Struct mav_sdk::grpc::telemetry::TelemetryServiceClient

pub struct TelemetryServiceClient<T> { /* fields omitted */ }

Allow users to get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates.

Implementations

impl TelemetryServiceClient<Channel>

pub async fn connect<D>(dst: D) -> Result<Self, Error> where
    D: TryInto<Endpoint>,
    D::Error: Into<StdError>, 

Attempt to create a new client by connecting to a given endpoint.

impl<T> TelemetryServiceClient<T> where
    T: GrpcService<BoxBody>,
    T::ResponseBody: Body + Send + Sync + 'static,
    T::Error: Into<StdError>,
    <T::ResponseBody as Body>::Error: Into<StdError> + Send, 

pub fn new(inner: T) -> Self

pub fn with_interceptor<F>(
    inner: T,
    interceptor: F
) -> TelemetryServiceClient<InterceptedService<T, F>> where
    F: Interceptor,
    T: Service<Request<BoxBody>, Response = Response<<T as GrpcService<BoxBody>>::ResponseBody>>,
    <T as Service<Request<BoxBody>>>::Error: Into<StdError> + Send + Sync, 

pub fn send_gzip(self) -> Self

Compress requests with gzip.

This requires the server to support it otherwise it might respond with an error.

pub fn accept_gzip(self) -> Self

Enable decompressing responses with gzip.

pub async fn subscribe_position(
    &mut self,
    request: impl IntoRequest<SubscribePositionRequest>
) -> Result<Response<Streaming<PositionResponse>>, Status>

Subscribe to ‘position’ updates.

pub async fn subscribe_home(
    &mut self,
    request: impl IntoRequest<SubscribeHomeRequest>
) -> Result<Response<Streaming<HomeResponse>>, Status>

Subscribe to ‘home position’ updates.

pub async fn subscribe_in_air(
    &mut self,
    request: impl IntoRequest<SubscribeInAirRequest>
) -> Result<Response<Streaming<InAirResponse>>, Status>

Subscribe to in-air updates.

pub async fn subscribe_landed_state(
    &mut self,
    request: impl IntoRequest<SubscribeLandedStateRequest>
) -> Result<Response<Streaming<LandedStateResponse>>, Status>

Subscribe to landed state updates

pub async fn subscribe_armed(
    &mut self,
    request: impl IntoRequest<SubscribeArmedRequest>
) -> Result<Response<Streaming<ArmedResponse>>, Status>

Subscribe to armed updates.

pub async fn subscribe_attitude_quaternion(
    &mut self,
    request: impl IntoRequest<SubscribeAttitudeQuaternionRequest>
) -> Result<Response<Streaming<AttitudeQuaternionResponse>>, Status>

Subscribe to ‘attitude’ updates (quaternion).

pub async fn subscribe_attitude_euler(
    &mut self,
    request: impl IntoRequest<SubscribeAttitudeEulerRequest>
) -> Result<Response<Streaming<AttitudeEulerResponse>>, Status>

Subscribe to ‘attitude’ updates (Euler).

pub async fn subscribe_attitude_angular_velocity_body(
    &mut self,
    request: impl IntoRequest<SubscribeAttitudeAngularVelocityBodyRequest>
) -> Result<Response<Streaming<AttitudeAngularVelocityBodyResponse>>, Status>

Subscribe to ‘attitude’ updates (angular velocity)

pub async fn subscribe_camera_attitude_quaternion(
    &mut self,
    request: impl IntoRequest<SubscribeCameraAttitudeQuaternionRequest>
) -> Result<Response<Streaming<CameraAttitudeQuaternionResponse>>, Status>

Subscribe to ‘camera attitude’ updates (quaternion).

pub async fn subscribe_camera_attitude_euler(
    &mut self,
    request: impl IntoRequest<SubscribeCameraAttitudeEulerRequest>
) -> Result<Response<Streaming<CameraAttitudeEulerResponse>>, Status>

Subscribe to ‘camera attitude’ updates (Euler).

pub async fn subscribe_velocity_ned(
    &mut self,
    request: impl IntoRequest<SubscribeVelocityNedRequest>
) -> Result<Response<Streaming<VelocityNedResponse>>, Status>

Subscribe to ‘ground speed’ updates (NED).

pub async fn subscribe_gps_info(
    &mut self,
    request: impl IntoRequest<SubscribeGpsInfoRequest>
) -> Result<Response<Streaming<GpsInfoResponse>>, Status>

Subscribe to ‘GPS info’ updates.

pub async fn subscribe_battery(
    &mut self,
    request: impl IntoRequest<SubscribeBatteryRequest>
) -> Result<Response<Streaming<BatteryResponse>>, Status>

Subscribe to ‘battery’ updates.

pub async fn subscribe_flight_mode(
    &mut self,
    request: impl IntoRequest<SubscribeFlightModeRequest>
) -> Result<Response<Streaming<FlightModeResponse>>, Status>

Subscribe to ‘flight mode’ updates.

pub async fn subscribe_health(
    &mut self,
    request: impl IntoRequest<SubscribeHealthRequest>
) -> Result<Response<Streaming<HealthResponse>>, Status>

Subscribe to ‘health’ updates.

pub async fn subscribe_rc_status(
    &mut self,
    request: impl IntoRequest<SubscribeRcStatusRequest>
) -> Result<Response<Streaming<RcStatusResponse>>, Status>

Subscribe to ‘RC status’ updates.

pub async fn subscribe_status_text(
    &mut self,
    request: impl IntoRequest<SubscribeStatusTextRequest>
) -> Result<Response<Streaming<StatusTextResponse>>, Status>

Subscribe to ‘status text’ updates.

pub async fn subscribe_actuator_control_target(
    &mut self,
    request: impl IntoRequest<SubscribeActuatorControlTargetRequest>
) -> Result<Response<Streaming<ActuatorControlTargetResponse>>, Status>

Subscribe to ‘actuator control target’ updates.

pub async fn subscribe_actuator_output_status(
    &mut self,
    request: impl IntoRequest<SubscribeActuatorOutputStatusRequest>
) -> Result<Response<Streaming<ActuatorOutputStatusResponse>>, Status>

Subscribe to ‘actuator output status’ updates.

pub async fn subscribe_odometry(
    &mut self,
    request: impl IntoRequest<SubscribeOdometryRequest>
) -> Result<Response<Streaming<OdometryResponse>>, Status>

Subscribe to ‘odometry’ updates.

pub async fn subscribe_position_velocity_ned(
    &mut self,
    request: impl IntoRequest<SubscribePositionVelocityNedRequest>
) -> Result<Response<Streaming<PositionVelocityNedResponse>>, Status>

Subscribe to ‘position velocity’ updates.

pub async fn subscribe_ground_truth(
    &mut self,
    request: impl IntoRequest<SubscribeGroundTruthRequest>
) -> Result<Response<Streaming<GroundTruthResponse>>, Status>

Subscribe to ‘ground truth’ updates.

pub async fn subscribe_fixedwing_metrics(
    &mut self,
    request: impl IntoRequest<SubscribeFixedwingMetricsRequest>
) -> Result<Response<Streaming<FixedwingMetricsResponse>>, Status>

Subscribe to ‘fixedwing metrics’ updates.

pub async fn subscribe_imu(
    &mut self,
    request: impl IntoRequest<SubscribeImuRequest>
) -> Result<Response<Streaming<ImuResponse>>, Status>

Subscribe to ‘IMU’ updates.

pub async fn subscribe_health_all_ok(
    &mut self,
    request: impl IntoRequest<SubscribeHealthAllOkRequest>
) -> Result<Response<Streaming<HealthAllOkResponse>>, Status>

Subscribe to ‘HealthAllOk’ updates.

pub async fn subscribe_unix_epoch_time(
    &mut self,
    request: impl IntoRequest<SubscribeUnixEpochTimeRequest>
) -> Result<Response<Streaming<UnixEpochTimeResponse>>, Status>

Subscribe to ‘unix epoch time’ updates.

pub async fn subscribe_distance_sensor(
    &mut self,
    request: impl IntoRequest<SubscribeDistanceSensorRequest>
) -> Result<Response<Streaming<DistanceSensorResponse>>, Status>

Subscribe to ‘Distance Sensor’ updates.

pub async fn set_rate_position(
    &mut self,
    request: impl IntoRequest<SetRatePositionRequest>
) -> Result<Response<SetRatePositionResponse>, Status>

Set rate to ‘position’ updates.

pub async fn set_rate_home(
    &mut self,
    request: impl IntoRequest<SetRateHomeRequest>
) -> Result<Response<SetRateHomeResponse>, Status>

Set rate to ‘home position’ updates.

pub async fn set_rate_in_air(
    &mut self,
    request: impl IntoRequest<SetRateInAirRequest>
) -> Result<Response<SetRateInAirResponse>, Status>

Set rate to in-air updates.

pub async fn set_rate_landed_state(
    &mut self,
    request: impl IntoRequest<SetRateLandedStateRequest>
) -> Result<Response<SetRateLandedStateResponse>, Status>

Set rate to landed state updates

pub async fn set_rate_attitude(
    &mut self,
    request: impl IntoRequest<SetRateAttitudeRequest>
) -> Result<Response<SetRateAttitudeResponse>, Status>

Set rate to ‘attitude’ updates.

pub async fn set_rate_camera_attitude(
    &mut self,
    request: impl IntoRequest<SetRateCameraAttitudeRequest>
) -> Result<Response<SetRateCameraAttitudeResponse>, Status>

Set rate of camera attitude updates.

pub async fn set_rate_velocity_ned(
    &mut self,
    request: impl IntoRequest<SetRateVelocityNedRequest>
) -> Result<Response<SetRateVelocityNedResponse>, Status>

Set rate to ‘ground speed’ updates (NED).

pub async fn set_rate_gps_info(
    &mut self,
    request: impl IntoRequest<SetRateGpsInfoRequest>
) -> Result<Response<SetRateGpsInfoResponse>, Status>

Set rate to ‘GPS info’ updates.

pub async fn set_rate_battery(
    &mut self,
    request: impl IntoRequest<SetRateBatteryRequest>
) -> Result<Response<SetRateBatteryResponse>, Status>

Set rate to ‘battery’ updates.

pub async fn set_rate_rc_status(
    &mut self,
    request: impl IntoRequest<SetRateRcStatusRequest>
) -> Result<Response<SetRateRcStatusResponse>, Status>

Set rate to ‘RC status’ updates.

pub async fn set_rate_actuator_control_target(
    &mut self,
    request: impl IntoRequest<SetRateActuatorControlTargetRequest>
) -> Result<Response<SetRateActuatorControlTargetResponse>, Status>

Set rate to ‘actuator control target’ updates.

pub async fn set_rate_actuator_output_status(
    &mut self,
    request: impl IntoRequest<SetRateActuatorOutputStatusRequest>
) -> Result<Response<SetRateActuatorOutputStatusResponse>, Status>

Set rate to ‘actuator output status’ updates.

pub async fn set_rate_odometry(
    &mut self,
    request: impl IntoRequest<SetRateOdometryRequest>
) -> Result<Response<SetRateOdometryResponse>, Status>

Set rate to ‘odometry’ updates.

pub async fn set_rate_position_velocity_ned(
    &mut self,
    request: impl IntoRequest<SetRatePositionVelocityNedRequest>
) -> Result<Response<SetRatePositionVelocityNedResponse>, Status>

Set rate to ‘position velocity’ updates.

pub async fn set_rate_ground_truth(
    &mut self,
    request: impl IntoRequest<SetRateGroundTruthRequest>
) -> Result<Response<SetRateGroundTruthResponse>, Status>

Set rate to ‘ground truth’ updates.

pub async fn set_rate_fixedwing_metrics(
    &mut self,
    request: impl IntoRequest<SetRateFixedwingMetricsRequest>
) -> Result<Response<SetRateFixedwingMetricsResponse>, Status>

Set rate to ‘fixedwing metrics’ updates.

pub async fn set_rate_imu(
    &mut self,
    request: impl IntoRequest<SetRateImuRequest>
) -> Result<Response<SetRateImuResponse>, Status>

Set rate to ‘IMU’ updates.

pub async fn set_rate_unix_epoch_time(
    &mut self,
    request: impl IntoRequest<SetRateUnixEpochTimeRequest>
) -> Result<Response<SetRateUnixEpochTimeResponse>, Status>

Set rate to ‘unix epoch time’ updates.

pub async fn set_rate_distance_sensor(
    &mut self,
    request: impl IntoRequest<SetRateDistanceSensorRequest>
) -> Result<Response<SetRateDistanceSensorResponse>, Status>

Set rate to ‘Distance Sensor’ updates.

pub async fn get_gps_global_origin(
    &mut self,
    request: impl IntoRequest<GetGpsGlobalOriginRequest>
) -> Result<Response<GetGpsGlobalOriginResponse>, Status>

Get the GPS location of where the estimator has been initialized.

Trait Implementations

impl<T: Clone> Clone for TelemetryServiceClient<T>

fn clone(&self) -> TelemetryServiceClient<T>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T: Debug> Debug for TelemetryServiceClient<T>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.