mavsdk::Shell Class Reference

#include: shell.hpp

Allow to communicate with the vehicle's system shell.

Under the hood this uses MAVLink SERIAL_CONTROL. The default device is SERIAL_CONTROL_DEV_SHELL. Callers can pass another SERIAL_CONTROL_DEV on Send (and observe the device on Receive) when the same framing is used for non-nsh serial bridges (for example TELEM2).

Data Structures

struct Receive

Public Types

Type	Description
enum Device	MAVLink SERIAL_CONTROL_DEV values used by the shell plugin.
enum Result	Possible results returned for shell requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous Shell calls.
std::function< void(Receive)> ReceiveCallback	Callback type for subscribe_receive.
Handle< Receive > ReceiveHandle	Handle type for subscribe_receive.

Public Member Functions

Type	Name	Description
	Shell (System & system)	Constructor. Creates the plugin for a specific System.
	Shell (std::shared_ptr< System > system)	Constructor. Creates the plugin for a specific System.
	~Shell () override	Destructor (internal use only).
	Shell (const Shell & other)	Copy constructor.
Result	send (std::string command, Device device)const	Send a command line.
ReceiveHandle	subscribe_receive (const ReceiveCallback & callback)	Receive feedback from a sent command line.
void	unsubscribe_receive (ReceiveHandle handle)	Unsubscribe from subscribe_receive.
const Shell &	operator= (const Shell &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

Shell()

cpp

mavsdk::Shell::Shell(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

cpp

auto shell = Shell(system);

Parameters

System& system - The specific system associated with this plugin.

Shell()

cpp

mavsdk::Shell::Shell(std::shared_ptr< System > system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

cpp

auto shell = Shell(system);

Parameters

std::shared_ptr< System > system - The specific system associated with this plugin.

~Shell()

cpp

mavsdk::Shell::~Shell() override

Destructor (internal use only).

Shell()

cpp

mavsdk::Shell::Shell(const Shell &other)

Copy constructor.

Parameters

const Shell& other -

Member Typdef Documentation

typedef ResultCallback

cpp

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

Callback type for asynchronous Shell calls.

typedef ReceiveCallback

cpp

using mavsdk::Shell::ReceiveCallback =  std::function<void(Receive)>

Callback type for subscribe_receive.

typedef ReceiveHandle

cpp

using mavsdk::Shell::ReceiveHandle =  Handle<Receive>

Handle type for subscribe_receive.

Member Enumeration Documentation

enum Device

MAVLink SERIAL_CONTROL_DEV values used by the shell plugin.

Value	Description
`Telem1`	SERIAL_CONTROL_DEV_TELEM1.
`Telem2`	SERIAL_CONTROL_DEV_TELEM2.
`Gps1`	SERIAL_CONTROL_DEV_GPS1.
`Gps2`	SERIAL_CONTROL_DEV_GPS2.
`Shell`	SERIAL_CONTROL_DEV_SHELL (default).
`Serial0`	SERIAL_CONTROL_SERIAL0.
`Serial1`	SERIAL_CONTROL_SERIAL1.
`Serial2`	SERIAL_CONTROL_SERIAL2.
`Serial3`	SERIAL_CONTROL_SERIAL3.
`Serial4`	SERIAL_CONTROL_SERIAL4.
`Serial5`	SERIAL_CONTROL_SERIAL5.
`Serial6`	SERIAL_CONTROL_SERIAL6.
`Serial7`	SERIAL_CONTROL_SERIAL7.
`Serial8`	SERIAL_CONTROL_SERIAL8.
`Serial9`	SERIAL_CONTROL_SERIAL9.

enum Result

Possible results returned for shell requests.

Value	Description
`Unknown`	Unknown result.
`Success`	Request succeeded.
`NoSystem`	No system is connected.
`ConnectionError`	Connection error.
`NoResponse`	Response was not received.
`Busy`	Shell busy (transfer in progress).
`InvalidArgument`	Invalid device / argument.

Member Function Documentation

send()

cpp

Result mavsdk::Shell::send(std::string command, Device device) const

Send a command line.

This function is blocking.

Parameters

std::string command -
Device device -

Returns

Result - Result of request.

subscribe_receive()

cpp

ReceiveHandle mavsdk::Shell::subscribe_receive(const ReceiveCallback &callback)

Receive feedback from a sent command line.

This subscription needs to be made before a command line is sent, otherwise, no response will be sent.

Parameters

const ReceiveCallback& callback -

Returns

ReceiveHandle -

unsubscribe_receive()

cpp

void mavsdk::Shell::unsubscribe_receive(ReceiveHandle handle)

Unsubscribe from subscribe_receive.

Parameters

ReceiveHandle handle -

operator=()

cpp

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

Equality operator (object is not copyable).

Parameters

const Shell& -

Returns

const Shell & -

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class geometry::CoordinateTransformation

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class Mocap

class Offboard

class Param

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class Rtk

class Shell

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mavsdk::Shell Class Reference ​

Data Structures ​

Public Types ​

Public Member Functions ​

Constructor & Destructor Documentation ​

Shell() ​

Shell() ​

~Shell() ​

Shell() ​

Member Typdef Documentation ​

typedef ResultCallback ​

typedef ReceiveCallback ​

typedef ReceiveHandle ​

Member Enumeration Documentation ​

enum Device ​

enum Result ​

Member Function Documentation ​

send() ​

subscribe_receive() ​

unsubscribe_receive() ​

operator=() ​

mavsdk::Shell Class Reference

Data Structures

Public Types

Public Member Functions

Constructor & Destructor Documentation

Shell()

Shell()

~Shell()

Shell()

Member Typdef Documentation

typedef ResultCallback

typedef ReceiveCallback

typedef ReceiveHandle

Member Enumeration Documentation

enum Device

enum Result

Member Function Documentation

send()

subscribe_receive()

unsubscribe_receive()

operator=()