CAMS

h1. AVBP Mission plugin

The _AVBP mission plugin_ is an aircraft plugin, built upon the standard Mission Manager, to supervise adaptive mapping missions.

It is defined in the  <code class="python">cams_avbp.plugins.mission</code> module.

h2. Scenario definition

<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:

<pre><code class="yaml">

aircrafts:

    200:

        replay: false

        type: 'pprz'

        plugins:

            # Other plugins ...

            - Missions:

                backup_file: '/PATH/TO/backup_200.bin'

                Goto: *goto_defaults

                Segment: *segment_defaults

            - AVBPMission

</code></pre>

h2. User remote control

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:

<pre><code class="shell">

curl -v "http://127.0.0.1:8000/runtime/call_method/?uav_id=200&plugin=AVBPMission&method=stop"

</code></pre>

calls the _stop_ method of the uav _200_ defined in the _AVBPMission_ plugin.

h2. Event handlers

h3. Aircraft status handlers

Status messages originated in paparazzi related to the aircraft state and mission execution status.

<pre><code class="python">

def flight_param_callback(self, msg):

    """

    Receive pprz FLIGHT_PARAM messages

    http://docs.paparazziuav.org/latest/paparazzi_messages.html#FLIGHT_PARAM

    """

    pass

def engine_status_callback(self, engineStatus):

    """

    Receive pprz ENGINE_STATUS messages

    http://docs.paparazziuav.org/latest/paparazzi_messages.html#ENGINE_STATUS

    """

    pass

def mission_status_callback(self, missionStatus):

    """

    Receive pprz MISSION_STATUS messages

    http://docs.paparazziuav.org/latest/paparazzi_messages.html#MISSION_STATUS

    """

    pass

def nav_status_callback(self, navStatus):

    """

    Receive pprz NAV_STATUS messages

    http://docs.paparazziuav.org/latest/paparazzi_messages.html#NAV_STATUS

    """

    pass

def ap_status_callback(self, apStatus):

    """

    Receive pprz AP_STATUS messages

    http://docs.paparazziuav.org/latest/paparazzi_messages.html#AP_STATUS

    """

    pass

</code></pre>

h3. Sensor sample handlers

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.

<pre><code class="python">

def add_sample(self, sample: ty.Union[AbstractSensorSample, SensorSample]):

    """Catch sensor samples coming from other plugins"""

    pass

</code></pre>

h3. Interaction methods

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.

<pre><code class="python">

def pause(self, *args, **kwargs):

    """Specific stop signal just for the AVBPMission plugin"""

    pass

def play(self, *args, **kwargs):

    """Specific start signal just for the AVBPMission plugin

    You can activate this method manually with:

    curl -v "http://127.0.0.1:8000/runtime/call_method/?uav_id=200&plugin=AVBPMission&method=play

    or browsing to http://127.0.0.1:8000/rpc (Call UAV plugin method)

    """

    pass

</code></pre>

h2. Available commands

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.

h3. Create a mission

<pre><code class="python">

_logger.debug("Create a 'Goto' test mission")

goto_mission_params = {"wp_east": 500.0, "wp_north": 300.0, "wp_alt": 500.0}

mission = self.create_mission('Goto', insertMode=InsertMode.ReplaceAll,

                                      **goto_mission_params)

_logger.debug("mission %s created", mission)

_logger.debug("Create a 'Segment' test mission")

segment_mission_params = {"segment_east_1": 500.0, "segment_north_1": 300.0,

                                  "segment_east_2": 300.0, "segment_north_2": 500.0,

                                  "segment_alt": 500.0}

mission = self.create_mission('Segment', insertMode=InsertMode.Append,

                                      **segment_mission_params)

_logger.debug("mission %s created", mission)

</code></pre>

These missions can either be validated with the gui (operator) OR