grvc::ual::Backend Class Reference

Common interface for back-end implementations of ual. More...

#include <backend.h>

Inheritance diagram for grvc::ual::Backend:

Public Types
enum	State {   UNINITIALIZED, LANDED_DISARMED, LANDED_ARMED, TAKING_OFF,   FLYING_AUTO, FLYING_MANUAL, LANDING }
	Possible backend states.

Public Member Functions
template<typename Callable , typename... Args>
bool	threadSafeCall (Callable &&_fn, Args &&..._args)
	Wrap a Backend function to make it thread-safe.
	Backend ()
	Constructor inits node.
virtual bool	isReady () const =0
	Backend is initialized and ready to run tasks?
bool	isIdle ()
	Is it idle?
virtual Pose	pose ()=0
	Latest pose estimation of the robot.
virtual Velocity	velocity () const =0
	Latest velocity estimation of the robot.
virtual Odometry	odometry () const =0
	Latest odometry estimation of the robot.
virtual Transform	transform () const =0
	Latest transform estimation of the robot.
State	state ()
	Current robot state.
virtual void	setPose (const geometry_msgs::PoseStamped &_pose)=0
virtual void	goToWaypoint (const Waypoint &_wp)=0
virtual void	goToWaypointGeo (const WaypointGeo &_wp)=0
virtual void	takeOff (double _height)=0
	Follow a list of waypoints, one after another. More...
virtual void	land ()=0
	Land on the current position.
virtual void	setVelocity (const Velocity &_vel)=0
virtual void	recoverFromManual ()=0
virtual void	setHome (bool set_z)=0
	Set home position.
void	abort (bool _freeze=true)
	Cancel execution of the current task.

Static Public Member Functions
static Backend *	createBackend ()
	Create an adequate Backend depending on current platform and command arguments. More...

Protected Attributes
std::atomic< bool >	abort_ = {false}
std::atomic< bool >	freeze_ = {false}
std::mutex	running_mutex_
std::atomic< bool >	running_task_ = {false}
std::thread	spin_thread_
std::atomic< State >	state_ = {UNINITIALIZED}

Detailed Description

Common interface for back-end implementations of ual.

Member Function Documentation

static Backend* grvc::ual::Backend::createBackend ( )

static

Create an adequate Backend depending on current platform and command arguments.

Parameters

_argc	number of arguments in _argv
_argv	command line arguments passed to the program. This arguments will be parsed and used to select the best fitting implementation of Backend from those available in the current platform.

Returns

the newly created Backend. Whoever calls this method, is responsible for eventually destroying the Backend.

virtual void grvc::ual::Backend::goToWaypoint ( const Waypoint &  _wp )

pure virtual

Go to the specified waypoint, following a straight line

Parameters

_wp	goal waypoint

Implemented in grvc::ual::BackendMavros, grvc::ual::BackendDummy, and grvc::ual::BackendLight.

virtual void grvc::ual::Backend::goToWaypointGeo ( const WaypointGeo &  _wp )

pure virtual

Go to the specified waypoint in geographic coordinates, following a straight line

Parameters

_wp	goal waypoint in geographic coordinates

Implemented in grvc::ual::BackendMavros, grvc::ual::BackendDummy, and grvc::ual::BackendLight.

virtual void grvc::ual::Backend::recoverFromManual ( )

pure virtual

Recover from manual flight mode Use it when FLYING uav is switched to manual mode and want to go BACK to auto.

Implemented in grvc::ual::BackendMavros, grvc::ual::BackendDummy, and grvc::ual::BackendLight.

virtual void grvc::ual::Backend::setPose ( const geometry_msgs::PoseStamped &  _pose )

pure virtual

Set pose

Parameters

_pose

target pose

Implemented in grvc::ual::BackendMavros, grvc::ual::BackendDummy, and grvc::ual::BackendLight.

virtual void grvc::ual::Backend::setVelocity ( const Velocity &  _vel )

pure virtual

Set velocities

Parameters

_vel	target velocity in world coordinates

Implemented in grvc::ual::BackendMavros, grvc::ual::BackendDummy, and grvc::ual::BackendLight.

virtual void grvc::ual::Backend::takeOff ( double  _height )

pure virtual

Follow a list of waypoints, one after another.

Perform a take off maneuver

Parameters

_height

target height that must be reached to consider the take off complete

Implemented in grvc::ual::BackendMavros, grvc::ual::BackendDummy, and grvc::ual::BackendLight.

Member Data Documentation

std::atomic<bool> grvc::ual::Backend::abort_ = {false}

protected

Abort flag If you want your task to be abortable, check its value periodically

std::atomic<bool> grvc::ual::Backend::freeze_ = {false}

protected

Freeze flag When aborting a task, freezes the platform if it is true

std::mutex grvc::ual::Backend::running_mutex_

protected

Simplest state-machine model: idle/running Implemented via mutex-locking

---

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

• include/uav_abstraction_layer/backend.h