mavsdk::ParamServer Class Reference

#include: param_server.h

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Provide raw access to retrieve and provide server parameters.

Data Structures

struct AllParams

struct CustomParam

struct FloatParam

struct IntParam

Public Types

Type	Description
enum Result	Possible results returned for param requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous ParamServer calls.
std::function< void(IntParam)> ChangedParamIntCallback	Callback type for subscribe_changed_param_int.
Handle< IntParam > ChangedParamIntHandle	Handle type for subscribe_changed_param_int.
std::function< void(FloatParam)> ChangedParamFloatCallback	Callback type for subscribe_changed_param_float.
Handle< FloatParam > ChangedParamFloatHandle	Handle type for subscribe_changed_param_float.
std::function< void(CustomParam)> ChangedParamCustomCallback	Callback type for subscribe_changed_param_custom.
Handle< CustomParam > ChangedParamCustomHandle	Handle type for subscribe_changed_param_custom.

Public Member Functions

Type	Name	Description
	ParamServer (std::shared_ptr< ServerComponent > server_component)	Constructor. Creates the plugin for a ServerComponent instance.
	~ParamServer () override	Destructor (internal use only).
	ParamServer (const ParamServer & other)	Copy constructor.
Result	set_protocol (bool extended_protocol)const	Set param protocol.
std::pair< Result, int32_t >	retrieve_param_int (std::string name)const	Retrieve an int parameter.
Result	provide_param_int (std::string name, int32_t value)const	Provide an int parameter.
std::pair< Result, float >	retrieve_param_float (std::string name)const	Retrieve a float parameter.
Result	provide_param_float (std::string name, float value)const	Provide a float parameter.
std::pair< Result, std::string >	retrieve_param_custom (std::string name)const	Retrieve a custom parameter.
Result	provide_param_custom (std::string name, std::string value)const	Provide a custom parameter.
ParamServer::AllParams	retrieve_all_params () const	Retrieve all parameters.
ChangedParamIntHandle	subscribe_changed_param_int (const ChangedParamIntCallback & callback)	Subscribe to changed int param.
void	unsubscribe_changed_param_int (ChangedParamIntHandle handle)	Unsubscribe from subscribe_changed_param_int.
ChangedParamFloatHandle	subscribe_changed_param_float (const ChangedParamFloatCallback & callback)	Subscribe to changed float param.
void	unsubscribe_changed_param_float (ChangedParamFloatHandle handle)	Unsubscribe from subscribe_changed_param_float.
ChangedParamCustomHandle	subscribe_changed_param_custom (const ChangedParamCustomCallback & callback)	Subscribe to changed custom param.
void	unsubscribe_changed_param_custom (ChangedParamCustomHandle handle)	Unsubscribe from subscribe_changed_param_custom.
const ParamServer &	operator= (const ParamServer &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

ParamServer()

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

Constructor. Creates the plugin for a ServerComponent instance.

The plugin is typically created as shown below:

auto param_server = ParamServer(server_component);

Parameters

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

~ParamServer()

mavsdk::ParamServer::~ParamServer() override

Destructor (internal use only).

ParamServer()

mavsdk::ParamServer::ParamServer(const ParamServer &other)

Copy constructor.

Parameters

• const ParamServer& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous ParamServer calls.

typedef ChangedParamIntCallback

using mavsdk::ParamServer::ChangedParamIntCallback =  std::function<void(IntParam)>

Callback type for subscribe_changed_param_int.

typedef ChangedParamIntHandle

using mavsdk::ParamServer::ChangedParamIntHandle =  Handle<IntParam>

Handle type for subscribe_changed_param_int.

typedef ChangedParamFloatCallback

using mavsdk::ParamServer::ChangedParamFloatCallback =  std::function<void(FloatParam)>

Callback type for subscribe_changed_param_float.

typedef ChangedParamFloatHandle

using mavsdk::ParamServer::ChangedParamFloatHandle =  Handle<FloatParam>

Handle type for subscribe_changed_param_float.

typedef ChangedParamCustomCallback

using mavsdk::ParamServer::ChangedParamCustomCallback =  std::function<void(CustomParam)>

Callback type for subscribe_changed_param_custom.

typedef ChangedParamCustomHandle

using mavsdk::ParamServer::ChangedParamCustomHandle =  Handle<CustomParam>

Handle type for subscribe_changed_param_custom.

Member Enumeration Documentation

enum Result

Possible results returned for param requests.

Value	Description
Unknown	Unknown result.
Success	Request succeeded.
NotFound	Not Found.
WrongType	Wrong type.
ParamNameTooLong	Parameter name too long (> 16).
NoSystem	No system available.
ParamValueTooLong	Parameter name too long (> 128).

Member Function Documentation

set_protocol()

Result mavsdk::ParamServer::set_protocol(bool extended_protocol) const

Set param protocol.

The extended param protocol is used by default. This allows to use the previous/normal one.

Note that camera definition files are meant to implement/use the extended protocol.

This function is blocking.

Parameters

• bool extended_protocol -

Returns

 Result - Result of request.

retrieve_param_int()

std::pair< Result, int32_t > mavsdk::ParamServer::retrieve_param_int(std::string name) const

Retrieve an int parameter.

If the type is wrong, the result will be WRONG_TYPE.

This function is blocking.

Parameters

• std::string name -

Returns

 std::pair< Result, int32_t > - Result of request.

provide_param_int()

Result mavsdk::ParamServer::provide_param_int(std::string name, int32_t value) const

Provide an int parameter.

If the type is wrong, the result will be WRONG_TYPE.

This function is blocking.

Parameters

• std::string name -
• int32_t value -

Returns

 Result - Result of request.

retrieve_param_float()

std::pair< Result, float > mavsdk::ParamServer::retrieve_param_float(std::string name) const

Retrieve a float parameter.

If the type is wrong, the result will be WRONG_TYPE.

This function is blocking.

Parameters

• std::string name -

Returns

 std::pair< Result, float > - Result of request.

provide_param_float()

Result mavsdk::ParamServer::provide_param_float(std::string name, float value) const

Provide a float parameter.

If the type is wrong, the result will be WRONG_TYPE.

This function is blocking.

Parameters

• std::string name -
• float value -

Returns

 Result - Result of request.

retrieve_param_custom()

std::pair< Result, std::string > mavsdk::ParamServer::retrieve_param_custom(std::string name) const

Retrieve a custom parameter.

If the type is wrong, the result will be WRONG_TYPE.

This function is blocking.

Parameters

• std::string name -

Returns

 std::pair< Result, std::string > - Result of request.

provide_param_custom()

Result mavsdk::ParamServer::provide_param_custom(std::string name, std::string value) const

Provide a custom parameter.

If the type is wrong, the result will be WRONG_TYPE.

This function is blocking.

Parameters

• std::string name -
• std::string value -

Returns

 Result - Result of request.

retrieve_all_params()

ParamServer::AllParams mavsdk::ParamServer::retrieve_all_params() const

Retrieve all parameters.

This function is blocking.

Returns

 ParamServer::AllParams - Result of request.

subscribe_changed_param_int()

ChangedParamIntHandle mavsdk::ParamServer::subscribe_changed_param_int(const ChangedParamIntCallback &callback)

Subscribe to changed int param.

Parameters

• const ChangedParamIntCallback& callback -

Returns

 ChangedParamIntHandle -

unsubscribe_changed_param_int()

void mavsdk::ParamServer::unsubscribe_changed_param_int(ChangedParamIntHandle handle)

Unsubscribe from subscribe_changed_param_int.

Parameters

• ChangedParamIntHandle handle -

subscribe_changed_param_float()

ChangedParamFloatHandle mavsdk::ParamServer::subscribe_changed_param_float(const ChangedParamFloatCallback &callback)

Subscribe to changed float param.

Parameters

• const ChangedParamFloatCallback& callback -

Returns

 ChangedParamFloatHandle -

unsubscribe_changed_param_float()

void mavsdk::ParamServer::unsubscribe_changed_param_float(ChangedParamFloatHandle handle)

Unsubscribe from subscribe_changed_param_float.

Parameters

• ChangedParamFloatHandle handle -

subscribe_changed_param_custom()

ChangedParamCustomHandle mavsdk::ParamServer::subscribe_changed_param_custom(const ChangedParamCustomCallback &callback)

Subscribe to changed custom param.

Parameters

• const ChangedParamCustomCallback& callback -

Returns

 ChangedParamCustomHandle -

unsubscribe_changed_param_custom()

void mavsdk::ParamServer::unsubscribe_changed_param_custom(ChangedParamCustomHandle handle)

Unsubscribe from subscribe_changed_param_custom.

Parameters

• ChangedParamCustomHandle handle -

operator=()

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

Equality operator (object is not copyable).

Parameters

• const ParamServer& -

Returns

 const ParamServer & -