vpRobotMavsdk.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2022 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Interface to mavlink compatible controller using mavsdk 3rd party
 *
 *****************************************************************************/
 
#ifndef vpRobotMavsdk_h_
#define vpRobotMavsdk_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_MAVSDK) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17)
 
#include <future>
#include <mutex>
#include <signal.h>
#include <string>
 
#include <visp3/core/vpHomogeneousMatrix.h>
 
class VISP_EXPORT vpRobotMavsdk
{
public:
  vpRobotMavsdk();
  vpRobotMavsdk(const std::string &connection_info);
  virtual ~vpRobotMavsdk();
 
 
  void connect(const std::string &connection_info);
 
 
  float getBatteryLevel() const;
  void getPose(vpHomogeneousMatrix &pose) const;
  std::string getAddress() const;
 
 
  // bool isFlying() const;   // Not implemented yet
  // bool isHovering() const; // Not implemented yet
  // bool isLanded() const;   // Not implemented yet
  bool isRunning() const;
 
 
  bool sendMocapData(const vpHomogeneousMatrix &M);
 
 
  bool arm();
  void doFlatTrim();
  void holdPosition();
  bool kill();
  bool land();
  void setForwardSpeed(double vx);
  void setLateralSpeed(double vy);
  void setPosition(float dX, float dY, float dZ, float dPsi);
  void setPosition(const vpHomogeneousMatrix &M);
  void setVelocity(const vpColVector &vel, double delta_t);
  void setVelocity(const vpColVector &vel);
  void setVerticalSpeed(double vz);
  void setYawSpeed(double wz);
  void stopMoving();
  void setTakeOffAlt(double altitude);
  bool takeOff(bool interactive = true);
 
private:
  [[noreturn]] static void sighandler(int signo);
 
  //*** Setup functions ***//
  void cleanUp();
  void createDroneController();
  void setupCallbacks();
  void startController();
 
  vpRobotMavsdk(const vpRobotMavsdk &);            // noncopyable
  vpRobotMavsdk &operator=(const vpRobotMavsdk &); //
 
  class vpRobotMavsdkImpl;
  vpRobotMavsdkImpl *m_impl;
};
 
#endif //#ifdef VISP_HAVE_MAVSDK
#endif //#ifndef vpRobotMavsdk_h_