Merge pull request #191 from rayw-dronesense/add-custom-id

Fixes #179 Add method to run mavsdk server with custom IDs

Author: JonasVautherin

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

@@ -31,6 +31,22 @@ extern "C"
         return true;
     }
 
+    JNIEXPORT jboolean JNICALL
+    Java_io_mavsdk_mavsdkserver_MavsdkServer_runNativeWithMavIds(JNIEnv* env, jobject thiz, jlong mavsdkServerHandle, jstring system_address, jint mavsdk_server_port, jint system_id, jint component_id)
+    {
+        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);
+        if (!mavsdk_server_run_with_mavlink_ids(mavsdk_server, native_connection_url, mavsdk_server_port, system_id, component_id)) {
+            return false;
+        }
+
+        auto server_port = mavsdk_server_get_port(mavsdk_server);
+        LOGD("mavsdk_server is now running, listening on port %d", server_port);
+        return true;
+    }
+
     JNIEXPORT jint JNICALL
     Java_io_mavsdk_mavsdkserver_MavsdkServer_getPort(JNIEnv* env, jobject thiz, jlong mavsdkServerHandle)
     {

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

@@ -63,10 +63,38 @@ public int run(String systemAddress, int mavsdkServerPort) {
     return getPort(mavsdkServerHandle);
   }
 
+  /**
+   * Run MavsdkServer with MAVLink on `systemAddress` with custom MAVLink IDs.
+   *
+   * <p>MavsdkServer will listen for a `System` to connect on `mavsdkServerPort`.</p>
+   *
+   * @param systemAddress The address on which the remote MAVLink system is expected.
+   *     Valid formats are:
+   *     For TCP : tcp://[server_host][:server_port]
+   *     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`.
+   * @param systemId The MAVLink sysid that MAVSDK should use.
+   * @param componentId The MAVLink compid that MAVSDK should use.
+   * @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 runWithMavIds(String systemAddress, int mavsdkServerPort, int systemId, int componentId) {
+    mavsdkServerHandle = initNative();
+
+    if (!runNativeWithMavIds(mavsdkServerHandle, systemAddress, mavsdkServerPort, systemId, componentId)) {
+      return 0;
+    }
+
+    return getPort(mavsdkServerHandle);
+  }
+
   private native long initNative();
 
   private native boolean runNative(long mavsdkServerHandle, String systemAddress, int mavsdkServerPort);
 
+  private native boolean runNativeWithMavIds(long mavsdkServerHandle, String systemAddress, int mavsdkServerPort, int systemId, int componentId);
+
   private native int getPort(long mavsdkServerHandle);
 
   /**