Class PSDKWrapper

• Defined in File psdk_wrapper.hpp

Nested Relationships

Nested Types

• Struct PSDKWrapper::PSDKParams

Inheritance Relationships

Base Type

• public rclcpp_lifecycle::LifecycleNode

Class Documentation

class psdk_ros2::PSDKWrapper : public rclcpp_lifecycle::LifecycleNode

A ROS 2 wrapper that brings all the DJI PSDK functionalities to ROS 2.

Public Functions

explicit PSDKWrapper(const std::string &node_name)

Construct a new PSDKWrapper object.

Parameters

node_name –

~PSDKWrapper()

Destroy the PSDKWrapper object.

CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override

Configures member variable and sets the environment.

Parameters

state – Reference to Lifecycle state

Returns

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override

Initializes main PSDK modules.

Parameters

state – Reference to Lifecycle state

Returns

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override

Deactivates main PSDK modules and other member variables.

Parameters

state – Reference to Lifecycle state

Returns

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override

Resets member variables.

Parameters

state – Reference to Lifecycle state

Returns

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override

Deinitializes main PSDK modules.

Parameters

state – Reference to Lifecycle state

Returns

CallbackReturn SUCCESS or FAILURE

Private Functions

template<typename ModuleType>
void create_module(bool is_mandatory, std::shared_ptr<ModuleType> &module_ptr, std::unique_ptr<utils::NodeThread> &thread_ptr, const std::string &node_name, std::shared_ptr<ModuleType> &global_ptr)

Creates a PSDK module.

Template Parameters

ModuleType – Type of the module

Parameters

• is_mandatory – If the module is mandatory

• module_ptr – Pointer to the module

• thread_ptr – Pointer to the thread

• node_name – Name of the node

• global_ptr – Pointer to the global module

template<typename ModuleType>
void stop_and_destroy_module(bool is_mandatory, std::shared_ptr<ModuleType> &module_ptr, std::unique_ptr<utils::NodeThread> &thread_ptr)

Stop and destroy a PSDK module.

Template Parameters

ModuleType – Type of the module

Parameters

• is_mandatory – If the module is mandatory

• module_ptr – Pointer to the module

• thread_ptr – Pointer to the thread

template<typename ModuleType>
bool initialize_module(bool is_mandatory, std::shared_ptr<ModuleType> &module_ptr)

Initialize a PSDK module.

Template Parameters

ModuleType – Type of the module

Parameters

• is_mandatory – If the module is mandatory

• module_ptr – Pointer to the module

Returns

true/false

bool set_environment()

Set the environment handlers.

Returns

true/false

bool set_user_info(T_DjiUserInfo *user_info)

Set the user information for the PSDK application.

Parameters

user_info – object containing the main information regarding the psdk application

Returns

true/false

void load_parameters()

Load ROS parameters.

bool init(T_DjiUserInfo *user_info)

Initiate the PSDK application.

Parameters

user_info – object containing the main information regarding the psdk application

Returns

true/false

bool initialize_psdk_modules()

Method to initialize all psdk modules.

Returns

true if all mandatory modules have been correctly initialized, false otherwise

void get_and_validate_frequency(const std::string &param_name, int &frequency, const int max_frequency)

Get the frequency parameters and validate their value.

Parameters

• param_name – name of the parameter to be retrieved

• frequency – variable where to store the frequency

• max_frequency – maximum frequency allowed

void get_non_mandatory_param(const std::string &param_name, std::string &param_string)

Retrieve non mandatory parameters of string type.

Parameters

• param_name – name of the parameter to be retrieved

• param_string – variable to store the parameter

void get_mandatory_param(const std::string &param_name, std::string &param_string)

Retrieve mandatory parameters. Issue an error if the parameter is not found.

Parameters

• param_name – name of the parameter to be retrieved

• param_string – variable to store the parameter

bool transition_modules_to_state(LifecycleState state)

Transition all modules to a specific state.

Parameters

state – state to transition the modules as defined by the enum LifecycleState

Returns

true if all module transitions are successful, false otherwise

struct PSDKParams