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ugcs::vsm::Vehicle Class Reference

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

#include <vehicle.h>

Inheritance diagram for ugcs::vsm::Vehicle:
ugcs::vsm::Device

Classes

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

Public Types

typedef std::shared_ptr< VehiclePtr
 Pointer type.
 
typedef std::weak_ptr< VehicleWeak_ptr
 Pointer type.
 
- Public Types inherited from ugcs::vsm::Device
typedef std::shared_ptr< DevicePtr
 Pointer type.
 
typedef std::weak_ptr< DeviceWeak_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 ucs. More...
 
std::string Dump_command (const ugcs::vsm::proto::Device_command &)
 
Subsystem::Ptr Add_subsystem (proto::Subsystem_type)
 

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

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_threadIf 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: