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. |
| MissionPlan | incoming_mission () const | Poll for 'MissionPlan' (blocking). |
| 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. |
| MissionItem | current_item_changed () const | Poll for 'MissionItem' (blocking). |
| 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. |
| 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(std::shared_ptr< ServerComponent > server_component)
Constructor. Creates the plugin for a ServerComponent instance.
The plugin is typically created as shown below:
auto mission_raw_server = MissionRawServer(server_component);
Parameters
- std::shared_ptr< ServerComponent > server_component - The ServerComponent instance associated with this server plugin.
~MissionRawServer()
mavsdk::MissionRawServer::~MissionRawServer() override
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 IncomingMissionHandle
using mavsdk::MissionRawServer::IncomingMissionHandle = Handle<Result, MissionPlan>
Handle type for subscribe_incoming_mission.
typedef CurrentItemChangedCallback
using mavsdk::MissionRawServer::CurrentItemChangedCallback = std::function<void(MissionItem)>
Callback type for subscribe_current_item_changed.
typedef CurrentItemChangedHandle
using mavsdk::MissionRawServer::CurrentItemChangedHandle = Handle<MissionItem>
Handle type for subscribe_current_item_changed.
typedef ClearAllCallback
using mavsdk::MissionRawServer::ClearAllCallback = std::function<void(uint32_t)>
Callback type for subscribe_clear_all.
typedef ClearAllHandle
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()
IncomingMissionHandle mavsdk::MissionRawServer::subscribe_incoming_mission(const IncomingMissionCallback &callback)
Subscribe to when a new mission is uploaded (asynchronous).
Parameters
- const IncomingMissionCallback& callback -
Returns
unsubscribe_incoming_mission()
void mavsdk::MissionRawServer::unsubscribe_incoming_mission(IncomingMissionHandle handle)
Unsubscribe from subscribe_incoming_mission.
Parameters
- IncomingMissionHandle handle -
incoming_mission()
MissionPlan mavsdk::MissionRawServer::incoming_mission() const
Poll for 'MissionPlan' (blocking).
Returns
MissionPlan - One MissionPlan update.
subscribe_current_item_changed()
CurrentItemChangedHandle mavsdk::MissionRawServer::subscribe_current_item_changed(const CurrentItemChangedCallback &callback)
Subscribe to when a new current item is set.
Parameters
- const CurrentItemChangedCallback& callback -
Returns
unsubscribe_current_item_changed()
void mavsdk::MissionRawServer::unsubscribe_current_item_changed(CurrentItemChangedHandle handle)
Unsubscribe from subscribe_current_item_changed.
Parameters
- CurrentItemChangedHandle handle -
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()
ClearAllHandle mavsdk::MissionRawServer::subscribe_clear_all(const ClearAllCallback &callback)
Subscribe when a MISSION_CLEAR_ALL is received.
Parameters
- const ClearAllCallback& callback -
Returns
unsubscribe_clear_all()
void mavsdk::MissionRawServer::unsubscribe_clear_all(ClearAllHandle handle)
Unsubscribe from subscribe_clear_all.
Parameters
- ClearAllHandle handle -
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 & -