Commands server

Use ICommandServer to implement low-level command protocol handling on the server side.

Use case

var serverDevice = ServerDevice.Create(
    new MavlinkIdentity(systemId, componentId),
    core,
    builder =>
    {
        builder.RegisterCommand();
    });

Then get the service:

var commandServer = serverDevice.GetCommand();

Basic handling example:

using var onLong = commandServer.OnCommandLong.SubscribeAwait(async (req, ct) =>
{
    await commandServer.SendCommandAck(
        req.Payload.Command,
        new DeviceIdentity(req.SystemId, req.ComponentId),
        CommandResult.Accepted,
        ct
    );
});

using var onInt = commandServer.OnCommandInt.SubscribeAwait(async (req, ct) =>
{
    await commandServer.SendCommandAck(
        req.Payload.Command,
        new DeviceIdentity(req.SystemId, req.ComponentId),
        CommandResult.Accepted,
        ct
    );
});

Here we are using CommandResult to send a response.

API

ICommandServer

Represents a command server that receives and sends commands.

Property	Type	Description
`OnCommandLong`	`Observable<CommandLongPacket>`	Gets the event stream for receiving `CommandLong` packets.
`OnCommandInt`	`Observable<CommandIntPacket>`	Gets an observable sequence of `CommandIntPacket` events.

Method	Return Type	Description
`SendCommandAck(MavCmd cmd, DeviceIdentity responseTarget, CommandResult result, CancellationToken cancel = default)`	`ValueTask`	Sends a command acknowledgement with the specified parameters.

`ICommandServer.SendCommandAck`

Parameter	Type	Description
`cmd`	`MavCmd`	The command being acknowledged.
`responseTarget`	`DeviceIdentity`	The target device identity for the acknowledgement.
`result`	`CommandResult`	The result of the command execution.
`cancel`	`CancellationToken`	Optional cancellation token.

DeviceIdentity

Represents the identity of a device.

Constructor	Description
`DeviceIdentity()`	Represents a device identity.
`DeviceIdentity(byte systemId, byte componentId)`	Initializes a new instance of the `DeviceIdentity` class.

Property	Type	Description
`Broadcast`	`DeviceIdentity`	Represents the broadcast device identity.
`SystemId`	`byte`	Gets or sets the system ID.
`ComponentId`	`byte`	Gets or sets the unique identifier for the component.

CommandServerHelper

Helper class containing extension methods for ICommandServer interface.

Method	Return Type	Description
`SendCommandAckAccepted(this ICommandServer server, CommandIntPacket req, MavResult result, CancellationToken cancel = default)`	`ValueTask`	Sends command acknowledge accepted to the command server.
`SendCommandAckAccepted(this ICommandServer server, CommandLongPacket req, MavResult result, CancellationToken cancel = default)`	`ValueTask`	Sends a command acknowledgment indicating that the command has been accepted.

`ICommandServer.SendCommandAckAccepted` (`CommandIntPacket` overload)

Parameter	Type	Description
`server`	`ICommandServer`	The command server.
`req`	`CommandIntPacket`	The command request packet.
`result`	`MavResult`	The mav result.
`cancel`	`CancellationToken`	Optional cancel token argument.

`ICommandServer.SendCommandAckAccepted` (`CommandLongPacket` overload)

Parameter	Type	Description
`server`	`ICommandServer`	The command server.
`req`	`CommandLongPacket`	The command long packet.
`result`	`MavResult`	The result of the command.
`cancel`	`CancellationToken`	Optional cancel token argument.

CommandHelper

Provides helper methods for registering and accessing command-related microservices, including base command server and extended CommandLong/CommandInt handlers.

Property	Type	Description
`MicroserviceTypeName`	`string`	Represents the broadcast device identity.

Method	Return Type	Description
`RegisterCommand(this IServerDeviceBuilder builder)`	`IServerDeviceBuilder`	Registers `CommandServer` at device builder with default parameters.
`RegisterCommandLongEx(this IServerDeviceBuilder builder)`	`IServerDeviceBuilder`	Registers `CommandLongServerEx` at device builder with default parameters.
`RegisterCommandIntEx(this IServerDeviceBuilder builder)`	`IServerDeviceBuilder`	Registers `CommandIntServerEx` at device builder with default parameters.
`GetCommand(this IServerDevice factory)`	`ICommandServer`	Resolves `ICommandServer` instance from the server device factory.
`GetCommandIntEx(this IServerDevice factory)`	`ICommandServerEx<CommandIntPacket>`	Resolves `ICommandServerEx<CommandIntPacket>` instance from the server device factory.
`GetCommandLongEx(this IServerDevice factory)`	`ICommandServerEx<CommandLongPacket>`	Resolves `ICommandServerEx<CommandLongPacket>` instance from the server device factory.

Last modified: 04 March 2026