mavsdk::MissionRawServer Class Reference

#include: mission_raw_server.h

Acts as a vehicle and receives incoming missions from GCS (in raw MAVLINK format). Provides current mission item state, so the server can progress through missions.

Data Structures

struct MissionItem

struct MissionPlan

struct MissionProgress

Public Types

Type	Description
enum Result	Possible results returned for action requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous MissionRawServer calls.
std::function< void(Result, MissionPlan)> IncomingMissionCallback	Callback type for subscribe_incoming_mission.
Handle< Result, MissionPlan > IncomingMissionHandle	Handle type for subscribe_incoming_mission.
std::function< void(MissionItem)> CurrentItemChangedCallback	Callback type for subscribe_current_item_changed.
Handle< MissionItem > CurrentItemChangedHandle	Handle type for subscribe_current_item_changed.
std::function< void(uint32_t)> ClearAllCallback	Callback type for subscribe_clear_all.
Handle< uint32_t > ClearAllHandle	Handle type for subscribe_clear_all.

Public Member Functions

Type	Name	Description
	MissionRawServer (std::shared_ptr< ServerComponent > server_component)	Constructor. Creates the plugin for a ServerComponent instance.
	~MissionRawServer () override	Destructor (internal use only).
	MissionRawServer (const MissionRawServer & other)	Copy constructor.
IncomingMissionHandle	subscribe_incoming_mission (const IncomingMissionCallback & callback)	Subscribe to when a new mission is uploaded (asynchronous).
void	unsubscribe_incoming_mission (IncomingMissionHandle handle)	Unsubscribe from subscribe_incoming_mission.
CurrentItemChangedHandle	subscribe_current_item_changed (const CurrentItemChangedCallback & callback)	Subscribe to when a new current item is set.
void	unsubscribe_current_item_changed (CurrentItemChangedHandle handle)	Unsubscribe from subscribe_current_item_changed.
void	set_current_item_complete () const	Set Current item as completed.
ClearAllHandle	subscribe_clear_all (const ClearAllCallback & callback)	Subscribe when a MISSION_CLEAR_ALL is received.
void	unsubscribe_clear_all (ClearAllHandle handle)	Unsubscribe from subscribe_clear_all.
const MissionRawServer &	operator= (const MissionRawServer &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

MissionRawServer()

cpp

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

Constructor. Creates the plugin for a ServerComponent instance.

The plugin is typically created as shown below:

cpp

auto mission_raw_server = MissionRawServer(server_component);

Parameters

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

~MissionRawServer()

cpp

mavsdk::MissionRawServer::~MissionRawServer() override

Destructor (internal use only).

MissionRawServer()

cpp

mavsdk::MissionRawServer::MissionRawServer(const MissionRawServer &other)

Copy constructor.

Parameters

const MissionRawServer& other -

Member Typdef Documentation

typedef ResultCallback

cpp

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

Callback type for asynchronous MissionRawServer calls.

typedef IncomingMissionCallback

cpp

using mavsdk::MissionRawServer::IncomingMissionCallback =  std::function<void(Result, MissionPlan)>

Callback type for subscribe_incoming_mission.

typedef IncomingMissionHandle

cpp

using mavsdk::MissionRawServer::IncomingMissionHandle =  Handle<Result, MissionPlan>

Handle type for subscribe_incoming_mission.

typedef CurrentItemChangedCallback

cpp

using mavsdk::MissionRawServer::CurrentItemChangedCallback =  std::function<void(MissionItem)>

Callback type for subscribe_current_item_changed.

typedef CurrentItemChangedHandle

cpp

using mavsdk::MissionRawServer::CurrentItemChangedHandle =  Handle<MissionItem>

Handle type for subscribe_current_item_changed.

typedef ClearAllCallback

cpp

using mavsdk::MissionRawServer::ClearAllCallback =  std::function<void(uint32_t)>

Callback type for subscribe_clear_all.

typedef ClearAllHandle

cpp

using mavsdk::MissionRawServer::ClearAllHandle =  Handle<uint32_t>

Handle type for subscribe_clear_all.

Member Enumeration Documentation

enum Result

Possible results returned for action requests.

Value	Description
`Unknown`	Unknown result.
`Success`	Request succeeded.
`Error`	Error.
`TooManyMissionItems`	Too many mission items in the mission.
`Busy`	Vehicle is busy.
`Timeout`	Request timed out.
`InvalidArgument`	Invalid argument.
`Unsupported`	Mission downloaded from the system is not supported.
`NoMissionAvailable`	No mission available on the system.
`UnsupportedMissionCmd`	Unsupported mission command.
`TransferCancelled`	Mission transfer (upload or download) has been cancelled.
`NoSystem`	No system connected.
`Next`	Intermediate message showing progress or instructions on the next steps.

Member Function Documentation

subscribe_incoming_mission()

cpp

IncomingMissionHandle mavsdk::MissionRawServer::subscribe_incoming_mission(const IncomingMissionCallback &callback)

Subscribe to when a new mission is uploaded (asynchronous).

Parameters

const IncomingMissionCallback& callback -

Returns

IncomingMissionHandle -

unsubscribe_incoming_mission()

cpp

void mavsdk::MissionRawServer::unsubscribe_incoming_mission(IncomingMissionHandle handle)

Unsubscribe from subscribe_incoming_mission.

Parameters

IncomingMissionHandle handle -

subscribe_current_item_changed()

cpp

CurrentItemChangedHandle mavsdk::MissionRawServer::subscribe_current_item_changed(const CurrentItemChangedCallback &callback)

Subscribe to when a new current item is set.

Parameters

const CurrentItemChangedCallback& callback -

Returns

CurrentItemChangedHandle -

unsubscribe_current_item_changed()

cpp

void mavsdk::MissionRawServer::unsubscribe_current_item_changed(CurrentItemChangedHandle handle)

Unsubscribe from subscribe_current_item_changed.

Parameters

CurrentItemChangedHandle handle -

set_current_item_complete()

cpp

void mavsdk::MissionRawServer::set_current_item_complete() const

Set Current item as completed.

This function is blocking.

subscribe_clear_all()

cpp

ClearAllHandle mavsdk::MissionRawServer::subscribe_clear_all(const ClearAllCallback &callback)

Subscribe when a MISSION_CLEAR_ALL is received.

Parameters

const ClearAllCallback& callback -

Returns

ClearAllHandle -

unsubscribe_clear_all()

cpp

void mavsdk::MissionRawServer::unsubscribe_clear_all(ClearAllHandle handle)

Unsubscribe from subscribe_clear_all.

Parameters

ClearAllHandle handle -

operator=()

cpp

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

Equality operator (object is not copyable).

Parameters

const MissionRawServer& -

Returns

const MissionRawServer & -

class ActionServer

class Calibration

class Camera

class CameraServer

class ComponentMetadata

class ComponentMetadataServer

class Events

class FollowMe

class Ftp

class Geofence

class geometry::CoordinateTransformation

class Gimbal

class Info

class LogFiles

class LogStreaming

class MavlinkPassthrough

class Mavsdk

class Mission

class MissionRaw

class MissionRawServer

class Mocap

class Offboard

class Param

class ParamServer

class Rtk

class Telemetry

class TelemetryServer

class Transponder

class Tune

class Winch

mavsdk::MissionRawServer Class Reference ​

Data Structures ​

Public Types ​

Public Member Functions ​

Constructor & Destructor Documentation ​

MissionRawServer() ​

~MissionRawServer() ​

MissionRawServer() ​

Member Typdef Documentation ​

typedef ResultCallback ​

typedef IncomingMissionCallback ​

typedef IncomingMissionHandle ​

typedef CurrentItemChangedCallback ​

typedef CurrentItemChangedHandle ​

typedef ClearAllCallback ​

typedef ClearAllHandle ​

Member Enumeration Documentation ​

enum Result ​

Member Function Documentation ​

subscribe_incoming_mission() ​

unsubscribe_incoming_mission() ​

subscribe_current_item_changed() ​

unsubscribe_current_item_changed() ​

set_current_item_complete() ​

subscribe_clear_all() ​

unsubscribe_clear_all() ​

operator=() ​

mavsdk::MissionRawServer Class Reference

Data Structures

Public Types

Public Member Functions

Constructor & Destructor Documentation

MissionRawServer()

~MissionRawServer()

MissionRawServer()

Member Typdef Documentation

typedef ResultCallback

typedef IncomingMissionCallback

typedef IncomingMissionHandle

typedef CurrentItemChangedCallback

typedef CurrentItemChangedHandle

typedef ClearAllCallback

typedef ClearAllHandle

Member Enumeration Documentation

enum Result

Member Function Documentation

subscribe_incoming_mission()

unsubscribe_incoming_mission()

subscribe_current_item_changed()

unsubscribe_current_item_changed()

set_current_item_complete()

subscribe_clear_all()

unsubscribe_clear_all()

operator=()