refactor: restructure proto files and rename namespace to mavlink2grpc

.github/workflows/release.yml

@@ -86,12 +86,12 @@ jobs:
             --proto_path=proto \
             --python_out=clients/python/src \
             --grpc_python_out=clients/python/src \
-            proto/mavlink_bridge.proto proto/mavlink/common.proto
+            proto/mavlink2grpc/mavlink2grpc.proto proto/mavlink2grpc/mavlink/common.proto
 
           # Add __init__.py files to make it a package
-          touch clients/python/src/__init__.py
-          mkdir -p clients/python/src/mavlink
-          touch clients/python/src/mavlink/__init__.py
+          mkdir -p clients/python/src/mavlink2grpc/mavlink
+          touch clients/python/src/mavlink2grpc/__init__.py
+          touch clients/python/src/mavlink2grpc/mavlink/__init__.py
 
       - name: Build Python Package
         run: |
@@ -132,9 +132,9 @@ jobs:
           python3 generator/main.py --dialect common --proto-out proto --cpp-out bridge/src/mavlink
 
           # Copy proto files to npm package folder
-          mkdir -p clients/node/proto/mavlink
-          cp proto/mavlink_bridge.proto clients/node/proto/
-          cp proto/mavlink/*.proto clients/node/proto/mavlink/
+          mkdir -p clients/node/proto/mavlink2grpc/mavlink
+          cp proto/mavlink2grpc/mavlink2grpc.proto clients/node/proto/mavlink2grpc/
+          cp proto/mavlink2grpc/mavlink/*.proto clients/node/proto/mavlink2grpc/mavlink/
 
       - name: Publish to npm
         env:

bridge/CMakeLists.txt

@@ -27,11 +27,12 @@ set(PROTO_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../proto)
 set(GENERATED_PROTOBUF_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../generated)
 
 file(MAKE_DIRECTORY ${GENERATED_PROTOBUF_PATH})
-file(MAKE_DIRECTORY ${GENERATED_PROTOBUF_PATH}/mavlink)
+file(MAKE_DIRECTORY ${GENERATED_PROTOBUF_PATH}/mavlink2grpc)
+file(MAKE_DIRECTORY ${GENERATED_PROTOBUF_PATH}/mavlink2grpc/mavlink)
 
 # Collect all proto files
-file(GLOB MAVLINK_PROTO_FILES "${PROTO_PATH}/mavlink/*.proto")
-file(GLOB ROOT_PROTO_FILES "${PROTO_PATH}/*.proto")
+file(GLOB MAVLINK_PROTO_FILES "${PROTO_PATH}/mavlink2grpc/mavlink/*.proto")
+file(GLOB ROOT_PROTO_FILES "${PROTO_PATH}/mavlink2grpc/*.proto")
 
 # Combine all proto files and their outputs
 set(ALL_PROTO_FILES ${MAVLINK_PROTO_FILES} ${ROOT_PROTO_FILES})

bridge/src/Bridge.cc

@@ -147,7 +147,7 @@ Bridge::Bridge(const std::string& connection_url,
   // Create gRPC service with router and send callback
   service_ = std::make_shared<MavlinkBridgeServiceImpl>(
     *router_,
-    [this](const mavlink::MavlinkMessage& proto_msg) -> bool {
+    [this](const mavlink2grpc::MavlinkMessage& proto_msg) -> bool {
       if (!active_connection_ || !active_connection_->alive()) {
         Logger::Warn("Cannot send message: No active MAVLink connection");
         return false;

bridge/src/service/Router.cc

@@ -10,7 +10,7 @@
 
 namespace mavlink2grpc {
 
-bool StreamSubscription::matches(const mavlink::MavlinkMessage& msg) const {
+bool StreamSubscription::matches(const mavlink2grpc::MavlinkMessage& msg) const {
   // Check system ID filter (0 = all systems)
   if (filter.system_id() != 0 && msg.system_id() != filter.system_id()) {
     return false;
@@ -39,7 +39,7 @@ bool StreamSubscription::matches(const mavlink::MavlinkMessage& msg) const {
 }
 
 uint64_t Router::subscribe(
-    const mavlink::StreamFilter& filter,
+    const mavlink2grpc::StreamFilter& filter,
     StreamSubscription::WriteCallback write_func) {
 
   std::lock_guard<std::mutex> lock(subscriptions_mutex_);
@@ -85,7 +85,7 @@ bool Router::unsubscribe(uint64_t subscription_id) {
   return false;
 }
 
-size_t Router::route_message(const mavlink::MavlinkMessage& msg) {
+size_t Router::route_message(const mavlink2grpc::MavlinkMessage& msg) {
   std::lock_guard<std::mutex> lock(subscriptions_mutex_);
 
   size_t delivered = 0;

bridge/src/service/Router.h

@@ -10,7 +10,7 @@
 
 #pragma once
 
-#include <mavlink_bridge.pb.h>
+#include <mavlink2grpc/mavlink2grpc.pb.h>
 
 #include <vector>
 #include <mutex>
@@ -26,11 +26,11 @@ namespace mavlink2grpc {
  * optional filtering by system ID, component ID, and message IDs.
  */
 struct StreamSubscription {
-  using WriteCallback = std::function<bool(const mavlink::MavlinkMessage&)>;
+  using WriteCallback = std::function<bool(const mavlink2grpc::MavlinkMessage&)>;
 
   uint64_t id;                           ///< Unique subscription ID
   WriteCallback write_func;              ///< Function to write message to stream
-  mavlink::StreamFilter filter;          ///< Filter criteria
+  mavlink2grpc::StreamFilter filter;          ///< Filter criteria
   bool active;                           ///< Is subscription still active
 
   /**
@@ -39,7 +39,7 @@ struct StreamSubscription {
    * @param msg Message to check
    * @return true if message passes filter, false otherwise
    */
-  bool matches(const mavlink::MavlinkMessage& msg) const;
+  bool matches(const mavlink2grpc::MavlinkMessage& msg) const;
 };
 
 /**
@@ -87,7 +87,7 @@ class Router {
    * @return Subscription ID (use for unsubscribe)
    */
   uint64_t subscribe(
-    const mavlink::StreamFilter& filter,
+    const mavlink2grpc::StreamFilter& filter,
     StreamSubscription::WriteCallback write_func);
 
   /**
@@ -107,7 +107,7 @@ class Router {
    * @param msg Message to route
    * @return Number of subscribers that received the message
    */
-  size_t route_message(const mavlink::MavlinkMessage& msg);
+  size_t route_message(const mavlink2grpc::MavlinkMessage& msg);
 
   /**
    * @brief Get number of active subscriptions.

bridge/src/service/Service.cc

@@ -19,8 +19,8 @@ MavlinkBridgeServiceImpl::MavlinkBridgeServiceImpl(
 
 grpc::Status MavlinkBridgeServiceImpl::StreamMessages(
     grpc::ServerContext* context,
-    const mavlink::StreamFilter* request,
-    grpc::ServerWriter<mavlink::MavlinkMessage>* writer) {
+    const mavlink2grpc::StreamFilter* request,
+    grpc::ServerWriter<mavlink2grpc::MavlinkMessage>* writer) {
 
   {
     std::ostringstream oss;
@@ -33,7 +33,7 @@ grpc::Status MavlinkBridgeServiceImpl::StreamMessages(
   // Subscribe to router with filter
   uint64_t sub_id = router_.subscribe(
     *request,
-    [writer](const mavlink::MavlinkMessage& msg) -> bool {
+    [writer](const mavlink2grpc::MavlinkMessage& msg) -> bool {
       // Write to gRPC stream
       return writer->Write(msg);
     }
@@ -62,11 +62,11 @@ grpc::Status MavlinkBridgeServiceImpl::StreamMessages(
 
 grpc::Status MavlinkBridgeServiceImpl::SendMessage(
     grpc::ServerContext* /* context */,
-    const mavlink::MavlinkMessage* request,
-    mavlink::SendResponse* response) {
+    const mavlink2grpc::MavlinkMessage* request,
+    mavlink2grpc::SendResponse* response) {
 
   // Validate request has payload
-  if (request->payload_case() == mavlink::MavlinkMessage::PAYLOAD_NOT_SET) {
+  if (request->payload_case() == mavlink2grpc::MavlinkMessage::PAYLOAD_NOT_SET) {
     response->set_success(false);
     response->set_error("No payload in message");
     Logger::Warn("SendMessage RPC failed: No payload");

bridge/src/service/Service.h

@@ -12,7 +12,7 @@
 
 #include "Router.h"
 
-#include <mavlink_bridge.grpc.pb.h>
+#include <mavlink2grpc/mavlink2grpc.grpc.pb.h>
 #include <grpcpp/grpcpp.h>
 
 #include <memory>
@@ -32,15 +32,15 @@ namespace mavlink2grpc {
  *
  * Thread-safe and supports multiple concurrent clients.
  */
-class MavlinkBridgeServiceImpl final : public mavlink::MavlinkBridge::Service {
+class MavlinkBridgeServiceImpl final : public mavlink2grpc::MavlinkBridge::Service {
 public:
   /**
    * @brief Callback type for sending MAVLink messages.
    *
    * @param msg Proto message to convert and send
    * @return true if sent successfully, false otherwise
    */
-  using SendMessageCallback = std::function<bool(const mavlink::MavlinkMessage&)>;
+  using SendMessageCallback = std::function<bool(const mavlink2grpc::MavlinkMessage&)>;
 
   /**
    * @brief Construct service with router and send callback.
@@ -65,8 +65,8 @@ class MavlinkBridgeServiceImpl final : public mavlink::MavlinkBridge::Service {
    */
   grpc::Status StreamMessages(
     grpc::ServerContext* context,
-    const mavlink::StreamFilter* request,
-    grpc::ServerWriter<mavlink::MavlinkMessage>* writer) override;
+    const mavlink2grpc::StreamFilter* request,
+    grpc::ServerWriter<mavlink2grpc::MavlinkMessage>* writer) override;
 
   /**
    * @brief Send MAVLink message to connected system.
@@ -80,8 +80,8 @@ class MavlinkBridgeServiceImpl final : public mavlink::MavlinkBridge::Service {
    */
   grpc::Status SendMessage(
     grpc::ServerContext* context,
-    const mavlink::MavlinkMessage* request,
-    mavlink::SendResponse* response) override;
+    const mavlink2grpc::MavlinkMessage* request,
+    mavlink2grpc::SendResponse* response) override;
 
   /**
    * @brief Shutdown the service and notify all active streams.

bridge/test/test_router.cc

@@ -19,12 +19,12 @@ void test_router_basic() {
   TEST_ASSERT(router.subscription_count() == 0);
 
   // Subscribe client 1 with no filters (system_id=0, component_id=0)
-  mavlink::StreamFilter filter1;
+  mavlink2grpc::StreamFilter filter1;
   filter1.set_system_id(0);
   filter1.set_component_id(0);
 
   size_t client1_received = 0;
-  uint64_t sub1 = router.subscribe(filter1, [&](const mavlink::MavlinkMessage&) {
+  uint64_t sub1 = router.subscribe(filter1, [&](const mavlink2grpc::MavlinkMessage&) {
     client1_received++;
     return true;
   });
@@ -33,7 +33,7 @@ void test_router_basic() {
   TEST_ASSERT(router.subscription_count() == 1);
 
   // Send a message
-  mavlink::MavlinkMessage msg1;
+  mavlink2grpc::MavlinkMessage msg1;
   msg1.set_system_id(1);
   msg1.set_component_id(1);
   msg1.set_message_id(0); // HEARTBEAT
@@ -59,43 +59,43 @@ void test_router_filters() {
   Router router;
 
   // Filter for system 1, component 1, message 30 (ATTITUDE) only
-  mavlink::StreamFilter filter;
+  mavlink2grpc::StreamFilter filter;
   filter.set_system_id(1);
   filter.set_component_id(1);
   filter.add_message_ids(30);
 
   size_t received = 0;
-  router.subscribe(filter, [&](const mavlink::MavlinkMessage&) {
+  router.subscribe(filter, [&](const mavlink2grpc::MavlinkMessage&) {
     received++;
     return true;
   });
 
   // Message 1: Matches all
-  mavlink::MavlinkMessage msg1;
+  mavlink2grpc::MavlinkMessage msg1;
   msg1.set_system_id(1);
   msg1.set_component_id(1);
   msg1.set_message_id(30);
   router.route_message(msg1);
   TEST_ASSERT(received == 1);
 
   // Message 2: Different system ID (2)
-  mavlink::MavlinkMessage msg2;
+  mavlink2grpc::MavlinkMessage msg2;
   msg2.set_system_id(2);
   msg2.set_component_id(1);
   msg2.set_message_id(30);
   router.route_message(msg2);
   TEST_ASSERT(received == 1); // shouldn't increase
 
   // Message 3: Different component ID (2)
-  mavlink::MavlinkMessage msg3;
+  mavlink2grpc::MavlinkMessage msg3;
   msg3.set_system_id(1);
   msg3.set_component_id(2);
   msg3.set_message_id(30);
   router.route_message(msg3);
   TEST_ASSERT(received == 1); // shouldn't increase
 
   // Message 4: Different message ID (0 - HEARTBEAT)
-  mavlink::MavlinkMessage msg4;
+  mavlink2grpc::MavlinkMessage msg4;
   msg4.set_system_id(1);
   msg4.set_component_id(1);
   msg4.set_message_id(0);
@@ -109,17 +109,17 @@ void test_router_cleanup() {
   std::cout << "Running test_router_cleanup..." << std::endl;
   Router router;
 
-  mavlink::StreamFilter filter;
+  mavlink2grpc::StreamFilter filter;
 
   // Client whose write fails (simulates disconnected client)
-  router.subscribe(filter, [](const mavlink::MavlinkMessage&) {
+  router.subscribe(filter, [](const mavlink2grpc::MavlinkMessage&) {
     return false; // write failed
   });
 
   TEST_ASSERT(router.subscription_count() == 1);
 
   // Route a message - this will trigger write failure and mark inactive
-  mavlink::MavlinkMessage msg;
+  mavlink2grpc::MavlinkMessage msg;
   size_t routed = router.route_message(msg);
 
   TEST_ASSERT(routed == 0);

clients/node/index.d.ts

@@ -3,7 +3,7 @@
  */
 
 /**
- * Path to the main MAVLink bridge proto definition file (mavlink_bridge.proto)
+ * Path to the main MAVLink bridge proto definition file (mavlink2grpc.proto)
  */
 export const protoPath: string;
 

clients/node/index.js

@@ -2,5 +2,5 @@ const path = require('path');
 
 module.exports = {
     protoDir: path.join(__dirname, 'proto'),
-    protoPath: path.join(__dirname, 'proto', 'mavlink_bridge.proto')
+    protoPath: path.join(__dirname, 'proto', 'mavlink2grpc', 'mavlink2grpc.proto')
 };

examples/inspector/package.json

@@ -6,7 +6,7 @@
   "scripts": {
     "start": "node server.js",
     "dev": "nodemon server.js",
-    "proto:generate": "grpc_tools_node_protoc --js_out=import_style=commonjs,binary:./generated --grpc_out=grpc_js:./generated --proto_path=../proto ../proto/mavlink_bridge.proto ../proto/mavlink/common.proto"
+    "proto:generate": "grpc_tools_node_protoc --js_out=import_style=commonjs,binary:./generated --grpc_out=grpc_js:./generated --proto_path=../proto ../proto/mavlink2grpc/mavlink2grpc.proto ../proto/mavlink2grpc/mavlink/common.proto"
   },
   "keywords": [
     "mavlink",

examples/inspector/server.js

@@ -134,7 +134,7 @@ class GRPCClient {
     async connect() {
         try {
             // Load proto file
-            const PROTO_PATH = path.join(__dirname, '..', '..', 'proto', 'mavlink_bridge.proto');
+            const PROTO_PATH = path.join(__dirname, '..', '..', 'proto', 'mavlink2grpc', 'mavlink2grpc.proto');
             const packageDefinition = protoLoader.loadSync(PROTO_PATH, {
                 keepCase: true,
                 longs: String,
@@ -147,7 +147,7 @@ class GRPCClient {
             const proto = grpc.loadPackageDefinition(packageDefinition);
 
             // Create client - note: service name is MavlinkBridge (capital B in proto, but proto loader makes it camelCase)
-            this.client = new proto.mavlink.MavlinkBridge(
+            this.client = new proto.mavlink2grpc.MavlinkBridge(
                 this.serverAddress,
                 grpc.credentials.createInsecure()
             );

examples/python/README.md

@@ -9,7 +9,7 @@ Python examples demonstrating how to use the mavlink2grpc bridge.
 pip install grpcio grpcio-tools
 
 # Create python files from generated protos
-python3 -m grpc_tools.protoc -I./proto --python_out=./generated --grpc_python_out=./generated ./proto/mavlink_bridge.proto ./proto/mavlink/common.proto
+python3 -m grpc_tools.protoc -I./proto --python_out=./generated --grpc_python_out=./generated ./proto/mavlink2grpc/mavlink2grpc.proto ./proto/mavlink2grpc/mavlink/common.proto
 ```
 
 ## Available Examples

examples/python/stream_telemetry.py

@@ -14,9 +14,9 @@
 # Add generated proto files to path
 sys.path.insert(0, str(Path(__file__).parent.parent.parent / "generated"))
 
-import mavlink_bridge_pb2
-import mavlink_bridge_pb2_grpc
-from mavlink import common_pb2
+from mavlink2grpc import mavlink2grpc_pb2
+from mavlink2grpc import mavlink2grpc_pb2_grpc
+from mavlink2grpc.mavlink import common_pb2
 
 
 def main():
@@ -32,14 +32,14 @@ def main():
     # 1. Connect to gRPC channel
     print(f"Connecting to gRPC bridge at {args.host}...")
     channel = grpc.insecure_channel(args.host)
-    stub = mavlink_bridge_pb2_grpc.MavlinkBridgeStub(channel)
+    stub = mavlink2grpc_pb2_grpc.MavlinkBridgeStub(channel)
 
     # 2. Define message filters
     # We filter by message IDs:
     #   0  = HEARTBEAT
     #   30 = ATTITUDE
     #   33 = GLOBAL_POSITION_INT
-    stream_filter = mavlink_bridge_pb2.StreamFilter(
+    stream_filter = mavlink2grpc_pb2.StreamFilter(
         system_id=0,       # 0 means listen to all systems
         component_id=0,    # 0 means listen to all components
         message_ids=[0, 30, 33]