vpRobotMavsdk.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 https://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 VP_ROBOT_MAVSDK_H
#define VP_ROBOT_MAVSDK_H
 
#include <visp3/core/vpConfig.h>
 
// Check if std:c++17 or higher.
// Here we cannot use (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) in the declaration of the class
#if defined(VISP_HAVE_MAVSDK) && ((__cplusplus >= 201703L) || (defined(_MSVC_LANG) && (_MSVC_LANG >= 201703L))) \
  && defined(VISP_HAVE_THREADS)
 
#include <future>
#include <mutex>
#include <signal.h>
#include <string>
#include <tuple>
 
#include <visp3/core/vpHomogeneousMatrix.h>
 
BEGIN_VISP_NAMESPACE
  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 getPosition(float &ned_north, float &ned_east, float &ned_down, float &ned_yaw) const;
  void getPosition(vpHomogeneousMatrix &ned_M_frd) const;
  std::tuple<float, float> getHome() const;
  std::string getAddress() const;
  bool isRunning() const;


  bool arm();
  bool disarm();
  void doFlatTrim();
  bool hasFlyingCapability();
  bool holdPosition();
  bool kill();
  bool land();
  bool releaseControl();
  bool sendMocapData(const vpHomogeneousMatrix &enu_M_flu, int display_fps = 1);
  void setAutoLand(bool auto_land);
  bool setForwardSpeed(double body_frd_vx);
  bool setLateralSpeed(double body_frd_vy);
  bool setGPSGlobalOrigin(double latitude, double longitude, double altitude);
  void setPositioningIncertitude(float position_incertitude, float yaw_incertitude);
  bool setPosition(float ned_north, float ned_east, float ned_down, float ned_yaw, bool blocking = true,
                   int timeout_sec = 10);
  bool setPosition(const vpHomogeneousMatrix &ned_M_frd, bool blocking = true, int timeout_sec = 10);
  bool setPositionRelative(float ned_delta_north, float ned_delta_east, float ned_delta_down, float ned_delta_yaw,
                           bool blocking = true, int timeout_sec = 10);
  bool setPositionRelative(const vpHomogeneousMatrix &delta_frd_M_frd, bool blocking = true, int timeout_sec = 10);
  bool setVelocity(const vpColVector &frd_vel_cmd);
  bool setVerticalSpeed(double body_frd_vz);
  bool setYawSpeed(double body_frd_wz);
  void setTakeOffAlt(double altitude);
  void setVerbose(bool verbose);
  bool stopMoving();
  bool takeControl();
  bool takeOff(bool interactive = true, int timeout_sec = 10, bool use_gps = false);
  bool takeOff(bool interactive, double takeoff_altitude, int timeout_sec = 10, bool use_gps = false);
 
private:
  //*** Setup functions ***//
  void cleanUp();
  void createDroneController();
  void setupCallbacks();
  void startController();
 
  vpRobotMavsdk(const vpRobotMavsdk &);            // noncopyable
  vpRobotMavsdk &operator=(const vpRobotMavsdk &); //
 
  class vpRobotMavsdkImpl;
  vpRobotMavsdkImpl *m_impl;
};
END_VISP_NAMESPACE
#endif // #ifdef VISP_HAVE_MAVSDK
#endif // #ifndef vpRobotMavsdk_h_