auterion::SDK Class Reference

SDK execution class. All callbacks are called on the same thread. More...

#include <auterion_sdk/auterion.hpp>

Public Types
using	ShutdownCallbackHandle = rclcpp::PreShutdownCallbackHandle

Public Member Functions
	SDK (int argc, char **argv, const std::string &node_name)
void	setSkipFlightControllerConnectionCheck (bool skip)
void	run (RunOptions options=RunOptions())
rclcpp::Node::SharedPtr	defaultRosHandle () const
bool	canWaitForData () const
	Whether the calling thread can wait for data the SDK receives.
rclcpp::Time	now () const
void	addNode (rclcpp::Node::SharedPtr node)
void	removeNode (rclcpp::Node::SharedPtr node)
ShutdownCallbackHandle	addShutdownCallback (std::function< void()> callback)
	Register a callback for the app's shutdown (a signal, or requestShutdown())
void	removeShutdownCallback (const ShutdownCallbackHandle &handle)
void	requestShutdown (const std::string &reason)
	Shut the app down: the shutdown callbacks run, and run() returns.
const rclcpp::executors::SingleThreadedExecutor::UniquePtr &	executor () const
template<typename T >
T	getParameter (const std::string &name, std::function< void(const T &)> on_change_callback=nullptr)
	Get a parameter value and optionally register a callback for changes.
template<typename T >
void	setParameter (const std::string &name, const T &value)
	Set a parameter.
template<typename T >
void	setSystemParameter (const std::string &full_name, const T &value)
	Set a parameter of another app or service.
template<>
bool	getParameter (const std::string &name, std::function< void(const bool &)> on_change_callback)
template<>
int64_t	getParameter (const std::string &name, std::function< void(const int64_t &)> on_change_callback)
template<>
int	getParameter (const std::string &name, std::function< void(const int &)> on_change_callback)
template<>
float	getParameter (const std::string &name, std::function< void(const float &)> on_change_callback)
template<>
double	getParameter (const std::string &name, std::function< void(const double &)> on_change_callback)
template<>
std::string	getParameter (const std::string &name, std::function< void(const std::string &)> on_change_callback)
template<>
std::vector< bool >	getParameter (const std::string &name, std::function< void(const std::vector< bool > &)> on_change_callback)
template<>
std::vector< int64_t >	getParameter (const std::string &name, std::function< void(const std::vector< int64_t > &)> on_change_callback)
template<>
std::vector< int >	getParameter (const std::string &name, std::function< void(const std::vector< int > &)> on_change_callback)
template<>
std::vector< float >	getParameter (const std::string &name, std::function< void(const std::vector< float > &)> on_change_callback)
template<>
std::vector< double >	getParameter (const std::string &name, std::function< void(const std::vector< double > &)> on_change_callback)
template<>
std::vector< std::string >	getParameter (const std::string &name, std::function< void(const std::vector< std::string > &)> on_change_callback)

Static Public Member Functions
template<typename T >
static constexpr void	verify_param ()

Detailed Description

SDK execution class. All callbacks are called on the same thread.

The SDK receives data (vehicle state, camera info and status, images, detections, parameter changes, ...) only for the API calls that ask for it: it subscribes on the first use of the API that needs the data, which saves the CPU of messages the app never uses. A first query that has to wait for its data says so in its documentation. What rclcpp creates on every node is left as rclcpp creates it.

Member Function Documentation

addShutdownCallback()

ShutdownCallbackHandle auterion::SDK::addShutdownCallback

(

std::function< void()>

callback

)

Register a callback for the app's shutdown (a signal, or requestShutdown())

It runs before ROS shuts down, so it can still publish and send asynchronous requests, e.g. to hand a camera's controls back. Not necessarily on the SDK executor's thread. Remove it before the objects it captures die: the SDK's destructor shuts ROS down too, which runs the callbacks still registered.

Returns

a handle to remove the callback with

canWaitForData()

bool auterion::SDK::canWaitForData ( ) const

inline

Whether the calling thread can wait for data the SDK receives.

True while run() spins the SDK executor on another thread, which delivers the data. On the executor's own thread, or before run(), a wait could only time out.

getParameter()

template<typename T >

T auterion::SDK::getParameter ( const std::string &  name, std::function< void(const T &)>  on_change_callback = nullptr  )

inline

Get a parameter value and optionally register a callback for changes.

The parameter name must be defined in auterion-app.yml. The type must match (or be convertible from) the parameter type in the yaml definition.

Parameters

name	parameter name
on_change_callback	optional callback for dynamic parameter changes

Exceptions

ParameterException

on error

requestShutdown()

void auterion::SDK::requestShutdown

(

const std::string &

reason

)

Shut the app down: the shutdown callbacks run, and run() returns.

Parameters

reason

logged

setParameter()

template<typename T >

void auterion::SDK::setParameter ( const std::string &  name, const T &  value  )

inline

Set a parameter.

The parameter name must be defined in auterion-app.yml. The type must match (or be convertible from) the parameter type in the yaml definition.

Parameters

name	parameter name
value	value to set the parameter to

Exceptions

ParameterException

on error

setSkipFlightControllerConnectionCheck()

void auterion::SDK::setSkipFlightControllerConnectionCheck ( bool  skip )

inline

By default, run() will first check if the flight controller is connected and ensure message format compatibility. This method can be used to disable that check.

Parameters

skip

setSystemParameter()

template<typename T >

void auterion::SDK::setSystemParameter ( const std::string &  full_name, const T &  value  )

inline

Set a parameter of another app or service.

Parameters

full_name	the parameter's full name: the author, the app and the parameter's name, separated by dots
value	value to set the parameter to

Exceptions

ParameterException

on error

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

• include/auterion_sdk/auterion.hpp