mavsdk::Failure Class Reference
#include: failure.h
Inject failures into system to test failsafes.
Public Types
| Type | Description |
|---|---|
| enum FailureUnit | A failure unit. |
| enum FailureType | A failure type. |
| enum Result | Possible results returned for failure requests. |
| std::function< void(Result)> ResultCallback | Callback type for asynchronous Failure calls. |
Public Member Functions
| Type | Name | Description |
|---|---|---|
| Failure (System & system) | Constructor. Creates the plugin for a specific System. | |
| Failure (std::shared_ptr< System > system) | Constructor. Creates the plugin for a specific System. | |
| ~Failure () override | Destructor (internal use only). | |
| Failure (const Failure & other) | Copy constructor. | |
| Result | inject (FailureUnit failure_unit, FailureType failure_type, int32_t instance)const | Injects a failure. |
| const Failure & | operator= (const Failure &)=delete | Equality operator (object is not copyable). |
Constructor & Destructor Documentation
Failure()
mavsdk::Failure::Failure(System &system)
Constructor. Creates the plugin for a specific System.
The plugin is typically created as shown below:
auto failure = Failure(system);
Parameters
- System& system - The specific system associated with this plugin.
Failure()
mavsdk::Failure::Failure(std::shared_ptr< System > system)
Constructor. Creates the plugin for a specific System.
The plugin is typically created as shown below:
auto failure = Failure(system);
Parameters
- std::shared_ptr< System > system - The specific system associated with this plugin.
~Failure()
mavsdk::Failure::~Failure() override
Destructor (internal use only).
Failure()
mavsdk::Failure::Failure(const Failure &other)
Copy constructor.
Parameters
- const Failure& other -
Member Typdef Documentation
typedef ResultCallback
using mavsdk::Failure::ResultCallback = std::function<void(Result)>
Callback type for asynchronous Failure calls.
Member Enumeration Documentation
enum FailureUnit
A failure unit.
| Value | Description |
|---|---|
SensorGyro |
Gyro. |
SensorAccel |
Accelerometer. |
SensorMag |
Magnetometer. |
SensorBaro |
Barometer. |
SensorGps |
GPS. |
SensorOpticalFlow |
Optical flow. |
SensorVio |
Visual inertial odometry. |
SensorDistanceSensor |
Distance sensor. |
SensorAirspeed |
Airspeed. |
SystemBattery |
Battery. |
SystemMotor |
Motor. |
SystemServo |
Servo. |
SystemAvoidance |
Avoidance. |
SystemRcSignal |
RC signal. |
SystemMavlinkSignal |
MAVLink signal. |
enum FailureType
A failure type.
| Value | Description |
|---|---|
Ok |
No failure injected, used to reset a previous failure. |
Off |
Sets unit off, so completely non-responsive. |
Stuck |
Unit is stuck e.g. keeps reporting the same value. |
Garbage |
Unit is reporting complete garbage. |
Wrong |
Unit is consistently wrong. |
Slow |
Unit is slow, so e.g. reporting at slower than expected rate. |
Delayed |
Data of unit is delayed in time. |
Intermittent |
Unit is sometimes working, sometimes not. |
enum Result
Possible results returned for failure requests.
| Value | Description |
|---|---|
Unknown |
Unknown result. |
Success |
Request succeeded. |
NoSystem |
No system is connected. |
ConnectionError |
Connection error. |
Unsupported |
Failure not supported. |
Denied |
Failure injection denied. |
Disabled |
Failure injection is disabled. |
Timeout |
Request timed out. |
Member Function Documentation
inject()
Result mavsdk::Failure::inject(FailureUnit failure_unit, FailureType failure_type, int32_t instance) const
Injects a failure.
This function is blocking.
Parameters
- FailureUnit failure_unit -
- FailureType failure_type -
- int32_t instance -
Returns
Result - Result of request.
operator=()
const Failure& mavsdk::Failure::operator=(const Failure &)=delete
Equality operator (object is not copyable).
Parameters
- const Failure& -
Returns
const Failure & -