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AVBP Mission plugin » History » Revision 12

Revision 11 (Rafael Bailon-Ruiz, 2021-03-11 15:06) → Revision 12/13 (Rafael Bailon-Ruiz, 2021-03-11 15:23)

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 stop(self): 
     """Disable the AVBPProbe plugin""" 
     pass 

 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