cmake/tools: generate grpc_server, list plugins

This is refactoring around the way the plugins are built into the mavsdk
library as well as the mavsdk_server executable.

The changes contain the following:
- Auto-generation of grpc_server.h and grpc_server.cpp from jinja2
  templates. This means that the mavsdk_server is always in sync and
  new plugins don't have to be added to it manually anymore.
- As a side effects this removes the ugly rewriting of CMakeLists.txt
  based on the auto-generated plugins and instead uses a separate
  plugins.txt file that is used throughout.
- The cmake variable ENABLED_PLUGINS can be used to manually select the
  plugins to be built for users requiring to do so.

src/CMakeLists.txt

@@ -54,6 +54,16 @@ else()
     set(lib_path "lib")
 endif()
 
+if (ENABLED_PLUGINS)
+    message(STATUS "Manually enabled plugins:")
+    foreach(plugin ${ENABLED_PLUGINS})
+        message(STATUS "  - ${plugin}")
+    endforeach()
+else()
+    message(STATUS "All plugins enabled")
+    file(STRINGS "${CMAKE_CURRENT_SOURCE_DIR}/plugins.txt" ENABLED_PLUGINS)
+endif()
+
 add_subdirectory(mavsdk)
 
 include(cmake/static_analyzers.cmake)

src/mavsdk/plugins/CMakeLists.txt

@@ -1,33 +1,8 @@
-add_subdirectory(action)
-add_subdirectory(action_server)
-add_subdirectory(calibration)
-add_subdirectory(camera)
-add_subdirectory(camera_server)
-add_subdirectory(component_information)
-add_subdirectory(component_information_server)
-add_subdirectory(failure)
-add_subdirectory(follow_me)
-add_subdirectory(ftp)
-add_subdirectory(geofence)
-add_subdirectory(gimbal)
-add_subdirectory(info)
-add_subdirectory(log_files)
-add_subdirectory(manual_control)
+foreach(plugin ${ENABLED_PLUGINS})
+    add_subdirectory(${plugin})
+endforeach()
+
+# Don't forget about mavlink_passthrough which is not auto-generated.
 add_subdirectory(mavlink_passthrough)
-add_subdirectory(mission)
-add_subdirectory(mission_raw)
-add_subdirectory(mission_raw_server)
-add_subdirectory(mocap)
-add_subdirectory(offboard)
-add_subdirectory(param)
-add_subdirectory(param_server)
-add_subdirectory(server_utility)
-add_subdirectory(shell)
-add_subdirectory(telemetry)
-add_subdirectory(tracking_server)
-add_subdirectory(transponder)
-add_subdirectory(rtk)
-add_subdirectory(telemetry_server)
-add_subdirectory(tune)
 
 set(UNIT_TEST_SOURCES ${UNIT_TEST_SOURCES} PARENT_SCOPE)

src/mavsdk_server/src/CMakeLists.txt

@@ -1,35 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2)
 
-set(COMPONENTS_LIST
-    action
-    action_server
-    calibration
-    camera
-    camera_server
-    core
-    failure
-    follow_me
-    ftp
-    geofence
-    gimbal
-    info log_files
-    manual_control
-    mission
-    mission_raw
-    mission_raw_server
-    mocap offboard
-    param
-    param_server
-    server_utility
-    shell
-    telemetry
-    telemetry_server
-    tracking_server
-    tune
-    transponder
-)
-
-foreach(COMPONENT_NAME ${COMPONENTS_LIST})
+foreach(COMPONENT_NAME ${ENABLED_PLUGINS})
     add_library(${COMPONENT_NAME}_proto_gens STATIC
         ${CMAKE_CURRENT_SOURCE_DIR}/generated/${COMPONENT_NAME}/${COMPONENT_NAME}.grpc.pb.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/generated/${COMPONENT_NAME}/${COMPONENT_NAME}.pb.cc
@@ -76,6 +47,16 @@ target_link_libraries(mavsdk_server
     ${COMPONENTS_PROTOGENS}
 )
 
+
+foreach(plugin ${ENABLED_PLUGINS})
+    string(TOUPPER ${plugin} plugin_uppercase)
+    target_compile_options(mavsdk_server
+        PRIVATE
+        "-D${plugin_uppercase}_ENABLED"
+    )
+endforeach()
+
+
 set_target_properties(mavsdk_server
     PROPERTIES COMPILE_FLAGS ${warnings}
     VERSION ${MAVSDK_VERSION_STRING}

src/mavsdk_server/src/grpc_server.cpp

@@ -1,3 +1,5 @@
+// WARNING: THIS FILE IS AUTOGENERATED! As such, it should not be edited.
+// Edits need to be made to templates/grpc_server.cpp.j2
 #include "grpc_server.h"
 
 #include <grpc++/server_builder.h>
@@ -19,33 +21,126 @@ int GrpcServer::run()
     setup_port(builder);
 
     builder.RegisterService(&_core);
+
+#ifdef ACTION_ENABLED
     builder.RegisterService(&_action_service);
+#endif
+
+#ifdef ACTION_SERVER_ENABLED
     builder.RegisterService(&_action_server_service);
+#endif
+
+#ifdef CALIBRATION_ENABLED
     builder.RegisterService(&_calibration_service);
+#endif
+
+#ifdef CAMERA_ENABLED
     builder.RegisterService(&_camera_service);
+#endif
+
+#ifdef CAMERA_SERVER_ENABLED
     builder.RegisterService(&_camera_server_service);
+#endif
+
+#ifdef COMPONENT_INFORMATION_ENABLED
+    builder.RegisterService(&_component_information_service);
+#endif
+
+#ifdef COMPONENT_INFORMATION_SERVER_ENABLED
+    builder.RegisterService(&_component_information_server_service);
+#endif
+
+#ifdef FAILURE_ENABLED
     builder.RegisterService(&_failure_service);
+#endif
+
+#ifdef FOLLOW_ME_ENABLED
     builder.RegisterService(&_follow_me_service);
+#endif
+
+#ifdef FTP_ENABLED
     builder.RegisterService(&_ftp_service);
+#endif
+
+#ifdef GEOFENCE_ENABLED
     builder.RegisterService(&_geofence_service);
+#endif
+
+#ifdef GIMBAL_ENABLED
     builder.RegisterService(&_gimbal_service);
+#endif
+
+#ifdef INFO_ENABLED
     builder.RegisterService(&_info_service);
+#endif
+
+#ifdef LOG_FILES_ENABLED
     builder.RegisterService(&_log_files_service);
+#endif
+
+#ifdef MANUAL_CONTROL_ENABLED
     builder.RegisterService(&_manual_control_service);
+#endif
+
+#ifdef MISSION_ENABLED
     builder.RegisterService(&_mission_service);
+#endif
+
+#ifdef MISSION_RAW_ENABLED
     builder.RegisterService(&_mission_raw_service);
+#endif
+
+#ifdef MISSION_RAW_SERVER_ENABLED
     builder.RegisterService(&_mission_raw_server_service);
+#endif
+
+#ifdef MOCAP_ENABLED
     builder.RegisterService(&_mocap_service);
+#endif
+
+#ifdef OFFBOARD_ENABLED
     builder.RegisterService(&_offboard_service);
+#endif
+
+#ifdef PARAM_ENABLED
     builder.RegisterService(&_param_service);
+#endif
+
+#ifdef PARAM_SERVER_ENABLED
     builder.RegisterService(&_param_server_service);
+#endif
+
+#ifdef RTK_ENABLED
+    builder.RegisterService(&_rtk_service);
+#endif
+
+#ifdef SERVER_UTILITY_ENABLED
     builder.RegisterService(&_server_utility_service);
+#endif
+
+#ifdef SHELL_ENABLED
     builder.RegisterService(&_shell_service);
+#endif
+
+#ifdef TELEMETRY_ENABLED
     builder.RegisterService(&_telemetry_service);
+#endif
+
+#ifdef TELEMETRY_SERVER_ENABLED
     builder.RegisterService(&_telemetry_server_service);
+#endif
+
+#ifdef TRACKING_SERVER_ENABLED
     builder.RegisterService(&_tracking_server_service);
+#endif
+
+#ifdef TRANSPONDER_ENABLED
     builder.RegisterService(&_transponder_service);
+#endif
+
+#ifdef TUNE_ENABLED
     builder.RegisterService(&_tune_service);
+#endif
 
     grpc::EnableDefaultHealthCheckService(true);
     _server = builder.BuildAndStart();
@@ -73,33 +168,127 @@ void GrpcServer::stop()
 {
     if (_server != nullptr) {
         _core.stop();
+
+#ifdef ACTION_ENABLED
         _action_service.stop();
+#endif
+
+#ifdef ACTION_SERVER_ENABLED
         _action_server_service.stop();
+#endif
+
+#ifdef CALIBRATION_ENABLED
         _calibration_service.stop();
+#endif
+
+#ifdef CAMERA_ENABLED
         _camera_service.stop();
+#endif
+
+#ifdef CAMERA_SERVER_ENABLED
         _camera_server_service.stop();
+#endif
+
+#ifdef COMPONENT_INFORMATION_ENABLED
+        _component_information_service.stop();
+#endif
+
+#ifdef COMPONENT_INFORMATION_SERVER_ENABLED
+        _component_information_server_service.stop();
+#endif
+
+#ifdef FAILURE_ENABLED
         _failure_service.stop();
+#endif
+
+#ifdef FOLLOW_ME_ENABLED
         _follow_me_service.stop();
+#endif
+
+#ifdef FTP_ENABLED
         _ftp_service.stop();
+#endif
+
+#ifdef GEOFENCE_ENABLED
         _geofence_service.stop();
+#endif
+
+#ifdef GIMBAL_ENABLED
         _gimbal_service.stop();
+#endif
+
+#ifdef INFO_ENABLED
         _info_service.stop();
+#endif
+
+#ifdef LOG_FILES_ENABLED
         _log_files_service.stop();
+#endif
+
+#ifdef MANUAL_CONTROL_ENABLED
         _manual_control_service.stop();
+#endif
+
+#ifdef MISSION_ENABLED
         _mission_service.stop();
+#endif
+
+#ifdef MISSION_RAW_ENABLED
         _mission_raw_service.stop();
+#endif
+
+#ifdef MISSION_RAW_SERVER_ENABLED
         _mission_raw_server_service.stop();
+#endif
+
+#ifdef MOCAP_ENABLED
         _mocap_service.stop();
+#endif
+
+#ifdef OFFBOARD_ENABLED
         _offboard_service.stop();
+#endif
+
+#ifdef PARAM_ENABLED
         _param_service.stop();
+#endif
+
+#ifdef PARAM_SERVER_ENABLED
         _param_server_service.stop();
+#endif
+
+#ifdef RTK_ENABLED
+        _rtk_service.stop();
+#endif
+
+#ifdef SERVER_UTILITY_ENABLED
         _server_utility_service.stop();
+#endif
+
+#ifdef SHELL_ENABLED
         _shell_service.stop();
+#endif
+
+#ifdef TELEMETRY_ENABLED
         _telemetry_service.stop();
+#endif
+
+#ifdef TELEMETRY_SERVER_ENABLED
         _telemetry_server_service.stop();
+#endif
+
+#ifdef TRACKING_SERVER_ENABLED
         _tracking_server_service.stop();
-        _tune_service.stop();
+#endif
+
+#ifdef TRANSPONDER_ENABLED
         _transponder_service.stop();
+#endif
+
+#ifdef TUNE_ENABLED
+        _tune_service.stop();
+#endif
+
         _server->Shutdown();
     } else {
         LogWarn() << "Calling 'stop()' on a non-existing server. Did you call 'run()' before?";