mavsdk::ActionServer Class Reference

#include: action_server.h

Provide vehicle actions (as a server) such as arming, taking off, and landing.

Data Structures

struct AllowableFlightModes

struct ArmDisarm

Public Types

Type Description
enum FlightMode Flight modes.
enum Result Possible results returned for action requests.
std::function< void(Result)> ResultCallback Callback type for asynchronous ActionServer calls.
std::function< void(Result, ArmDisarm)> ArmDisarmCallback Callback type for subscribe_arm_disarm.
Handle< Result, ArmDisarm > ArmDisarmHandle Handle type for subscribe_arm_disarm.
std::function< void(Result, FlightMode)> FlightModeChangeCallback Callback type for subscribe_flight_mode_change.
Handle< Result, FlightMode > FlightModeChangeHandle Handle type for subscribe_flight_mode_change.
std::function< void(Result, bool)> TakeoffCallback Callback type for subscribe_takeoff.
Handle< Result, bool > TakeoffHandle Handle type for subscribe_takeoff.
std::function< void(Result, bool)> LandCallback Callback type for subscribe_land.
Handle< Result, bool > LandHandle Handle type for subscribe_land.
std::function< void(Result, bool)> RebootCallback Callback type for subscribe_reboot.
Handle< Result, bool > RebootHandle Handle type for subscribe_reboot.
std::function< void(Result, bool)> ShutdownCallback Callback type for subscribe_shutdown.
Handle< Result, bool > ShutdownHandle Handle type for subscribe_shutdown.
std::function< void(Result, bool)> TerminateCallback Callback type for subscribe_terminate.
Handle< Result, bool > TerminateHandle Handle type for subscribe_terminate.

Public Member Functions

Type Name Description
  ActionServer (std::shared_ptr< ServerComponent > server_component) Constructor. Creates the plugin for a ServerComponent instance.
  ~ActionServer () override Destructor (internal use only).
  ActionServer (const ActionServer & other) Copy constructor.
ArmDisarmHandle subscribe_arm_disarm (const ArmDisarmCallback & callback) Subscribe to ARM/DISARM commands.
void unsubscribe_arm_disarm (ArmDisarmHandle handle) Unsubscribe from subscribe_arm_disarm.
FlightModeChangeHandle subscribe_flight_mode_change (const FlightModeChangeCallback & callback) Subscribe to DO_SET_MODE.
void unsubscribe_flight_mode_change (FlightModeChangeHandle handle) Unsubscribe from subscribe_flight_mode_change.
TakeoffHandle subscribe_takeoff (const TakeoffCallback & callback) Subscribe to takeoff command.
void unsubscribe_takeoff (TakeoffHandle handle) Unsubscribe from subscribe_takeoff.
LandHandle subscribe_land (const LandCallback & callback) Subscribe to land command.
void unsubscribe_land (LandHandle handle) Unsubscribe from subscribe_land.
RebootHandle subscribe_reboot (const RebootCallback & callback) Subscribe to reboot command.
void unsubscribe_reboot (RebootHandle handle) Unsubscribe from subscribe_reboot.
ShutdownHandle subscribe_shutdown (const ShutdownCallback & callback) Subscribe to shutdown command.
void unsubscribe_shutdown (ShutdownHandle handle) Unsubscribe from subscribe_shutdown.
TerminateHandle subscribe_terminate (const TerminateCallback & callback) Subscribe to terminate command.
void unsubscribe_terminate (TerminateHandle handle) Unsubscribe from subscribe_terminate.
Result set_allow_takeoff (bool allow_takeoff)const Can the vehicle takeoff.
Result set_armable (bool armable, bool force_armable)const Can the vehicle arm when requested.
Result set_disarmable (bool disarmable, bool force_disarmable)const Can the vehicle disarm when requested.
Result set_allowable_flight_modes (AllowableFlightModes flight_modes)const Set which modes the vehicle can transition to (Manual always allowed)
ActionServer::AllowableFlightModes get_allowable_flight_modes () const Get which modes the vehicle can transition to (Manual always allowed)
const ActionServer & operator= (const ActionServer &)=delete Equality operator (object is not copyable).

Constructor & Destructor Documentation

ActionServer() 

mavsdk::ActionServer::ActionServer(std::shared_ptr< ServerComponent > server_component)

Constructor. Creates the plugin for a ServerComponent instance.

The plugin is typically created as shown below: 

auto action_server = ActionServer(server_component);

Parameters

~ActionServer() 

mavsdk::ActionServer::~ActionServer() override

Destructor (internal use only).

ActionServer() 

mavsdk::ActionServer::ActionServer(const ActionServer &other)

Copy constructor.

Parameters

Member Typdef Documentation

typedef ResultCallback 

using mavsdk::ActionServer::ResultCallback =  std::function<void(Result)>

Callback type for asynchronous ActionServer calls.

typedef ArmDisarmCallback 

using mavsdk::ActionServer::ArmDisarmCallback =  std::function<void(Result, ArmDisarm)>

Callback type for subscribe_arm_disarm.

typedef ArmDisarmHandle 

using mavsdk::ActionServer::ArmDisarmHandle =  Handle<Result, ArmDisarm>

Handle type for subscribe_arm_disarm.

typedef FlightModeChangeCallback 

using mavsdk::ActionServer::FlightModeChangeCallback =  std::function<void(Result, FlightMode)>

Callback type for subscribe_flight_mode_change.

typedef FlightModeChangeHandle 

using mavsdk::ActionServer::FlightModeChangeHandle =  Handle<Result, FlightMode>

Handle type for subscribe_flight_mode_change.

typedef TakeoffCallback 

using mavsdk::ActionServer::TakeoffCallback =  std::function<void(Result, bool)>

Callback type for subscribe_takeoff.

typedef TakeoffHandle 

using mavsdk::ActionServer::TakeoffHandle =  Handle<Result, bool>

Handle type for subscribe_takeoff.

typedef LandCallback 

using mavsdk::ActionServer::LandCallback =  std::function<void(Result, bool)>

Callback type for subscribe_land.

typedef LandHandle 

using mavsdk::ActionServer::LandHandle =  Handle<Result, bool>

Handle type for subscribe_land.

typedef RebootCallback 

using mavsdk::ActionServer::RebootCallback =  std::function<void(Result, bool)>

Callback type for subscribe_reboot.

typedef RebootHandle 

using mavsdk::ActionServer::RebootHandle =  Handle<Result, bool>

Handle type for subscribe_reboot.

typedef ShutdownCallback 

using mavsdk::ActionServer::ShutdownCallback =  std::function<void(Result, bool)>

Callback type for subscribe_shutdown.

typedef ShutdownHandle 

using mavsdk::ActionServer::ShutdownHandle =  Handle<Result, bool>

Handle type for subscribe_shutdown.

typedef TerminateCallback 

using mavsdk::ActionServer::TerminateCallback =  std::function<void(Result, bool)>

Callback type for subscribe_terminate.

typedef TerminateHandle 

using mavsdk::ActionServer::TerminateHandle =  Handle<Result, bool>

Handle type for subscribe_terminate.

Member Enumeration Documentation

enum FlightMode

Flight modes.

For more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.

Value Description
Unknown Mode not known.
Ready Armed and ready to take off.
Takeoff Taking off.
Hold Holding (hovering in place (or circling for fixed-wing vehicles).
Mission In mission.
ReturnToLaunch Returning to launch position (then landing).
Land Landing.
Offboard In 'offboard' mode.
FollowMe In 'follow-me' mode.
Manual In 'Manual' mode.
Altctl In 'Altitude Control' mode.
Posctl In 'Position Control' mode.
Acro In 'Acro' mode.
Stabilized In 'Stabilize' mode.

enum Result

Possible results returned for action requests.

Value Description
Unknown Unknown result.
Success Request was successful.
NoSystem No system is connected.
ConnectionError Connection error.
Busy Vehicle is busy.
CommandDenied Command refused by vehicle.
CommandDeniedLandedStateUnknown Command refused because landed state is unknown.
CommandDeniedNotLanded Command refused because vehicle not landed.
Timeout Request timed out.
VtolTransitionSupportUnknown Hybrid/VTOL transition support is unknown.
NoVtolTransitionSupport Vehicle does not support hybrid/VTOL transitions.
ParameterError Error getting or setting parameter.
Next Intermediate message showing progress or instructions on the next steps.

Member Function Documentation

subscribe_arm_disarm() 

ArmDisarmHandle mavsdk::ActionServer::subscribe_arm_disarm(const ArmDisarmCallback &callback)

Subscribe to ARM/DISARM commands.

Parameters

Returns

 ArmDisarmHandle -

unsubscribe_arm_disarm() 

void mavsdk::ActionServer::unsubscribe_arm_disarm(ArmDisarmHandle handle)

Unsubscribe from subscribe_arm_disarm.

Parameters

subscribe_flight_mode_change() 

FlightModeChangeHandle mavsdk::ActionServer::subscribe_flight_mode_change(const FlightModeChangeCallback &callback)

Subscribe to DO_SET_MODE.

Parameters

Returns

 FlightModeChangeHandle -

unsubscribe_flight_mode_change() 

void mavsdk::ActionServer::unsubscribe_flight_mode_change(FlightModeChangeHandle handle)

Unsubscribe from subscribe_flight_mode_change.

Parameters

subscribe_takeoff() 

TakeoffHandle mavsdk::ActionServer::subscribe_takeoff(const TakeoffCallback &callback)

Subscribe to takeoff command.

Parameters

Returns

 TakeoffHandle -

unsubscribe_takeoff() 

void mavsdk::ActionServer::unsubscribe_takeoff(TakeoffHandle handle)

Unsubscribe from subscribe_takeoff.

Parameters

subscribe_land() 

LandHandle mavsdk::ActionServer::subscribe_land(const LandCallback &callback)

Subscribe to land command.

Parameters

Returns

 LandHandle -

unsubscribe_land() 

void mavsdk::ActionServer::unsubscribe_land(LandHandle handle)

Unsubscribe from subscribe_land.

Parameters

subscribe_reboot() 

RebootHandle mavsdk::ActionServer::subscribe_reboot(const RebootCallback &callback)

Subscribe to reboot command.

Parameters

Returns

 RebootHandle -

unsubscribe_reboot() 

void mavsdk::ActionServer::unsubscribe_reboot(RebootHandle handle)

Unsubscribe from subscribe_reboot.

Parameters

subscribe_shutdown() 

ShutdownHandle mavsdk::ActionServer::subscribe_shutdown(const ShutdownCallback &callback)

Subscribe to shutdown command.

Parameters

Returns

 ShutdownHandle -

unsubscribe_shutdown() 

void mavsdk::ActionServer::unsubscribe_shutdown(ShutdownHandle handle)

Unsubscribe from subscribe_shutdown.

Parameters

subscribe_terminate() 

TerminateHandle mavsdk::ActionServer::subscribe_terminate(const TerminateCallback &callback)

Subscribe to terminate command.

Parameters

Returns

 TerminateHandle -

unsubscribe_terminate() 

void mavsdk::ActionServer::unsubscribe_terminate(TerminateHandle handle)

Unsubscribe from subscribe_terminate.

Parameters

set_allow_takeoff() 

Result mavsdk::ActionServer::set_allow_takeoff(bool allow_takeoff) const

Can the vehicle takeoff.

This function is blocking.

Parameters

  • bool allow_takeoff -

Returns

 Result - Result of request.

set_armable() 

Result mavsdk::ActionServer::set_armable(bool armable, bool force_armable) const

Can the vehicle arm when requested.

This function is blocking.

Parameters

  • bool armable -
  • bool force_armable -

Returns

 Result - Result of request.

set_disarmable() 

Result mavsdk::ActionServer::set_disarmable(bool disarmable, bool force_disarmable) const

Can the vehicle disarm when requested.

This function is blocking.

Parameters

  • bool disarmable -
  • bool force_disarmable -

Returns

 Result - Result of request.

set_allowable_flight_modes() 

Result mavsdk::ActionServer::set_allowable_flight_modes(AllowableFlightModes flight_modes) const

Set which modes the vehicle can transition to (Manual always allowed)

This function is blocking.

Parameters

Returns

 Result - Result of request.

get_allowable_flight_modes() 

ActionServer::AllowableFlightModes mavsdk::ActionServer::get_allowable_flight_modes() const

Get which modes the vehicle can transition to (Manual always allowed)

This function is blocking.

Returns

 ActionServer::AllowableFlightModes - Result of request.

operator=() 

const ActionServer& mavsdk::ActionServer::operator=(const ActionServer &)=delete

Equality operator (object is not copyable).

Parameters

Returns

 const ActionServer & -

© MAVSDK Development Team 2017-2023. License: CC BY 4.0            Updated: 2023-12-27 03:10:20

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