mavros::std_plugins::SystemStatusPlugin Class Reference

System status plugin. More...

Inheritance diagram for mavros::std_plugins::SystemStatusPlugin:

Public Member Functions
Subscriptions	get_subscriptions () override
	Return vector of MAVLink message subscriptions (handlers) More...
void	initialize (UAS &uas_) override
	Plugin initializer. More...
	SystemStatusPlugin ()
Public Member Functions inherited from mavros::plugin::PluginBase
virtual	~PluginBase ()

Private Types
using	M_VehicleInfo = std::unordered_map< uint16_t, mavros_msgs::VehicleInfo >

Private Member Functions
void	autopilot_version_cb (const ros::TimerEvent &event)
void	connection_cb (bool connected) override
M_VehicleInfo::iterator	find_or_create_vehicle_info (uint8_t sysid, uint8_t compid)
uint16_t	get_vehicle_key (uint8_t sysid, uint8_t compid)
void	handle_autopilot_version (const mavlink::mavlink_message_t *msg, mavlink::common::msg::AUTOPILOT_VERSION &apv)
void	handle_battery_status (const mavlink::mavlink_message_t *msg, mavlink::common::msg::BATTERY_STATUS &bs)
void	handle_estimator_status (const mavlink::mavlink_message_t *msg, mavlink::common::msg::ESTIMATOR_STATUS &status)
void	handle_extended_sys_state (const mavlink::mavlink_message_t *msg, mavlink::common::msg::EXTENDED_SYS_STATE &state)
void	handle_heartbeat (const mavlink::mavlink_message_t *msg, mavlink::minimal::msg::HEARTBEAT &hb)
void	handle_hwstatus (const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::HWSTATUS &hwst)
void	handle_meminfo (const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::MEMINFO &mem)
void	handle_statustext (const mavlink::mavlink_message_t *msg, mavlink::common::msg::STATUSTEXT &textm)
void	handle_sys_status (const mavlink::mavlink_message_t *msg, mavlink::common::msg::SYS_STATUS &stat)
void	heartbeat_cb (const ros::TimerEvent &event)
void	process_autopilot_version_apm_quirk (mavlink::common::msg::AUTOPILOT_VERSION &apv, uint8_t sysid, uint8_t compid)
void	process_autopilot_version_normal (mavlink::common::msg::AUTOPILOT_VERSION &apv, uint8_t sysid, uint8_t compid)
void	process_statustext_normal (uint8_t severity, std::string &text)
void	publish_disconnection ()
bool	set_message_interval_cb (mavros_msgs::MessageInterval::Request &req, mavros_msgs::MessageInterval::Response &res)
bool	set_mode_cb (mavros_msgs::SetMode::Request &req, mavros_msgs::SetMode::Response &res)
bool	set_rate_cb (mavros_msgs::StreamRate::Request &req, mavros_msgs::StreamRate::Response &res)
void	statustext_cb (const mavros_msgs::StatusText::ConstPtr &req)
void	timeout_cb (const ros::TimerEvent &event)
bool	vehicle_info_get_cb (mavros_msgs::VehicleInfoGet::Request &req, mavros_msgs::VehicleInfoGet::Response &res)

Static Private Member Functions
static std::string	custom_version_to_hex_string (std::array< uint8_t, 8 > &array)

Private Attributes
ros::Timer	autopilot_version_timer
BatteryStatusDiag	batt_diag
ros::Publisher	batt_pub
float	battery_voltage
MAV_TYPE	conn_heartbeat_mav_type
bool	disable_diag
ros::Publisher	estimator_status_pub
ros::Publisher	extended_state_pub
bool	has_battery_status
HeartbeatStatus	hb_diag
ros::Timer	heartbeat_timer
HwStatus	hwst_diag
MemInfo	mem_diag
ros::ServiceServer	message_interval_srv
ros::ServiceServer	mode_srv
ros::NodeHandle	nh
ros::ServiceServer	rate_srv
ros::Publisher	state_pub
ros::Publisher	statustext_pub
ros::Subscriber	statustext_sub
SystemStatusDiag	sys_diag
ros::Timer	timeout_timer
ros::ServiceServer	vehicle_info_get_srv
M_VehicleInfo	vehicles
int	version_retries

Static Private Attributes
static constexpr int	RETRIES_COUNT = 6

Additional Inherited Members
Public Types inherited from mavros::plugin::PluginBase
using	ConstPtr = boost::shared_ptr< PluginBase const >
using	HandlerCb = mavconn::MAVConnInterface::ReceivedCb
	generic message handler callback More...
using	HandlerInfo = std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb >
	Tuple: MSG ID, MSG NAME, message type into hash_code, message handler callback. More...
using	Ptr = boost::shared_ptr< PluginBase >
using	Subscriptions = std::vector< HandlerInfo >
	Subscriptions vector. More...
Protected Member Functions inherited from mavros::plugin::PluginBase
virtual void	capabilities_cb (UAS::MAV_CAP capabilities)
void	enable_capabilities_cb ()
void	enable_connection_cb ()
template<class _C >
HandlerInfo	make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
template<class _C , class _T >
HandlerInfo	make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &))
	PluginBase ()
	Plugin constructor Should not do anything before initialize() More...
Protected Attributes inherited from mavros::plugin::PluginBase
UAS *	m_uas

Detailed Description

System status plugin.

Required by all plugins.

Definition at line 422 of file sys_status.cpp.

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

• sys_status.cpp