flyby::Payload Class Reference

The class containing all of the payload configurations. More...

#include <payload.h>

Inheritance diagram for flyby::Payload:

Collaboration diagram for flyby::Payload:

Public Member Functions
	Payload (const std::string &name, std::string version)
	Creates a new payload.
	Payload (const std::string &name, std::string version, unsigned int port, const std::string &uuid)
	Internal payload constructor.
void	register_stream (std::shared_ptr< StreamInterface > stream) final
	Registers a new stream as part of the payload.
void	register_gimbal (std::shared_ptr< GimbalInterface > gimbal) final
	Registers a new gimbal as part of the payload.
void	register_lrf (std::shared_ptr< LRFInterface > lrf) final
	Registers a new laser range finder as part of the payload.
std::string	get_version () const final
	Returns the version of the payload service.
unsigned int	get_port () const final
	Returns the port of the payload service.
const std::vector< std::shared_ptr< const StreamInterface > > &	get_streams_const () const final
	Get the streams.
const std::vector< std::shared_ptr< const GimbalInterface > > &	get_gimbals_const () const final
	Get the gimbals.
const std::vector< std::shared_ptr< const LRFInterface > > &	get_lrfs_const () const final
	Get the LRFInterfaces.
void	execute_action (std::string mission_name, unsigned int waypoint_idx) override
	Execute actions at waypoints.

Detailed Description

The class containing all of the payload configurations.

This class automatically handles registration of payload components and is fully handled by the Drone class. This class should be extended by creating and registering all of the payload components in the constructor.

Constructor & Destructor Documentation

Payload() [1/2]

flyby::Payload::Payload	(	const std::string &	name,
		std::string	version )

Creates a new payload.

The constructor is responsible for registering all of the payload components, and should be overridden.

Parameters

name	- The name of the payload
version	- The version of the payload service

Payload() [2/2]

flyby::Payload::Payload	(	const std::string &	name,
		std::string	version,
		unsigned int	port,
		const std::string &	uuid )

Internal payload constructor.

Note that this constructor should not be used, since the port will be overwritten. This is only used internally.

Parameters

name	- The name of the payload
version	- The version of the payload service
port	- The port to communicate over
uuid	- The UUID of the payload

Member Function Documentation

execute_action()

void flyby::Payload::execute_action ( std::string mission_name, unsigned int waypoint_idx )

override

Execute actions at waypoints.

Called when the payload joins the mission and the drone reaches each waypoint.

Parameters

mission_name	- The name assigned to the mission from the user.
waypoint_idx	- The index of the current waypoint in the mission.

get_gimbals_const()

const std::vector< std::shared_ptr< const GimbalInterface > > & flyby::Payload::get_gimbals_const ( ) const

nodiscardfinal

Get the gimbals.

Returns

A vector of const gimbal pointers

get_lrfs_const()

const std::vector< std::shared_ptr< const LRFInterface > > & flyby::Payload::get_lrfs_const ( ) const

nodiscardfinal

Get the LRFInterfaces.

Returns

A vector of const LRFInterface pointers

get_port()

unsigned int flyby::Payload::get_port ( ) const

nodiscardfinal

Returns the port of the payload service.

Returns

An int containing the port

get_streams_const()

const std::vector< std::shared_ptr< const StreamInterface > > & flyby::Payload::get_streams_const ( ) const

nodiscardfinal

Get the streams.

Returns

A vector of const stream pointers

get_version()

std::string flyby::Payload::get_version ( ) const

nodiscardfinal

Returns the version of the payload service.

Returns

A string containing the version

register_gimbal()

void flyby::Payload::register_gimbal ( std::shared_ptr< GimbalInterface > gimbal )

final

Registers a new gimbal as part of the payload.

Parameters

gimbal

- The gimbal to register

register_lrf()

void flyby::Payload::register_lrf ( std::shared_ptr< LRFInterface > lrf )

final

Registers a new laser range finder as part of the payload.

Parameters

lrf	- The LRFInterface to register

register_stream()

void flyby::Payload::register_stream ( std::shared_ptr< StreamInterface > stream )

final

Registers a new stream as part of the payload.

Parameters

stream

- The stream to register

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

• include/flyby/payload/payload.h