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AVBP Mission plugin » History » Version 11

Rafael Bailon-Ruiz, 2021-03-11 15:06

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h1. AVBP Mission plugin
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The _AVBP mission plugin_ is an aircraft plugin, built upon the standard Mission Manager, to supervise adaptive mapping missions.
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It is defined in the  <code class="python">cams_avbp.plugins.mission</code> module.
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h2. Scenario definition
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<code class="python">AVBPMission</code> must de declared in the plugins section. The <code class="python">Missions</code> plugin is required and must be included first in the list. Example:
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<pre><code class="yaml">
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aircrafts:
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    200:
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        replay: false
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        type: 'pprz'
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        plugins:
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            # Other plugins ...
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            - Missions:
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                backup_file: '/PATH/TO/backup_200.bin'
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                Goto: *goto_defaults
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                Segment: *segment_defaults
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            - AVBPMission
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</code></pre>
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h2. User remote control
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You can make remote procedure calls using the http API, that you can issue with a web browser or from the command line with <code class="shell">curl</code>. For instance:
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<pre><code class="shell">
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curl -v "http://127.0.0.1:8000/runtime/call_method/?uav_id=200&plugin=AVBPMission&method=stop"
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</code></pre>
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calls the _stop_ method of the uav _200_ defined in the _AVBPMission_ plugin.
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h2. Event handlers
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h3. Aircraft status handlers
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Status messages originated in paparazzi related to the aircraft state and mission execution status.
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<pre><code class="python">
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def flight_param_callback(self, msg):
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    """
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    Receive pprz FLIGHT_PARAM messages
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    http://docs.paparazziuav.org/latest/paparazzi_messages.html#FLIGHT_PARAM
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    """
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    pass
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def engine_status_callback(self, engineStatus):
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    """
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    Receive pprz ENGINE_STATUS messages
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    http://docs.paparazziuav.org/latest/paparazzi_messages.html#ENGINE_STATUS
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    """
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    pass
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def mission_status_callback(self, missionStatus):
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    """
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    Receive pprz MISSION_STATUS messages
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    http://docs.paparazziuav.org/latest/paparazzi_messages.html#MISSION_STATUS
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    """
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    pass
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def nav_status_callback(self, navStatus):
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    """
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    Receive pprz NAV_STATUS messages
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    http://docs.paparazziuav.org/latest/paparazzi_messages.html#NAV_STATUS
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    """
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    pass
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def ap_status_callback(self, apStatus):
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    """
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    Receive pprz AP_STATUS messages
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    http://docs.paparazziuav.org/latest/paparazzi_messages.html#AP_STATUS
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    """
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    pass
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</code></pre>
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h3. Sensor sample handlers
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Handler for the internal CAMS event "add_sample". It is called each time a sensor sample is disseminated from another plugin of the same UAV.
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<pre><code class="python">
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def add_sample(self, sample: ty.Union[AbstractSensorSample, SensorSample]):
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    """Catch sensor samples coming from other plugins"""
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    pass
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</code></pre>
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h3. Interaction methods
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These functions are not called periodically by CAMS, but manually by the operators to trigger certain actions. More can be defined provided by <code class="python">__pluginmethods__</code> is update accordingly.
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<pre><code class="python">
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def stop(self):
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    """Disable the AVBPProbe plugin"""
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    pass
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def pause(self, *args, **kwargs):
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    """Specific stop signal just for the AVBPMission plugin"""
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    pass
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def play(self, *args, **kwargs):
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    """Specific start signal just for the AVBPMission plugin
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    You can activate this method manually with:
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    curl -v "http://127.0.0.1:8000/runtime/call_method/?uav_id=200&plugin=AVBPMission&method=play
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    or browsing to http://127.0.0.1:8000/rpc (Call UAV plugin method)
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    """
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    pass
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</code></pre>
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h2. Available commands
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The <code class="python">self</code> argument of every plugin method (declared in <code class="python">__pluginmethods__</code>) is the AircraftPprz from nephelae_paparazzi the plugin is attached to.
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h3. Create a mission
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<pre><code class="python">
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_logger.debug("Create a 'Goto' test mission")
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goto_mission_params = {"wp_east": 500.0, "wp_north": 300.0, "wp_alt": 500.0}
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mission = self.create_mission('Goto', insertMode=InsertMode.ReplaceAll,
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                                      **goto_mission_params)
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_logger.debug("mission %s created", mission)
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_logger.debug("Create a 'Segment' test mission")
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segment_mission_params = {"segment_east_1": 500.0, "segment_north_1": 300.0,
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                                  "segment_east_2": 300.0, "segment_north_2": 500.0,
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                                  "segment_alt": 500.0}
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mission = self.create_mission('Segment', insertMode=InsertMode.Append,
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                                      **segment_mission_params)
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_logger.debug("mission %s created", mission)
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</code></pre>
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These missions can either be validated with the gui (operator) OR