Base class for user-defined vehicles. More...

#include <vehicle.h>

Inheritance diagram for ugcs::vsm::Vehicle:

Classes
class	Command_map

class	Hasher
	Hasher for Vehicle shared pointer. More...

Public Types
typedef std::shared_ptr< Vehicle >	Ptr
	Pointer type.

typedef std::weak_ptr< Vehicle >	Weak_ptr
	Pointer type.

Public Types inherited from ugcs::vsm::Device
typedef std::shared_ptr< Device >	Ptr
	Pointer type.

typedef std::weak_ptr< Device >	Weak_ptr
	Pointer type.

typedef Callback_proxy< void, std::vector< Property::Ptr > >	Command_handler

typedef Callback_proxy< void, uint32_t, Proto_msg_ptr >	Response_sender
	Completion handler type of the request. More...

Public Member Functions
	Vehicle (proto::Device_type type=proto::DEVICE_TYPE_VEHICLE, Request_processor::Ptr processor=nullptr, Request_completion_context::Ptr completion_ctx=nullptr)
	Constructor for a base class. More...

virtual	~Vehicle ()
	Make sure class is polymorphic. More...

	Vehicle (const Vehicle &)=delete
	Disable copying. More...

void	Process_requests ()
	Process requests assigned to vehicle in user thread, i.e. More...

void	Set_serial_number (const std::string &)
	Set serial number.

const std::string &	Get_serial_number () const
	Get serial number of the vehicle. More...

const std::string &	Get_model_name () const
	Get model name of the vehicle.

void	Set_model_name (const std::string &)
	Set model name of the vehicle.

void	Set_port_name (const std::string &)
	Set port name.

const std::string &	Get_port_name () const
	Get port name the vehicle is connected to. More...

const std::string &	Get_frame_type () const
	Get frame type of the vehicle.

void	Set_frame_type (const std::string &)
	Set frame type of the vehicle.

proto::Vehicle_type	Get_vehicle_type () const

void	Set_vehicle_type (proto::Vehicle_type)

bool	Is_vehicle_type (proto::Vehicle_type type)

bool	Is_copter ()

Public Member Functions inherited from ugcs::vsm::Device
	Device (proto::Device_type type, Request_processor::Ptr processor=nullptr, Request_completion_context::Ptr completion_ctx=nullptr)

void	Enable ()
	Enable the instance. More...

void	Disable ()
	Disable the instance. More...

bool	Is_enabled ()
	Vehicle enable/disable status. More...

	Device (const Device &)=delete
	Disable copying. More...

void	On_ucs_message (ugcs::vsm::proto::Vsm_message message, Response_sender completion_handler=Response_sender(), ugcs::vsm::Request_completion_context::Ptr completion_ctx=nullptr)
	Command has arrived from UCS and should be executed by the vehicle.

void	Register (ugcs::vsm::proto::Vsm_message &)

template<typename Type >
Property::Ptr	Set_property (const std::string &name, Type value, proto::Field_semantic semantic=proto::FIELD_SEMANTIC_DEFAULT)

uint32_t	Get_session_id ()

Request_completion_context::Ptr	Get_completion_ctx ()
	Get default completion context of the device. More...

void	Register ()
	Register device instance to UCS processor. More...

void	Unregister ()
	Unregister device instance from UCS processor. More...

bool	Is_registered ()
	Returns true if vehicle is registered with cucs_processor. More...

std::string	Dump_command (const ugcs::vsm::proto::Device_command &)

Subsystem::Ptr	Add_subsystem (proto::Subsystem_type)

Request_processor::Ptr	Get_processing_ctx ()
	Get default processing context of the vehicle. More...

virtual void	Handle_ucs_info (std::vector< Ucs_info >)
	Called when number of ucs connections change. More...

Static Public Member Functions
template<typename... Args>
static Ptr	Create (Args &&...args)
	Create an instance. More...

Static Public Member Functions inherited from ugcs::vsm::Device
template<typename... Args>
static Ptr	Create (Args &&...args)
	Create an instance. More...

static void	Set_failsafe_actions (Property::Ptr p, std::initializer_list< proto::Failsafe_action > actions)

Protected Member Functions
virtual void	On_enable ()
	Vehicle enable event handler. More...

virtual void	On_disable ()
	Vehicle disable event handler. More...

void	Set_rc_loss_actions (std::initializer_list< proto::Failsafe_action > actions)

void	Set_gps_loss_actions (std::initializer_list< proto::Failsafe_action > actions)

void	Set_low_battery_actions (std::initializer_list< proto::Failsafe_action > actions)

void	Set_rth_actions (std::initializer_list< proto::Rth_action > actions)

void	Reset_altitude_origin ()
	Tell server that current altitude origin must be dropped. More...

void	Set_altitude_origin (float altitude_amsl)
	Tell server that Vehicle knows its altitude_origin. More...

virtual void	Handle_ucs_command (Ucs_request::Ptr ucs_request)
	Message from ucs arrived.

void	Command_completed (Vehicle_request::Result result, const std::string &status_text, Ucs_request::Ptr ucs_request)

void	Command_failed (Ucs_request::Ptr ucs_request, const std::string &status_text, proto::Status_code code=proto::STATUS_FAILED)

void	Command_succeeded (Ucs_request::Ptr ucs_request)

virtual void	Handle_vehicle_request (Vehicle_task_request::Handle request)
	Task has arrived from UCS and should be uploaded to the vehicle.

virtual void	Handle_vehicle_request (Vehicle_command_request::Handle request)
	UCS sending a command to the vehicle.

bool	Is_flight_mode (proto::Flight_mode)

bool	Is_control_mode (proto::Control_mode m)

void	Set_autopilot_type (const std::string &)

void	Set_autopilot_serial (const std::string &)

Protected Member Functions inherited from ugcs::vsm::Device
void	Report_progress (Ucs_request::Ptr request, float progress=-1.0, const std::string &description=std::string())
	Sends Device_response with status code==STATUS_IN_PROGRESS with optional progress and description. More...

void	Send_ucs_message (Proto_msg_ptr msg)

Vsm_command::Ptr	Get_command (int id)

void	Add_status_message (const std::string &m)

void	Commit_to_ucs (bool log_message=false)

Protected Attributes
Optional< proto::Flight_mode >	current_flight_mode

Property::Ptr	t_control_mode = nullptr

Property::Ptr	t_is_armed = nullptr

Property::Ptr	t_uplink_present = nullptr

Property::Ptr	t_downlink_present = nullptr

Property::Ptr	t_main_voltage = nullptr

Property::Ptr	t_main_current = nullptr

Property::Ptr	t_gcs_link_quality = nullptr

Property::Ptr	t_rc_link_quality = nullptr

Property::Ptr	t_latitude = nullptr

Property::Ptr	t_longitude = nullptr

Property::Ptr	t_altitude_raw = nullptr

Property::Ptr	t_altitude_amsl = nullptr

Property::Ptr	t_altitude_agl = nullptr

Property::Ptr	t_ground_speed = nullptr

Property::Ptr	t_air_speed = nullptr

Property::Ptr	t_course = nullptr

Property::Ptr	t_vertical_speed = nullptr

Property::Ptr	t_pitch = nullptr

Property::Ptr	t_roll = nullptr

Property::Ptr	t_heading = nullptr

Property::Ptr	t_gps_fix = nullptr

Property::Ptr	t_satellite_count = nullptr

Property::Ptr	t_altitude_origin = nullptr

Property::Ptr	t_home_altitude_amsl = nullptr

Property::Ptr	t_home_altitude_raw = nullptr

Property::Ptr	t_home_latitude = nullptr

Property::Ptr	t_home_longitude = nullptr

Property::Ptr	t_target_altitude_amsl = nullptr

Property::Ptr	t_target_altitude_raw = nullptr

Property::Ptr	t_target_latitude = nullptr

Property::Ptr	t_target_longitude = nullptr

Property::Ptr	t_current_command = nullptr

Property::Ptr	t_current_mission_id = nullptr

Property::Ptr	t_flight_mode = nullptr

Property::Ptr	t_autopilot_status = nullptr

Property::Ptr	t_native_flight_mode = nullptr

Property::Ptr	t_fence_enabled = nullptr

Property::Ptr	t_vibration_x = nullptr

Property::Ptr	t_vibration_y = nullptr

Property::Ptr	t_vibration_z = nullptr

Vsm_command::Ptr	c_mission_upload = nullptr

Vsm_command::Ptr	c_auto = nullptr

Vsm_command::Ptr	c_arm = nullptr

Vsm_command::Ptr	c_disarm = nullptr

Vsm_command::Ptr	c_waypoint = nullptr

Vsm_command::Ptr	c_guided = nullptr

Vsm_command::Ptr	c_manual = nullptr

Vsm_command::Ptr	c_pause = nullptr

Vsm_command::Ptr	c_resume = nullptr

Vsm_command::Ptr	c_rth = nullptr

Vsm_command::Ptr	c_land_command = nullptr

Vsm_command::Ptr	c_joystick = nullptr

Vsm_command::Ptr	c_direct_vehicle_control = nullptr

Vsm_command::Ptr	c_takeoff_command = nullptr

Vsm_command::Ptr	c_emergency_land = nullptr

Vsm_command::Ptr	c_camera_trigger_command = nullptr

Vsm_command::Ptr	c_adsb_set_ident = nullptr

Vsm_command::Ptr	c_adsb_set_mode = nullptr

Vsm_command::Ptr	c_direct_payload_control = nullptr

Vsm_command::Ptr	c_camera_power = nullptr

Vsm_command::Ptr	c_camera_video_source = nullptr

Vsm_command::Ptr	c_adsb_set_parameter = nullptr

Vsm_command::Ptr	c_set_servo = nullptr

Vsm_command::Ptr	c_repeat_servo = nullptr

Vsm_command::Ptr	c_set_fence = nullptr

Vsm_command::Ptr	c_trigger_calibration = nullptr

Vsm_command::Ptr	c_trigger_reboot = nullptr

Vsm_command::Ptr	c_get_native_route = nullptr

Vsm_command::Ptr	c_set_relative_heading = nullptr

Vsm_command::Ptr	c_write_parameter = nullptr

Vsm_command::Ptr	c_mission_clear = nullptr

Vsm_command::Ptr	c_wait = nullptr

Vsm_command::Ptr	c_move = nullptr

Vsm_command::Ptr	c_set_speed = nullptr

Vsm_command::Ptr	c_set_home = nullptr

Vsm_command::Ptr	c_set_poi = nullptr

Vsm_command::Ptr	c_set_heading = nullptr

Vsm_command::Ptr	c_panorama = nullptr

Vsm_command::Ptr	c_camera_trigger_mission = nullptr

Vsm_command::Ptr	c_camera_by_time = nullptr

Vsm_command::Ptr	c_camera_by_distance = nullptr

Vsm_command::Ptr	c_land_mission = nullptr

Vsm_command::Ptr	c_takeoff_mission = nullptr

Vsm_command::Ptr	c_set_parameter = nullptr

Vsm_command::Ptr	c_payload_control = nullptr

Vsm_command::Ptr	c_transition_fixed = nullptr

Vsm_command::Ptr	c_transition_vtol = nullptr

Vsm_command::Ptr	c_wait_until = nullptr

Property::Ptr	p_rc_loss_action = nullptr

Property::Ptr	p_gps_loss_action = nullptr

Property::Ptr	p_low_battery_action = nullptr

Property::Ptr	p_rth_action = nullptr

Property::Ptr	p_wp_turn_type = nullptr

int	command_try_count = DEFAULT_COMMAND_TRY_COUNT

std::chrono::milliseconds	command_timeout = DEFAULT_COMMAND_TIMEOUT

Subsystem::Ptr	flight_controller

Subsystem::Ptr	primary_camera

Subsystem::Ptr	primary_gimbal

Subsystem::Ptr	adsb_transponder

Subsystem::Ptr	winch_controller

Protected Attributes inherited from ugcs::vsm::Device
const proto::Device_type	device_type

Request_processor::Ptr	processor

Request_completion_context::Ptr	completion_ctx

std::chrono::time_point < std::chrono::system_clock >	begin_of_epoch

std::vector< Subsystem::Ptr >	subsystems

Friends
class	Ucs_vehicle_ctx

class	Ucs_transaction

class	Ucs_mission_clear_all_transaction

class	Ucs_task_upload_transaction

class	Ucs_vehicle_command_transaction

class	Cucs_processor

Detailed Description

Base class for user-defined vehicles.

It contains interface to SDK services which can be used as base class methods calls, and abstract interface which must be implemented by the device. Instance creation should be done by Vehicle::Create() method.

Examples:: hello_world_vsm.cpp.

Constructor & Destructor Documentation

ugcs::vsm::Vehicle::Vehicle	(	proto::Device_type	type = `proto::DEVICE_TYPE_VEHICLE`,
		Request_processor::Ptr	processor = `nullptr`,
		Request_completion_context::Ptr	completion_ctx = `nullptr`
	)

Constructor for a base class.

Create common telemetry fields and commands.

Parameters

create_thread If true, then separate thread is automatically created for vehicle instance which allows to using blocking methods in the context of this vehicle without blocking other vehicles, otherwise vehicle instance thread is not created and user is supposed to call Vehicle::Process_requests method to process requests pending for this vehicle. It is recommended to leave this value as default, i.e. "true".

virtual ugcs::vsm::Vehicle::~Vehicle ( )

inlinevirtual

Make sure class is polymorphic.

ugcs::vsm::Vehicle::Vehicle ( const Vehicle & )

delete

Disable copying.

Member Function Documentation

template<typename... Args>

static Ptr ugcs::vsm::Vehicle::Create ( Args &&... args )

inlinestatic

Create an instance.

const std::string& ugcs::vsm::Vehicle::Get_port_name ( ) const

Get port name the vehicle is connected to.

const std::string& ugcs::vsm::Vehicle::Get_serial_number ( ) const

Get serial number of the vehicle.

virtual void ugcs::vsm::Vehicle::On_disable ( )

inlineprotectedvirtual

Vehicle disable event handler.

Can be overridden by derived class, if necessary.

Reimplemented from ugcs::vsm::Device.

virtual void ugcs::vsm::Vehicle::On_enable ( )

inlineprotectedvirtual

Vehicle enable event handler.

Can be overridden by derived class, if necessary.

Reimplemented from ugcs::vsm::Device.

void ugcs::vsm::Vehicle::Process_requests ( )

Process requests assigned to vehicle in user thread, i.e.

the thread which calls this method. Supposed to be called only when vehicle is created without its own thread.

void ugcs::vsm::Vehicle::Reset_altitude_origin ( )

protected

Tell server that current altitude origin must be dropped.

(calibration needed to match reported altitude to real world)

Use this when VSM knows that currently reported Rel_altitude changed unexpectedly. For example if vehicle resets the reported altitude on ARM.

void ugcs::vsm::Vehicle::Set_altitude_origin ( float altitude_amsl )

protected

Tell server that Vehicle knows its altitude_origin.

Use this when VSM knows that reported Rel_altitude origin has changed. Ardupilot does that on home location change.

The documentation for this class was generated from the following file:

vehicle.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation