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;

The dispatcher sends an acknowledgement for every handled request:

a handler's CommandResult when the handler completes;
Unsupported when no handler is registered;
Failed when the handler throws;
InProgress for a repeated COMMAND_LONG with non-zero confirmation while the busy flag is set and the same command is already running;
TemporarilyRejected for other requests received while the busy flag is set.

The handler receives the sender's system/component IDs as DeviceIdentity, the original packet, and a cancellation token that is cancelled when the dispatcher is disposed. Setting an indexer entry to null removes the handler. SupportedCommands reflects the currently registered handlers.

Built-in implementations

CommandServerEx<TArgPacket>: abstract dispatcher implementation. Its protected constructor accepts the base server, command packet observable, command ID selector, and confirmation selector.
CommandLongServerEx: dispatcher over ICommandServer.OnCommandLong. Uses payload.confirmation to detect duplicate retries.
CommandIntServerEx: dispatcher over ICommandServer.OnCommandInt. Confirmation is always treated as 0.

Both implementations have a single constructor that accepts their base ICommandServer instance.

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.

Return Type	Description
`Task<CommandResult>`	Result that the dispatcher sends to the requester in an ACK.

Last modified: 16 July 2026