MiniDrone_commands.xml

<?xml version="1.0" encoding="UTF-8"?>
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<!--
 Important notes :
 ALWAYS ADD NEW THINGS AT THE END OF THE PARENT TAG !
 NEVER MODIFY EXISTING class/command/arg !
 
 Comments are mandatory for all classes/commands/args
 For each comment : 1st line will be used as brief (if applicable)
 Other lines will be used as complete desc
 
 How to add a new class :
 <class name="MyNewClassName" >           | No spaces ! [A-Za-z0-9_]
 Comment about the class                | Inlcuded in Doxygen doc
 <cmd> ... </cmd>                       | List of commands
 <cmd> ... </cmd>
 </class>
 
 How to add a new command (without args) to a class :
 <cmd name="MyNewCommandName" >           | No spaces ! [A-Za-z0-9_]
 Comment about the command              | Included in Doxygen doc
 </cmd>
 
 How to add a new command (with args primitive type) to a class :
 <cmd name="MyNewCommandWithArgs" >       | No spaces ! [A-Za-z0-9_]
 Comment about the command              | Included in Doxygen doc
 <arg name="argName" type="argType" >   | Repeat for each arg
 Comment about the arg               | argName must be a valid C variable name
 </arg>                                 | argType must be a valid type (see below)
 ...                                    | Comment included in Doxygen doc
 </cmd>
 
 How to add a enum (in args) to a class :
 <cmd name="MyNewCommandWithArgs" >         | No spaces ! [A-Za-z0-9_]
 Comment about the command              | Included in Doxygen doc
 <arg name="argName" type="argType" >   | Repeat for each arg
 Comment about the arg             | Included in Doxygen doc
 <enum name="argName">             | No spaces ! [A-Za-z0-9_]
 Comment about the enum        | Included in Doxygen doc
 </enum>
 </arg>                                 | argType must be a valid type (see below)
 ...                                    | Comment included in Doxygen doc
 </cmd>
 
 List of valid types (associated C type) :
 -  i8 /  u8 : signed/unsigned  8 bit integer ([u]int8_t)
 - i16 / u16 : signed/unsigned 16 bit integer ([u]int16_t)
 - i32 / u32 : signed/unsigned 32 bit integer ([u]int32_t)
 - i64 / u64 : signed/unsigned 64 bit integer ([u]int64_t)
 -     float : IEEE-754 single precision floating point number (float)
 -    double : IEEE-754 double precision floating point number (double)
 -    string : NULL-terminated UTF-8 String. (char *)
 -    enum:  : enumeration define on arg
 -->

<project name="minidrone" id="2">
    All MiniDrone-only commands
    
    <class name="Piloting" id="0">
        All commands related to piloting the MiniDrone
        
        <cmd name="FlatTrim" id="0">
            Do a flat trim
        </cmd>
        
        <cmd name="TakeOff" id="1">
            Ask the drone to take off
        </cmd>
        
        <cmd name="PCMD" id="2" buffer="NON_ACK">
            Ask the drone to move around.
            
            <arg name="flag" type="u8">
                Boolean flag to activate roll/pitch movement
            </arg>
            
            <arg name="roll" type="i8">
                Roll consign for the MiniDrone [-100;100]
            </arg>
            
            <arg name="pitch" type="i8">
                Pitch consign for the MiniDrone [-100;100]
            </arg>
            
            <arg name="yaw" type="i8">
                Yaw consign for the MiniDrone [-100;100]
            </arg>
            
            <arg name="gaz" type="i8">
                Gaz consign for the MiniDrone [-100;100]
            </arg>
            
            <arg name="timestamp" type="u32">
                Timestamp in miliseconds. Not an absolute time. (Typically 0 = time of connexion).
            </arg>
        </cmd>
        
        <cmd name="Landing" id="3">
            Ask the MiniDrone to land
        </cmd>
        
        <cmd name="Emergency" id="4" buffer="HIGH_PRIO" timeout="RETRY">
            Put drone in emergency state
        </cmd>
        
        <cmd name="AutoTakeOffMode" id="5">
            Set MiniDrone automatic take off mode
            <arg name="state" type="u8">
                State of automatic take off mode
            </arg>
        </cmd>
    </class>
    
    <class name="PilotingState" id="3">
        Occasional information
        
        <cmd name="FlatTrimChanged" id="0">
            MiniDrone send flat trim was correctly processed
        </cmd>
        
        <cmd name="FlyingStateChanged" id="1">
            Drone flying state changed
            <arg name="state" type="enum">
                Drone flying state
                <enum name="landed">
                    Landed state
                </enum>
                <enum name="takingoff">
                    Taking off state
                </enum>
                <enum name="hovering">
                    Hovering state
                </enum>
                <enum name="flying">
                    Flying state
                </enum>
                <enum name="landing">
                    Landing state
                </enum>
                <enum name="emergency">
                    Emergency state
                </enum>
                <enum name="rolling">
                    Rolling state
                </enum>
                <enum name="init">
                    Initializing state (user should let the drone steady for a while)
                </enum>
            </arg>
        </cmd>
        
        <cmd name="AlertStateChanged" id="2">
            Drone alert state changed
            <arg name="state" type="enum">
                Drone alert state
                <enum name="none">
                    No alert
                </enum>
                <enum name="user">
                    User emergency alert
                </enum>
                <enum name="cut_out">
                    Cut out alert
                </enum>
                <enum name="critical_battery">
                    Critical battery alert
                </enum>
                <enum name="low_battery">
                    Low battery alert
                </enum>
            </arg>
        </cmd>
        
        <cmd name="AutoTakeOffModeChanged" id="3">
            Set MiniDrone automatic take off mode
            <arg name="state" type="u8">
                State of automatic take off mode
            </arg>
        </cmd>
    </class>

    <class name="Animations" id="4">
        Animation commands
        
        <cmd name="Flip" id="0">
            Make a flip
            <arg name="direction" type="enum">
                Direction for the flip
                <enum name="front">
                    Flip direction front
                </enum>
                <enum name="back">
                    Flip direction back
                </enum>
                <enum name="right">
                    Flip direction right
                </enum>
                <enum name="left">
                    Flip direction left
                </enum>
            </arg>
        </cmd>
        <cmd name="Cap" id="1">
            Change the product cap
            <arg name="offset" type="i16">
                Change the cap with offset angle [-180;180]
            </arg>
        </cmd>
    </class>
    
    <class name="MediaRecord" id="6">
        Media recording management
        
        <cmd name="Picture" id="0">
            @deprecated
            Take picture
            <arg name="mass_storage_id" type="u8">
                Mass storage id to take picture
            </arg>
        </cmd>
        
        <cmd name="PictureV2" id="1">
            Take picture
        </cmd>
    </class>
    
    <class name="MediaRecordState" id="7">
        State of media recording
        
        <cmd name="PictureStateChanged" id="0">
            @deprecated
            State of picture recording
            <arg name="state" type="u8">
                1 if picture has been taken, 0 otherwise
            </arg>
            <arg name="mass_storage_id" type="u8">
                Mass storage id to record
            </arg>
        </cmd>
        
        <cmd name="PictureStateChangedV2" id="1">
            State of device picture recording changed
            <arg name="state" type="enum">
                State of device picture recording
                <enum name="ready">
                    The picture recording is ready
                </enum>
                <enum name="busy">
                    The picture recording is busy
                </enum>
                <enum name="notAvailable">
                    The picture recording is not available
                </enum>
            </arg>
            
            <arg name="error" type="enum">
                Error to explain the state 
                <enum name="ok">
                    No Error
                </enum>
                <enum name="unknown">
                    Unknown generic error
                </enum>
                <enum name="camera_ko">
                    Picture camera is out of order
                </enum>
                <enum name="memoryFull">
                    Memory full ; cannot save one additional picture
                </enum>
                <enum name="lowBattery">
                    Battery is too low to start/keep recording.
                </enum>
            </arg>
        </cmd>
    </class>
    
    <class name="MediaRecordEvent" id="2">
        Events of media recording
        
        <cmd name="PictureEventChanged" id="0" notification="TRUE">
            Event of picture recording
            <arg name="event" type="enum">
                Last event of picture recording
                <enum name="taken">
                    Picture taken and saved
                </enum>
                <enum name="failed">
                    Picture failed
                </enum>
            </arg>

            <arg name="error" type="enum">
                Error to explain the event 
                <enum name="ok">
                    No Error
                </enum>
                <enum name="unknown">
                    Unknown generic error ; only when state is failed 
                </enum>
                <enum name="busy">
                    Picture recording is busy ; only when state is failed
                </enum>
                <enum name="notAvailable">
                    Picture recording not available ; only when state is failed
                </enum>
                <enum name="memoryFull">
                    Memory full ; only when state is failed
                </enum>
                <enum name="lowBattery">
                    Battery is too low to record.
                </enum>
            </arg>
        </cmd>
        
    </class>
    
    <class name="PilotingSettings" id="8">
        Piloting Settings commands
        <cmd name="MaxAltitude" id="0">
            Set Max Altitude
            <arg name="current" type="float">
                Current altitude max in m
            </arg>
        </cmd>
        <cmd name="MaxTilt" id="1">
            Set Max Tilt
            <arg name="current" type="float">
                Current tilt max in degree
            </arg>
        </cmd>
    </class>
    
    <class name="PilotingSettingsState" id="9">
        Piloting Settings state from product
        <cmd name="MaxAltitudeChanged" id="0">
            Max Altitude sent by product
            <arg name="current" type="float">
                Current altitude max
            </arg>
            <arg name="min" type="float">
                Range min of altitude
            </arg>
            <arg name="max" type="float">
                Range max of altitude
            </arg>
        </cmd>
        <cmd name="MaxTiltChanged" id="1">
            Max tilt sent by product
            <arg name="current" type="float">
                Current max tilt
            </arg>
            <arg name="min" type="float">
                Range min of tilt
            </arg>
            <arg name="max" type="float">
                Range max of tilt
            </arg>
        </cmd>
    </class>
    
    <class name="SpeedSettings" id="1">
        Speed Settings commands
        <cmd name="MaxVerticalSpeed" id="0">
            Set Max Vertical speed
            <arg name="current" type="float">
                Current max vertical speed in m/s
            </arg>
        </cmd>
        <cmd name="MaxRotationSpeed" id="1">
            Set Max Rotation speed
            <arg name="current" type="float">
                Current max rotation speed in degree/s
            </arg>
        </cmd>
        <cmd name="Wheels" id="2">
            Presence of wheels
            <arg name="present" type="u8">
                1 if present, 0 if not present
            </arg>
        </cmd>
        <cmd name="MaxHorizontalSpeed" id="3">
            Set Max Horizontal speed (only used in case where PilotingSettings_MaxTilt is not used like in hydrofoil mode)
            <arg name="current" type="float">
                Current max Horizontal speed in m/s
            </arg>
        </cmd>
    </class>
    
    <class name="SpeedSettingsState" id="5">
        Speed Settings state from product
        <cmd name="MaxVerticalSpeedChanged" id="0">
            Max vertical speed sent by product
            <arg name="current" type="float">
                Current max vertical speed in m/s
            </arg>
            <arg name="min" type="float">
                Range min of vertical speed
            </arg>
            <arg name="max" type="float">
                Range max of vertical speed
            </arg>
        </cmd>
        <cmd name="MaxRotationSpeedChanged" id="1">
            Max rotation speed sent by product
            <arg name="current" type="float">
                Current max rotation speed in degree/s
            </arg>
            <arg name="min" type="float">
                Range min of rotation speed
            </arg>
            <arg name="max" type="float">
                Range max of rotation speed
            </arg>
        </cmd>
        <cmd name="WheelsChanged" id="2">
            Presence of wheels sent by product
            <arg name="present" type="u8">
                1 if present, 0 if not present
            </arg>
        </cmd>
        <cmd name="MaxHorizontalSpeedChanged" id="3">
            Max horizontal speed sent by product (only used in case where PilotingSettings_MaxTilt is not used like in hydrofoil mode)
            <arg name="current" type="float">
                Current max horizontal speed in m/s
            </arg>
            <arg name="min" type="float">
                Range min of horizontal speed
            </arg>
            <arg name="max" type="float">
                Range max of horizontal speed
            </arg>
        </cmd>
    </class>
    <class name="Settings" id="10">
        Settings commands
        
        <cmd name="CutOutMode" id="0">
            Set MiniDrone cut out mode
            <arg name="enable" type="u8">
                Enable cut out mode (1 if is activate, 0 otherwise)
            </arg>
        </cmd>
        
    </class>
    <class name="SettingsState" id="11">
        Settings state from product
        
        <cmd name="ProductMotorsVersionChanged" id="0">
            @deprecated
            Product Motors versions
            <arg name="motor" type="u8">
                Product Motor number [1 - 4]
            </arg>
            <arg name="type" type="string">
                Product Motor type
            </arg>
            <arg name="software" type="string">
                Product Motors software version
            </arg>
            <arg name="hardware" type="string">
                Product Motors hardware version
            </arg>
        </cmd>
        <cmd name="ProductInertialVersionChanged" id="1">
            @deprecated
            Product Inertial versions
            <arg name="software" type="string">
                Product Inertial software version
            </arg>
            <arg name="hardware" type="string">
                Product Inertial hardware version
            </arg>
        </cmd>
        
        <cmd name="CutOutModeChanged" id="2">
            MiniDrone cut out mode
            <arg name="enable" type="u8">
                State of cut out mode (1 if is activate, 0 otherwise)
            </arg>
        </cmd>
        
    </class>
    
    <class name="FloodControlState" id="12">
        Settings state from product
        
        <cmd name="FloodControlChanged" id="0">
            @deprecated
            Flood control regulation
            <arg name="delay" type="u16">
                Delay (in ms) between two PCMD
            </arg>
        </cmd>
    </class>
    <class name="GPS" id="13">
        GPS related commands
        <cmd name="ControllerLatitudeForRun" id="0">
            Set the controller latitude for a run.
            <arg name="latitude" type="double">
                Controller latitude in decimal degrees
            </arg>
        </cmd>
        <cmd name="ControllerLongitudeForRun" id="1">
            Set the controller longitude for a run.
            <arg name="longitude" type="double">
                Controller longitude in decimal degrees
            </arg>
        </cmd>
    </class>
    <class name="Configuration" id="14">
        Configuration related commands
        <cmd name="ControllerType" id="0">
            Set the controller type.
            <arg name="type" type="string">
                Controller type like iOS or Android
            </arg>
        </cmd>
        <cmd name="ControllerName" id="1">
            Set the controller name.
            <arg name="name" type="string">
                Controller name like com.parrot.freeflight3
            </arg>
        </cmd>
    </class>
</project>