feat(core): add heartbeat watchdog (deadman timer) (#2895)

.gitmodules

@@ -1,3 +1,3 @@
 [submodule "mavsdk-proto"]
 	path = proto
-	url = https://github.com/mavlink/MAVSDK-Proto.git
+	url = https://github.com/tpayne-censystech/MAVSDK-Proto.git

c/src/cmavsdk/mavsdk.cpp

@@ -121,6 +121,16 @@ void mavsdk_configuration_set_always_send_heartbeats(mavsdk_configuration_t conf
     cpp_config->set_always_send_heartbeats(always_send_heartbeats != 0);
 }
 
+double mavsdk_configuration_get_heartbeat_watchdog_timeout_s(mavsdk_configuration_t config) {
+    auto* cpp_config = reinterpret_cast<Mavsdk::Configuration*>(config);
+    return cpp_config->get_heartbeat_watchdog_timeout_s();
+}
+
+int mavsdk_configuration_set_heartbeat_watchdog_timeout_s(mavsdk_configuration_t config, double timeout_s) {
+    auto* cpp_config = reinterpret_cast<Mavsdk::Configuration*>(config);
+    return cpp_config->set_heartbeat_watchdog_timeout_s(timeout_s) ? 1 : 0;
+}
+
 mavsdk_component_type_t mavsdk_configuration_get_component_type(mavsdk_configuration_t config) {
     auto* cpp_config = reinterpret_cast<Mavsdk::Configuration*>(config);
     return c_component_type_from_cpp(cpp_config->get_component_type());
@@ -556,6 +566,11 @@ void mavsdk_set_timeout_s(mavsdk_t mavsdk, double timeout_s) {
     cpp_mavsdk->set_timeout_s(timeout_s);
 }
 
+void mavsdk_feed_heartbeat_watchdog(mavsdk_t mavsdk) {
+    auto* cpp_mavsdk = reinterpret_cast<Mavsdk*>(mavsdk);
+    cpp_mavsdk->feed_heartbeat_watchdog();
+}
+
 // --- Memory Management Helpers ---
 void mavsdk_free_connection_error(mavsdk_connection_error_t* error) {
     if (error) {

c/src/cmavsdk/mavsdk.h

@@ -86,6 +86,9 @@ CMAVSDK_EXPORT uint8_t mavsdk_configuration_get_component_id(mavsdk_configuratio
 CMAVSDK_EXPORT void mavsdk_configuration_set_component_id(mavsdk_configuration_t config, uint8_t component_id);
 CMAVSDK_EXPORT int mavsdk_configuration_get_always_send_heartbeats(mavsdk_configuration_t config);
 CMAVSDK_EXPORT void mavsdk_configuration_set_always_send_heartbeats(mavsdk_configuration_t config, int always_send_heartbeats);
+CMAVSDK_EXPORT double mavsdk_configuration_get_heartbeat_watchdog_timeout_s(mavsdk_configuration_t config);
+// Returns 1 if the value was accepted, 0 if it was rejected (must be 0 or >= 1 second).
+CMAVSDK_EXPORT int mavsdk_configuration_set_heartbeat_watchdog_timeout_s(mavsdk_configuration_t config, double timeout_s);
 CMAVSDK_EXPORT mavsdk_component_type_t mavsdk_configuration_get_component_type(mavsdk_configuration_t config);
 CMAVSDK_EXPORT void mavsdk_configuration_set_component_type(mavsdk_configuration_t config, mavsdk_component_type_t component_type);
 CMAVSDK_EXPORT uint8_t mavsdk_configuration_get_mav_type(mavsdk_configuration_t config);
@@ -163,6 +166,7 @@ CMAVSDK_EXPORT void mavsdk_set_timeout_s(
     mavsdk_t mavsdk,
     double timeout_s
 );
+CMAVSDK_EXPORT void mavsdk_feed_heartbeat_watchdog(mavsdk_t mavsdk);
 
 // ===== Server Components =====
 CMAVSDK_EXPORT mavsdk_server_component_t mavsdk_server_component(

cpp/src/mavsdk/core/CMakeLists.txt

@@ -270,6 +270,7 @@ list(APPEND UNIT_TEST_SOURCES
     ${PROJECT_SOURCE_DIR}/mavsdk/core/file_cache_test.cpp
     ${PROJECT_SOURCE_DIR}/mavsdk/core/locked_queue_test.cpp
     ${PROJECT_SOURCE_DIR}/mavsdk/core/geometry_test.cpp
+    ${PROJECT_SOURCE_DIR}/mavsdk/core/heartbeat_watchdog_test.cpp
     ${PROJECT_SOURCE_DIR}/mavsdk/core/math_utils_test.cpp
     ${PROJECT_SOURCE_DIR}/mavsdk/core/mavsdk_test.cpp
     ${PROJECT_SOURCE_DIR}/mavsdk/core/mavsdk_time_test.cpp