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Merged
JonasVautherin merged 2 commits into from
Feb 4, 2026
Merged

Update protoc-gen-mavsdk to v2 #229

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675fa14
Update templates to protoc-gen-mavsdk v2
JonasVautherin Feb 4, 2026
965fa38
ci: pin protoc-gen-mavsdk to v2
JonasVautherin Feb 4, 2026
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4 changes: 2 additions & 2 deletions .github/workflows/main.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ jobs:
set -o pipefail
python3 -m venv venv
source ./venv/bin/activate
pip install protoc-gen-mavsdk
pip install "protoc-gen-mavsdk~=2.0"
./gradlew build
- name: Build and prepare mavsdk-server
working-directory: ./mavsdk_server
Expand Down Expand Up @@ -81,7 +81,7 @@ jobs:
set -o pipefail
python3 -m venv venv
source ./venv/bin/activate
pip install protoc-gen-mavsdk
pip install "protoc-gen-mavsdk~=2.0"
./gradlew build -PVERSION=${{ steps.version.outputs.tag_name }}
./gradlew publish -PVERSION=${{ steps.version.outputs.tag_name }}
- name: Build and prepare mavsdk-server
Expand Down
2 changes: 1 addition & 1 deletion sdk/proto
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Submodule proto updated from 08c45f to b5113c
6 changes: 3 additions & 3 deletions sdk/templates/call.j2
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Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
@CheckReturnValue
public Completable {{ name.lower_camel_case }}({% for param in params %}@NonNull {{ param.type_info.name }} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
public Completable {{ name.lower_camel_case }}({% for param in params %}@NonNull {% if param.type_info.is_primitive %}{{ param.type_info.name }}{% elif param.type_info.is_repeated %}List<{{ param.type_info.inner_name.upper_camel_case }}>{% else %}{{ param.type_info.name.upper_camel_case }}{% endif %} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {

{{ plugin_name.upper_camel_case }}Proto.{{ name.upper_camel_case }}Request request = {{ plugin_name.upper_camel_case }}Proto.{{ name.upper_camel_case }}Request.newBuilder()
{%- for param in params %}
{%- if param.type_info.is_primitive %}
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }})
{%- elif param.type_info.is_repeated %}
.addAll{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.stream().map(elem -> elem.rpc{{ param.type_info.inner_name }}())::iterator)
.addAll{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.stream().map(elem -> elem.rpc{{ param.type_info.inner_name.upper_camel_case }}())::iterator)
{%- else %}
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.rpc{{ param.type_info.name }}())
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.rpc{{ param.type_info.name.upper_camel_case }}())
{%- endif %}
{%- endfor %}
.build();
Expand Down
12 changes: 6 additions & 6 deletions sdk/templates/request.j2
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Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
@CheckReturnValue
public Single<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name }}{% endif %}> {{ name.lower_camel_case }}{% if name.lower_camel_case == "getFlightInformation" %}Sync{% endif %}({% for param in params %}@NonNull {{ param.type_info.name }} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
public Single<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name.upper_camel_case }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name.upper_camel_case }}{% endif %}> {{ name.lower_camel_case }}{% if name.lower_camel_case == "getFlightInformation" %}Sync{% endif %}({% for param in params %}@NonNull {% if param.type_info.is_primitive %}{{ param.type_info.name }}{% else %}{{ param.type_info.name.upper_camel_case }}{% endif %} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
{{ plugin_name.upper_camel_case }}Proto.{{ name.upper_camel_case }}Request request = {{ plugin_name.upper_camel_case }}Proto.{{ name.upper_camel_case }}Request.newBuilder()
{%- for param in params %}
{%- if param.type_info.is_primitive %}
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }})
{%- elif param.type_info.is_repeated %}
.addAll{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.stream().map(elem -> elem.rpc{{ param.type_info.inner_name }}())::iterator)
.addAll{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.stream().map(elem -> elem.rpc{{ param.type_info.inner_name.upper_camel_case }}())::iterator)
{%- else %}
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.rpc{{ param.type_info.name }}())
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.rpc{{ param.type_info.name.upper_camel_case }}())
{%- endif %}
{%- endfor %}
.build();

Single<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name }}{% endif %}> single = Single.create(emitter -> {
Single<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name.upper_camel_case }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name.upper_camel_case }}{% endif %}> single = Single.create(emitter -> {
if (!isInitialized) {
Thread.sleep(PLUGIN_INIT_TIMEOUT_MS);
if (!isInitialized) {
Expand All @@ -39,9 +39,9 @@ public Single<{% if return_type.is_primitive %}{{ return_type.name }}{% elif ret
{%- endif %}
{%- else %}
{%- if return_type.is_repeated %}
emitter.onSuccess(value.get{{ return_name.upper_camel_case }}List().stream().map({{ return_type.inner_name }}::translateFromRpc).collect(Collectors.toList()));
emitter.onSuccess(value.get{{ return_name.upper_camel_case }}List().stream().map({{ return_type.inner_name.upper_camel_case }}::translateFromRpc).collect(Collectors.toList()));
{%- else %}
emitter.onSuccess({{ return_type.name }}.translateFromRpc(value.get{{ return_name.upper_camel_case }}()));
emitter.onSuccess({{ return_type.name.upper_camel_case }}.translateFromRpc(value.get{{ return_name.upper_camel_case }}()));
{%- endif %}
{%- endif %}
{%- if has_result %}
Expand Down
30 changes: 15 additions & 15 deletions sdk/templates/stream.j2
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Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
{% if not is_finite %}
// Infinite stream
private final FlowableProcessor<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name }}{% endif %}> {{ name.lower_camel_case }}Processor = PublishProcessor.create();
private final Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name }}{% endif %}> {{ name.lower_camel_case }} = {{ name.lower_camel_case }}Processor.onBackpressureBuffer().share();;
private final FlowableProcessor<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name.upper_camel_case }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name.upper_camel_case }}{% endif %}> {{ name.lower_camel_case }}Processor = PublishProcessor.create();
private final Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name.upper_camel_case }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name.upper_camel_case }}{% endif %}> {{ name.lower_camel_case }} = {{ name.lower_camel_case }}Processor.onBackpressureBuffer().share();;
private volatile boolean is{{ name.upper_camel_case }}Initialized = false;

private void process{{ name.upper_camel_case }}({% for param in params %}@NonNull {{ param.type_info.name }} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
private void process{{ name.upper_camel_case }}({% for param in params %}@NonNull {% if param.type_info.is_primitive %}{{ param.type_info.name }}{% else %}{{ param.type_info.name.upper_camel_case }}{% endif %} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
{{ plugin_name.upper_camel_case }}Proto.Subscribe{{ name.upper_camel_case }}Request request = {{ plugin_name.upper_camel_case }}Proto.Subscribe{{ name.upper_camel_case }}Request.newBuilder()
{%- for param in params %}
{%- if param.type_info.is_primitive %}
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }})
{%- elif param.type_info.is_repeated %}
.addAll{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.stream().map(elem -> elem.rpc{{ param.type_info.inner_name }}())::iterator)
.addAll{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.stream().map(elem -> elem.rpc{{ param.type_info.inner_name.upper_camel_case }}())::iterator)
{%- else %}
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.rpc{{ param.type_info.name }}())
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.rpc{{ param.type_info.name.upper_camel_case }}())
{%- endif %}
{%- endfor %}
.build();
Expand All @@ -25,13 +25,13 @@ private void process{{ name.upper_camel_case }}({% for param in params %}@NonNul
{%- if return_type.is_primitive %}
{{ name.lower_camel_case }}Processor.onNext(value.get{{ return_name.upper_camel_case }}List());
{%- else %}
{{ name.lower_camel_case }}Processor.onNext(value.get{{ return_name.upper_camel_case }}List().stream().map({{ return_type.inner_name }}::translateFromRpc).collect(Collectors.toList()));
{{ name.lower_camel_case }}Processor.onNext(value.get{{ return_name.upper_camel_case }}List().stream().map({{ return_type.inner_name.upper_camel_case }}::translateFromRpc).collect(Collectors.toList()));
{%- endif %}
{%- else %}
{%- if return_type.is_primitive %}
{{ name.lower_camel_case }}Processor.onNext(value.get{{ return_name.upper_camel_case }}());
{%- else %}
{{ name.lower_camel_case }}Processor.onNext({{ return_type.name }}.translateFromRpc(value.get{{ return_name.upper_camel_case }}()));
{{ name.lower_camel_case }}Processor.onNext({{ return_type.name.upper_camel_case }}.translateFromRpc(value.get{{ return_name.upper_camel_case }}()));
{%- endif %}
{%- endif %}
}
Expand All @@ -49,7 +49,7 @@ private void process{{ name.upper_camel_case }}({% for param in params %}@NonNul
}

@CheckReturnValue
public Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name }}{% endif %}> get{{ name.upper_camel_case }}({% for param in params %}@NonNull {{ param.type_info.name }} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
public Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name.upper_camel_case }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name.upper_camel_case }}{% endif %}> get{{ name.upper_camel_case }}({% for param in params %}@NonNull {% if param.type_info.is_primitive %}{{ param.type_info.name }}{% else %}{{ param.type_info.name.upper_camel_case }}{% endif %} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
if (!is{{ name.upper_camel_case }}Initialized) {
synchronized (this) {
if (!is{{ name.upper_camel_case }}Initialized) {
Expand All @@ -63,20 +63,20 @@ public Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif r

{% else %}
// Finite stream
private Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name }}{% endif %}> create{{ name.upper_camel_case }}({% for param in params %}{{ param.type_info.name }} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
private Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name.upper_camel_case }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name.upper_camel_case }}{% endif %}> create{{ name.upper_camel_case }}({% for param in params %}{% if param.type_info.is_primitive %}{{ param.type_info.name }}{% else %}{{ param.type_info.name.upper_camel_case }}{% endif %} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
{{ plugin_name.upper_camel_case }}Proto.Subscribe{{ name.upper_camel_case }}Request request = {{ plugin_name.upper_camel_case }}Proto.Subscribe{{ name.upper_camel_case }}Request.newBuilder()
{%- for param in params %}
{%- if param.type_info.is_primitive %}
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }})
{%- elif param.type_info.is_repeated %}
.addAll{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.stream().map(elem -> elem.rpc{{ param.type_info.inner_name }}())::iterator)
.addAll{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.stream().map(elem -> elem.rpc{{ param.type_info.inner_name.upper_camel_case }}())::iterator)
{%- else %}
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.rpc{{ param.type_info.name }}())
.set{{ param.name.upper_camel_case }}({{ param.name.lower_camel_case }}.rpc{{ param.type_info.name.upper_camel_case }}())
{%- endif %}
{%- endfor %}
.build();

Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name }}{% endif %}> flowable = Flowable.create(emitter -> {
Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name.upper_camel_case }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name.upper_camel_case }}{% endif %}> flowable = Flowable.create(emitter -> {
if (!isInitialized) {
Thread.sleep(PLUGIN_INIT_TIMEOUT_MS);
if (!isInitialized) {
Expand All @@ -99,13 +99,13 @@ private Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif
{%- if return_type.is_primitive %}
emitter.onNext(value.get{{ return_name.upper_camel_case }}List());
{%- else %}
emitter.onNext(value.get{{ return_name.upper_camel_case }}List().stream().map({{ return_type.inner_name }}::translateFromRpc).collect(Collectors.toList()));
emitter.onNext(value.get{{ return_name.upper_camel_case }}List().stream().map({{ return_type.inner_name.upper_camel_case }}::translateFromRpc).collect(Collectors.toList()));
{%- endif %}
{%- else %}
{%- if return_type.is_primitive %}
emitter.onNext(value.get{{ return_name.upper_camel_case }}());
{%- else %}
emitter.onNext({{ return_type.name }}.translateFromRpc(value.get{{ return_name.upper_camel_case }}()));
emitter.onNext({{ return_type.name.upper_camel_case }}.translateFromRpc(value.get{{ return_name.upper_camel_case }}()));
{%- endif %}
{%- endif %}
break;
Expand All @@ -131,7 +131,7 @@ private Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif
}

@CheckReturnValue
public Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name }}{% endif %}> {{ name.lower_camel_case }}({% for param in params %}@NonNull {{ param.type_info.name }} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
public Flowable<{% if return_type.is_primitive %}{{ return_type.name }}{% elif return_type.is_repeated %}List<{{ plugin_name.upper_camel_case }}.{{ return_type.inner_name.upper_camel_case }}>{% else %}{{ plugin_name.upper_camel_case }}.{{ return_type.name.upper_camel_case }}{% endif %}> {{ name.lower_camel_case }}({% for param in params %}@NonNull {% if param.type_info.is_primitive %}{{ param.type_info.name }}{% else %}{{ param.type_info.name.upper_camel_case }}{% endif %} {{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %}) {
return create{{ name.upper_camel_case }}({% for param in params %}{{ param.name.lower_camel_case }}{{ ", " if not loop.last }}{% endfor %});
}

Expand Down
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