Commands ex-server

ICommandServerEx<TArgPacket> is a higher-level command dispatcher over ICommandServer. It provides command handler registry by MavCmd.

Use case

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

Get services:

var commandLongEx = serverDevice.GetCommandLongEx();
var commandIntEx = serverDevice.GetCommandIntEx();

commandLongEx[MavCmd.MavCmdUser1] = (_, _, _) => CommandResult.AcceptedTask;

// remove handler
commandLongEx[MavCmd.MavCmdUser1] = null;

Built-in implementations

CommandLongServerEx: dispatcher over ICommandServer.OnCommandLong. Uses payload.confirmation to detect duplicate retries.
CommandIntServerEx: dispatcher over ICommandServer.OnCommandInt. Confirmation is always treated as 0.

API

ICommandServerEx<TArgPacket>

Represents an extended command server.

Property	Type	Description
`Base`	`ICommandServer`	Gets the `ICommandServer` base property.
`SupportedCommands`	`IEnumerable<MavCmd>`	Commands supported by the server.
`this[MavCmd cmd]`	`CommandDelegate<TArgPacket>?`	Sets the command delegate for the specified MAVLink command.

CommandDelegate<TArgPacket>

Represents a delegate that defines a command handler.

Parameter	Type	Description
`from`	`DeviceIdentity`	The identity of the device that sent the command.
`args`	`TArgPacket`	The argument packet for the command handler.
`cancel`	`CancellationToken`	The cancellation token that can be used to cancel the command execution.

Last modified: 04 March 2026