration(address: address, port: port, scheduler: scheduler)
Expand Down