mission_state Class Reference

Class to watch the global mission state that will be sent over interconnection. More...

#include <mission_state.h>

Public Member Functions
void	mission_path_ready (int32_t event_id)
	The mission path is constructed and ready to be sent to a user for confirmation. More...
void	mission_path_cancel (int32_t event_id)
	A user request to clear the current mission path. Either the path is invalid, or the user wants to change it. More...
bool	mission_path_available () const
	The mission path is available in current state. More...
void	init ()
	Initial fetch of the path before running forward/backward missions. More...
void	start (int32_t event_id)
	Start mission (either forward or backward). Update events can be processed. More...
void	pause (int32_t event_id)
	Pause mission. More...
void	stop ()
	Stop the global mission execution. More...
void	abort (int32_t event_id)
	Abort mission. Ignore update events. More...
void	resume (int32_t event_id)
	Resume mission. More...
void	update_event_id (int32_t event_id)
	Update mission event_id. More...
void	waypoint_reached () const
	Verify state correctness when waypoint reached. More...
bool	is_forward () const
	Forward mission is in progress. More...
void	set_backward ()
	Switch to backward mission. More...
bool	is_finished () const
	Check if forward/backward mission finished. More...
bool	is_ready () const
	Check if mission is ready to start. More...
bool	is_paused () const
	Check if global mission is paused. More...
bool	user_cmd_accepted () const
	Check if state accepts user's command pause/resume/abort. 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...
std::pair< int32_t, interconnection::drone_info::state_t >	get_state ()
	Current drone's state to sent to the drone control Android application. More...

Static Public Attributes
static constexpr int32_t	internal_event_id {-1}

Detailed Description

Class to watch the global mission state that will be sent over interconnection.

Since it's thread-safe and used in Payload SDK callbacks, all the methods should return flow control quickly, avoid long wait. Any Payload SDK API related to WaypointV2 mission should be called in mission. Waypoints information should be saved in mission too. Argument event_id indicates a user command.

Member Function Documentation

mission_path_ready()

void mission_state::mission_path_ready

(

int32_t

event_id

)

The mission path is constructed and ready to be sent to a user for confirmation.

ready -> path_data

mission_path_cancel()

void mission_state::mission_path_cancel

(

int32_t

event_id

)

A user request to clear the current mission path. Either the path is invalid, or the user wants to change it.

path_data -> ready

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mission_path_available()

auto mission_state::mission_path_available

(

)

const

The mission path is available in current state.

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init()

void mission_state::init

(

)

Initial fetch of the path before running forward/backward missions.

path -> forward_wait_start

Note

Update events still ignored

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start()

void mission_state::start

(

int32_t

event_id

)

Start mission (either forward or backward). Update events can be processed.

forward_wait_start -> forward_wait_update

backward_wait_start -> backward_wait_update

pause()

void mission_state::pause

(

int32_t

event_id

)

Pause mission.

forward_executing or backward_executing

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stop()

void mission_state::stop

(

)

Stop the global mission execution.

forward_wait_start -> ready (abort execution)

backward_wait_start -> ready (no objects detected - no backward mission, aborted execution)

backward_finished -> ready (success)

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abort()

void mission_state::abort

(

int32_t

event_id

)

Abort mission. Ignore update events.

backward_executing -> backward_wait_start

forward_executing -> forward_wait_start

Note

• forward mission restart on height tweak
• mission abort on last fake waypoint
• user mission abort

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resume()

void mission_state::resume

(

int32_t

event_id

)

Resume mission.

forward_executing or backward_executing

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update_event_id()

void mission_state::update_event_id

(

int32_t

event_id

)

Update mission event_id.

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waypoint_reached()

void mission_state::waypoint_reached

(

)

const

Verify state correctness when waypoint reached.

forward_executing or backward_executing

is_forward()

auto mission_state::is_forward

(

)

const

Forward mission is in progress.

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set_backward()

void mission_state::set_backward

(

)

Switch to backward mission.

forward_wait_start -> backward_wait_start (last fake waypoint)

forward_finished -> backward_wait_start (forward success)

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is_finished()

auto mission_state::is_finished

(

)

const

Check if forward/backward mission finished.

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is_ready()

auto mission_state::is_ready

(

)

const

Check if mission is ready to start.

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is_paused()

auto mission_state::is_paused

(

)

const

Check if global mission is paused.

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user_cmd_accepted()

auto mission_state::user_cmd_accepted

(

)

const

Check if state accepts user's command pause/resume/abort.

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update() [1/2]

auto mission_state::update

(

T_DjiWaypointV2MissionEventPush

event_data

)

Process mission event received from Payload SDK.

Returns

notify_finished

update() [2/2]

auto mission_state::update

(

T_DjiWaypointV2MissionStatePush

state_data

)

Process state update event received from Payload SDK.

Returns

auto [mission_started, notify]

get_state()

auto mission_state::get_state

(

)

Current drone's state to sent to the drone control Android application.

Returns

auto [event_id, state]

Note

Can change the global state path_data -> path

Member Data Documentation

internal_event_id

constexpr int32_t mission_state::internal_event_id {-1}

staticconstexpr

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

• mission_state.h
• mission_state.cpp