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. |
| std::function< void(MissionItem)> CurrentItemChangedCallback | Callback type for subscribe_current_item_changed. |
| std::function< void(uint32_t)> ClearAllCallback | Callback type for subscribe_clear_all. |
Public Member Functions
| Type | Name | Description |
|---|---|---|
| MissionRawServer (System & system) | Constructor. Creates the plugin for a specific System. | |
| MissionRawServer (std::shared_ptr< System > system) | Constructor. Creates the plugin for a specific System. | |
| ~MissionRawServer () | Destructor (internal use only). | |
| MissionRawServer (const MissionRawServer & other) | Copy constructor. | |
| void | subscribe_incoming_mission (IncomingMissionCallback callback) | Subscribe to when a new mission is uploaded (asynchronous). |
| MissionPlan | incoming_mission () const | Poll for 'MissionPlan' (blocking). |
| void | subscribe_current_item_changed (CurrentItemChangedCallback callback) | Subscribe to when a new current item is set. |
| MissionItem | current_item_changed () const | Poll for 'MissionItem' (blocking). |
| void | set_current_item_complete () const | Set Current item as completed. |
| void | subscribe_clear_all (ClearAllCallback callback) | Subscribe when a MISSION_CLEAR_ALL is received. |
| uint32_t | clear_all () const | Poll for 'uint32_t' (blocking). |
| const MissionRawServer & | operator= (const MissionRawServer &)=delete | Equality operator (object is not copyable). |
Constructor & Destructor Documentation
MissionRawServer()
mavsdk::MissionRawServer::MissionRawServer(System &system)
Constructor. Creates the plugin for a specific System.
The plugin is typically created as shown below:
auto mission_raw_server = MissionRawServer(system);
Parameters
- System& system - The specific system associated with this plugin.
MissionRawServer()
mavsdk::MissionRawServer::MissionRawServer(std::shared_ptr< System > system)
Constructor. Creates the plugin for a specific System.
The plugin is typically created as shown below:
auto mission_raw_server = MissionRawServer(system);
Parameters
- std::shared_ptr< System > system - The specific system associated with this plugin.
~MissionRawServer()
mavsdk::MissionRawServer::~MissionRawServer()
Destructor (internal use only).
MissionRawServer()
mavsdk::MissionRawServer::MissionRawServer(const MissionRawServer &other)
Copy constructor.
Parameters
- const MissionRawServer& other -
Member Typdef Documentation
typedef ResultCallback
using mavsdk::MissionRawServer::ResultCallback = std::function<void(Result)>
Callback type for asynchronous MissionRawServer calls.
typedef IncomingMissionCallback
using mavsdk::MissionRawServer::IncomingMissionCallback = std::function<void(Result, MissionPlan)>
Callback type for subscribe_incoming_mission.
typedef CurrentItemChangedCallback
using mavsdk::MissionRawServer::CurrentItemChangedCallback = std::function<void(MissionItem)>
Callback type for subscribe_current_item_changed.
typedef ClearAllCallback
using mavsdk::MissionRawServer::ClearAllCallback = std::function<void(uint32_t)>
Callback 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()
void mavsdk::MissionRawServer::subscribe_incoming_mission(IncomingMissionCallback callback)
Subscribe to when a new mission is uploaded (asynchronous).
Parameters
- IncomingMissionCallback callback -
incoming_mission()
MissionPlan mavsdk::MissionRawServer::incoming_mission() const
Poll for 'MissionPlan' (blocking).
Returns
MissionPlan - One MissionPlan update.
subscribe_current_item_changed()
void mavsdk::MissionRawServer::subscribe_current_item_changed(CurrentItemChangedCallback callback)
Subscribe to when a new current item is set.
Parameters
- CurrentItemChangedCallback callback -
current_item_changed()
MissionItem mavsdk::MissionRawServer::current_item_changed() const
Poll for 'MissionItem' (blocking).
Returns
MissionItem - One MissionItem update.
set_current_item_complete()
void mavsdk::MissionRawServer::set_current_item_complete() const
Set Current item as completed.
This function is blocking.
subscribe_clear_all()
void mavsdk::MissionRawServer::subscribe_clear_all(ClearAllCallback callback)
Subscribe when a MISSION_CLEAR_ALL is received.
Parameters
- ClearAllCallback callback -
clear_all()
uint32_t mavsdk::MissionRawServer::clear_all() const
Poll for 'uint32_t' (blocking).
Returns
uint32_t - One uint32_t update.
operator=()
const MissionRawServer& mavsdk::MissionRawServer::operator=(const MissionRawServer &)=delete
Equality operator (object is not copyable).
Parameters
- const MissionRawServer& -
Returns
const MissionRawServer & -