mavsdk::ArmAuthorizerServer Class Reference

#include: arm_authorizer_server.h

Use arm authorization.

Public Types

Type	Description
enum RejectionReason	The rejection reason.
enum Result	The result.
std::function< void(Result)> ResultCallback	Callback type for asynchronous ArmAuthorizerServer calls.
std::function< void(uint32_t)> ArmAuthorizationCallback	Callback type for subscribe_arm_authorization.
Handle< uint32_t > ArmAuthorizationHandle	Handle type for subscribe_arm_authorization.

Public Member Functions

Type	Name	Description
	ArmAuthorizerServer (std::shared_ptr< ServerComponent > server_component)	Constructor. Creates the plugin for a ServerComponent instance.
	~ArmAuthorizerServer () override	Destructor (internal use only).
	ArmAuthorizerServer (const ArmAuthorizerServer & other)	Copy constructor.
ArmAuthorizationHandle	subscribe_arm_authorization (const ArmAuthorizationCallback & callback)	Subscribe to arm authorization request messages. Each request received should respond to using RespondArmAuthorization.
void	unsubscribe_arm_authorization (ArmAuthorizationHandle handle)	Unsubscribe from subscribe_arm_authorization.
Result	accept_arm_authorization (int32_t valid_time_s)const	Authorize arm for the specific time.
Result	reject_arm_authorization (bool temporarily, RejectionReason reason, int32_t extra_info)const	Reject arm authorization request.
const ArmAuthorizerServer &	operator= (const ArmAuthorizerServer &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

ArmAuthorizerServer()

cpp

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

Constructor. Creates the plugin for a ServerComponent instance.

The plugin is typically created as shown below:

cpp

auto arm_authorizer_server = ArmAuthorizerServer(server_component);

Parameters

std::shared_ptr< ServerComponent > server_component - The ServerComponent instance associated with this server plugin.

~ArmAuthorizerServer()

cpp

mavsdk::ArmAuthorizerServer::~ArmAuthorizerServer() override

Destructor (internal use only).

ArmAuthorizerServer()

cpp

mavsdk::ArmAuthorizerServer::ArmAuthorizerServer(const ArmAuthorizerServer &other)

Copy constructor.

Parameters

const ArmAuthorizerServer& other -

Member Typdef Documentation

typedef ResultCallback

cpp

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

Callback type for asynchronous ArmAuthorizerServer calls.

typedef ArmAuthorizationCallback

cpp

using mavsdk::ArmAuthorizerServer::ArmAuthorizationCallback =  std::function<void(uint32_t)>

Callback type for subscribe_arm_authorization.

typedef ArmAuthorizationHandle

cpp

using mavsdk::ArmAuthorizerServer::ArmAuthorizationHandle =  Handle<uint32_t>

Handle type for subscribe_arm_authorization.

Member Enumeration Documentation

enum RejectionReason

The rejection reason.

Value	Description
`Generic`	Not a specific reason.
`None`	Authorizer will send the error as string to GCS.
`InvalidWaypoint`	At least one waypoint have a invalid value.
`Timeout`	Timeout in the authorizer process(in case it depends on network).
`AirspaceInUse`	Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied..
`BadWeather`	Weather is not good to fly.

enum Result

The result.

Value	Description
`Unknown`	Unknown result.
`Success`	Command accepted.
`Failed`	Command failed.

Member Function Documentation

subscribe_arm_authorization()

cpp

ArmAuthorizationHandle mavsdk::ArmAuthorizerServer::subscribe_arm_authorization(const ArmAuthorizationCallback &callback)

Subscribe to arm authorization request messages. Each request received should respond to using RespondArmAuthorization.

Parameters

const ArmAuthorizationCallback& callback -

Returns

ArmAuthorizationHandle -

unsubscribe_arm_authorization()

cpp

void mavsdk::ArmAuthorizerServer::unsubscribe_arm_authorization(ArmAuthorizationHandle handle)

Unsubscribe from subscribe_arm_authorization.

Parameters

ArmAuthorizationHandle handle -

accept_arm_authorization()

cpp

Result mavsdk::ArmAuthorizerServer::accept_arm_authorization(int32_t valid_time_s) const

Authorize arm for the specific time.

This function is blocking.

Parameters

int32_t valid_time_s -

Returns

Result - Result of request.

reject_arm_authorization()

cpp

Result mavsdk::ArmAuthorizerServer::reject_arm_authorization(bool temporarily, RejectionReason reason, int32_t extra_info) const

Reject arm authorization request.

This function is blocking.

Parameters

bool temporarily -
RejectionReason reason -
int32_t extra_info -

Returns

Result - Result of request.

operator=()

cpp

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

Equality operator (object is not copyable).

Parameters

const ArmAuthorizerServer& -

Returns

const ArmAuthorizerServer & -

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class geometry::CoordinateTransformation

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class Mocap

class Offboard

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class ParamServer

class Rtk

class Telemetry

class TelemetryServer

class Transponder

class Tune

class Winch

mavsdk::ArmAuthorizerServer Class Reference ​

Public Types ​

Public Member Functions ​

Constructor & Destructor Documentation ​

ArmAuthorizerServer() ​

~ArmAuthorizerServer() ​

ArmAuthorizerServer() ​

Member Typdef Documentation ​

typedef ResultCallback ​

typedef ArmAuthorizationCallback ​

typedef ArmAuthorizationHandle ​

Member Enumeration Documentation ​

enum RejectionReason ​

enum Result ​

Member Function Documentation ​

subscribe_arm_authorization() ​

unsubscribe_arm_authorization() ​

accept_arm_authorization() ​

reject_arm_authorization() ​

operator=() ​

mavsdk::ArmAuthorizerServer Class Reference

Public Types

Public Member Functions

Constructor & Destructor Documentation

ArmAuthorizerServer()

~ArmAuthorizerServer()

ArmAuthorizerServer()

Member Typdef Documentation

typedef ResultCallback

typedef ArmAuthorizationCallback

typedef ArmAuthorizationHandle

Member Enumeration Documentation

enum RejectionReason

enum Result

Member Function Documentation

subscribe_arm_authorization()

unsubscribe_arm_authorization()

accept_arm_authorization()

reject_arm_authorization()

operator=()