Drone's mission control. More...

#include <mission.h>

Public Member Functions
	mission () noexcept

	~mission ()

void	mission_path_ready (std::vector< lat_lon > mission_path, int32_t event_id)
	The mission path is ready. It is constructed based on an input polygon. More...

void	mission_path_cancel (int32_t event_id)
	A user request to clear the current mission path. More...

const std::vector< lat_lon >	get_mission_path () const
	Get the costructred mission path. More...

void	init ()
	'MISSION_START' command received from user More...

bool	upload_mission_and_start (int32_t event_id)
	Upload and start mission. More...

std::pair< waypoint_action, std::size_t >	waypoint_reached (float laser_range)
	Ask for an action when waypoint reached. More...

waypoint	get_waypoint_copy (std::size_t index) const
	Waypoint copy by index. More...

void	save_detection (std::size_t index, const detection_result &result)
	Save the detected objects to waypoint data. More...

void	set_backward ()
	The forward mission is finished, now set the current mission status to backward. More...

bool	is_forward () const
	Check if mission is forward. More...

bool	is_finished () const
	Flag to indicate that mission is finished. More...

bool	is_ready () const
	Flag to indicate that mission is ready to be started. More...

bool	is_paused () const
	Flag to indicate that execution of mission is paused. More...

bool	user_cmd_accepted () const
	Flag to indicate that mission is in the stable state and is ready to accept the user commands pause/resume/abort. More...

void	update_event_id (int32_t event_id)
	Update mission event_id. More...

bool	update (T_DjiWaypointV2MissionEventPush event_data)
	Process mission event received from Payload SDK. More...

std::pair< bool, bool >	update (T_DjiWaypointV2MissionStatePush state_data)
	Process state update event received from Payload SDK. More...

void	abort (int32_t event_id)
	Abort the mission. More...

void	pause (int32_t event_id)
	Pause the mission. More...

void	stop (home_altitude &h)
	Stop the mission. More...

void	resume (int32_t event_id)
	Resume the mission. More...

std::pair< int32_t, interconnection::drone_info::state_t >	get_state ()
	Periodically send the current state to the drone control Android application. More...

Detailed Description

Drone's mission control.

Note: Class is thread-safe

Constructor & Destructor Documentation

◆ mission()

mission::mission ( )

defaultnoexcept

◆ ~mission()

mission::~mission ( )

default

Member Function Documentation

◆ mission_path_ready()

void mission::mission_path_ready	(	std::vector< lat_lon >	mission_path,
		int32_t	event_id
	)

The mission path is ready. It is constructed based on an input polygon.

◆ mission_path_cancel()

void mission::mission_path_cancel ( int32_t event_id )

A user request to clear the current mission path.

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◆ get_mission_path()

auto mission::get_mission_path ( ) const

Get the costructred mission path.

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◆ init()

void mission::init ( )

'MISSION_START' command received from user

Note: Thread: receive data

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◆ upload_mission_and_start()

auto mission::upload_mission_and_start ( int32_t event_id )

Upload and start mission.

Upload initial mission (Thread: receive data)
Upload forward mission with tweaked altitude (Thread: action)
Upload backward mission, after set_backward (Thread: action)
Returns
false if no waypoints left to visit

◆ waypoint_reached()

auto mission::waypoint_reached ( float laser_range )

Ask for an action when waypoint reached.

Parameters

[in] laser_range Use the laser range to determine the real drone height

Returns: [waypoint_action, waypoint index]

Note: Thread: action

◆ get_waypoint_copy()

auto mission::get_waypoint_copy ( std::size_t index ) const

Waypoint copy by index.

Returns: waypoint

Note: Thread: action

◆ save_detection()

void mission::save_detection	(	std::size_t	index,
		const detection_result &	result
	)

Save the detected objects to waypoint data.

Parameters

[in]	index	Waypoint index
[in]	result	Detection result

Note: Thread: inference

◆ set_backward()

void mission::set_backward ( )

The forward mission is finished, now set the current mission status to backward.

Note: Thread: action (called from drone ::next_mission)

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◆ is_forward()

auto mission::is_forward ( ) const

Check if mission is forward.

Note: Thread: action

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◆ is_finished()

auto mission::is_finished ( ) const

Flag to indicate that mission is finished.

Note: This is a first flag that is checked when then action thread is notified; Thread: action

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◆ is_ready()

auto mission::is_ready ( ) const

Flag to indicate that mission is ready to be started.

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◆ is_paused()

auto mission::is_paused ( ) const

Flag to indicate that execution of mission is paused.

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◆ user_cmd_accepted()

auto mission::user_cmd_accepted ( ) const

Flag to indicate that mission is in the stable state and is ready to accept the user commands pause/resume/abort.

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◆ update_event_id()

void mission::update_event_id ( int32_t event_id )

Update mission event_id.

Apply new value without affecting the state because the state is no longer actual. E.g., trying to abort a mission that is already finished.

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◆ update() [1/2]

auto mission::update ( T_DjiWaypointV2MissionEventPush event_data )

Process mission event received from Payload SDK.

Note: Thread: Payload SDK callback

Returns: true if action thread need to be notified

◆ update() [2/2]

auto mission::update ( T_DjiWaypointV2MissionStatePush state_data )

Process state update event received from Payload SDK.

Note: Thread: Payload SDK callback

Returns: auto [mission_started, notify]

◆ abort()

void mission::abort ( int32_t event_id )

Abort the mission.

Abort mission on user request (Thread: user control)
Abort mission on fake waypoint, start backward mission if needed (Thread: action)
Abort mission when altitude need to be tweaked, only forward (Thread: action)

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◆ pause()

void mission::pause ( int32_t event_id )

Pause the mission.

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◆ stop()

void mission::stop ( home_altitude & h )

Stop the mission.

Abort mission on user request (Thread: user control)
Backward mission finished succesfully (Thread: action)
The forward mission finished, but the backward mission not started because no objects were detected (Thread: action)

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◆ resume()

void mission::resume ( int32_t event_id )

Resume the mission.

Triggered when MISSION_CONTINUE received from user

Note: Thread: receive data

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◆ get_state()

auto mission::get_state ( )

Periodically send the current state to the drone control Android application.

Note: Thread: send data

Returns: auto [event_id, state]

The documentation for this class was generated from the following files:

mission.h
mission.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ mission()

◆ ~mission()

Member Function Documentation

◆ mission_path_ready()

◆ mission_path_cancel()

◆ get_mission_path()

◆ init()

◆ upload_mission_and_start()

◆ waypoint_reached()

◆ get_waypoint_copy()

◆ save_detection()

◆ set_backward()

◆ is_forward()

◆ is_finished()

◆ is_ready()

◆ is_paused()

◆ user_cmd_accepted()

◆ update_event_id()

◆ update() [1/2]

◆ update() [2/2]

◆ abort()

◆ pause()

◆ stop()

◆ resume()

◆ get_state()