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<!DOCTYPE html>
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<title>API Interactive Map Module and RISE Drone System — RISE Drone Platform v1.3.0.post36-g455f561 documentation</title>
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<section id="api-interactive-map-module-and-rise-drone-system">
<h1>API Interactive Map Module and RISE Drone System<a class="headerlink" href="#api-interactive-map-module-and-rise-drone-system" title="Permalink to this heading">¶</a></h1>
<p>The Interactive Map Module (IMM) is a module for drone control within
the RISE Drone System. The module can be connected directly to the Get
Image Application (GIA) running on the drone or to the ground based
Swarm Control Service (SCS). The module hosts a database and a
web-server that offers the user a web-based GIU where the map/picture
data is presented and the user generates new POIs (views) by
navigating the map. From the IMM point of view the communication is
exactly the same to the SCS and the GIA, so from here on the GIA and
SCS are abbreviated as RISE Drone System (RDS).</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>Future development: Multisessions can possibly be handled by
publishing pois with a session ID as topic.</p>
</div>
<section id="communication">
<h2>Communication<a class="headerlink" href="#communication" title="Permalink to this heading">¶</a></h2>
<p>The communication is carried as JSON-messages via ZeroMQ. Socket
description TBD.</p>
<ul class="simple">
<li><p>The IMM Publishes pois (views) via a Publish socket, RDS Subscribes.
This link is named poi-link.</p></li>
<li><p>The IMM can both pull and push information to/from the via an
Request-Reply socket information from to the RDS. This link is named
info-link where IMM sends requests (client) and RDS replies(server).</p></li>
<li><p>The RDS Publishes georeferenced pictures via a Publish socket. IMM
Subscribes. This link is named pic-link.</p></li>
</ul>
<p>The IP number setup is as follows TBD.</p>
<div class="literal-block-wrapper docutils container" id="id1">
<div class="code-block-caption"><span class="caption-text">IP numbers</span><a class="headerlink" href="#id1" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"IMM"</span><span class="p">:</span><span class="w"> </span><span class="s2">"xxx.xxx.xxx.xxx"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"RDS"</span><span class="p">:</span><span class="w"> </span><span class="s2">"yyy.yyy.yyy.yyy"</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<p>The ports used are described in Settings.json. The programs should
read their settings from this file.</p>
<div class="literal-block-wrapper docutils container" id="id2">
<div class="code-block-caption"><span class="caption-text">Settings.json-file</span><a class="headerlink" href="#id2" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"IMMPubSocket"</span><span class="p">:</span><span class="w"> </span><span class="s2">"tcp://*:5570"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"IMMSubSocket"</span><span class="p">:</span><span class="w"> </span><span class="s2">"tcp://localhost:5571"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"IMMReqSocket"</span><span class="p">:</span><span class="w"> </span><span class="s2">"tcp://localhost:5572"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"RDSPubSocket"</span><span class="p">:</span><span class="w"> </span><span class="s2">"tcp://*:5571"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"RDSSubSocket"</span><span class="p">:</span><span class="w"> </span><span class="s2">"tcp://localhost:5570"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"RDSRepSocket"</span><span class="p">:</span><span class="w"> </span><span class="s2">"tcp://*:5572"</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<p>General function call and ack/nack functions, function argument can be
a JSON object, string or number:</p>
<div class="literal-block-wrapper docutils container" id="id3">
<div class="code-block-caption"><span class="caption-text">JSON object function call</span><a class="headerlink" href="#id3" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="nt">"the_name_of_the_function"</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"arg1"</span><span class="p">:</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg2"</span><span class="p">:</span><span class="w"> </span><span class="s2">"string_argument_example"</span>
<span class="w"> </span><span class="p">}</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<p>General response, arg2 is optional and depends on the specific
function call.</p>
<div class="literal-block-wrapper docutils container" id="id4">
<div class="code-block-caption"><span class="caption-text">JSON object function call response</span><a class="headerlink" href="#id4" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span>{
"fcn": "ack",
"arg": "the_name_of_the_function",
["arg2": JSON-object with information]
}
{
"fcn": "nack",
"arg": "the_name_of_the_function",
"arg2": "Some text describing the issue"
}
</pre></div>
</div>
</div>
</section>
<section id="poi-link">
<h2>POI-link<a class="headerlink" href="#poi-link" title="Permalink to this heading">¶</a></h2>
<p>The poi-link is set up as Publish Subscribe type. As soon as a GUI
client has connected to the IMM, been granted a GUI client ID, session
ID and the area of interest is set, the IMM starts publishing pois
based on the current view in the GUI(s).</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>API between GUI client and IMM is not covered in this document</p>
</div>
<section id="fcn-add-poi">
<h3>Fcn: add_poi<a class="headerlink" href="#fcn-add-poi" title="Permalink to this heading">¶</a></h3>
<p>The function <strong>add_poi</strong> publishes the corner coordinates and the center
coordinates of the current view displayed in the GUI. Views that shall
be queued are assigned a unique force que id higher than 0, views that
shall not be forced are assigned force_que_id 0. Since several GUI
clients can be supported the unique $client_id$ is included too.</p>
<div class="literal-block-wrapper docutils container" id="id5">
<div class="code-block-caption"><span class="caption-text">Function call: <strong>add_poi</strong></span><a class="headerlink" href="#id5" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"add_poi"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"client_id"</span><span class="p">:</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"force_que_id"</span><span class="p">:</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"coordinates"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"up_left"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="s2">"up_right"</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"down_left"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"down_right"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"center"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
</section>
</section>
<section id="pic-link">
<h2>PIC-link<a class="headerlink" href="#pic-link" title="Permalink to this heading">¶</a></h2>
<p>The pic-link is set up as Publish Subscribe type. As soon as a picture
is taken by a drone the georeferenced picture will be published by
RDS.</p>
<section id="fcn-new-pic">
<h3>Fcn: new_pic<a class="headerlink" href="#fcn-new-pic" title="Permalink to this heading">¶</a></h3>
<p>The function <strong>new_pic</strong> publishes georeferenced pictures. Argument
holds drone_id as a string, type as a string [“rgb”, “IR”],
force_que_id as an integer and the coordinates in decimal degrees in a
separate JSON-object. TBD how is the picture attached to the message?</p>
<div class="literal-block-wrapper docutils container" id="id6">
<div class="code-block-caption"><span class="caption-text">Function call: <strong>new_pic</strong></span><a class="headerlink" href="#id6" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"new_pic"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"drone_id"</span><span class="p">:</span><span class="w"> </span><span class="s2">"one"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"type"</span><span class="p">:</span><span class="w"> </span><span class="s2">"rgb"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"force_que_id"</span><span class="p">:</span><span class="w"> </span><span class="mi">0</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"coordinates"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"up_left"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="s2">"up_right"</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"down_left"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"down_right"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"center"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
</section>
</section>
<section id="info-link">
<h2>INFO-link<a class="headerlink" href="#info-link" title="Permalink to this heading">¶</a></h2>
<p>The info-link is set up as a Request Reply type. Through this link the
IMM can both push and pull information form the RDS. The available
commands are listed in this section.</p>
<section id="fcn-set-area">
<h3>Fcn: set_area<a class="headerlink" href="#fcn-set-area" title="Permalink to this heading">¶</a></h3>
<p>The function <strong>set_area</strong> pushes the defined area of interest
(boundaries). The area must be set before RDS will follow any
instructionsSince several GUI clients can be supported the unique
$client_id$ is included too. Polygon is defined by a number of
waypoints wp_0, wp_1, ..wp_n and the interpretation is the area
created by the lines wp_0-wp_1, wp_1-wp_2, ..wp_n-wp_0.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>Wp lines defined by the consecutively numbered waypoints may never
cross</p>
</div>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>Python dictionaries does not have a given sort order</p>
</div>
<div class="literal-block-wrapper docutils container" id="id7">
<div class="code-block-caption"><span class="caption-text">Function call: <strong>set_area</strong></span><a class="headerlink" href="#id7" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"set_area"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"client_id"</span><span class="p">:</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"coordinates"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"wp0"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="s2">"wp1"</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"wp2"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"wp3"</span><span class="p">:</span>
<span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
</section>
<section id="fcn-get-info">
<h3>Fcn: get_info<a class="headerlink" href="#fcn-get-info" title="Permalink to this heading">¶</a></h3>
<p>The function <strong>get_info</strong> requests information from the RDS. The
requested info type is tagged as the function argument. Available
arguments are [drone-info].</p>
<div class="literal-block-wrapper docutils container" id="id8">
<div class="code-block-caption"><span class="caption-text">Function call: <strong>get_info</strong></span><a class="headerlink" href="#id8" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"get_info"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="s2">"drone-info"</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<p>The reply holds a list with the connected drones and their time to
bingo (remaining time to aborting mission due to fuel), drone-id as a
string and time2bingo as an integer [minutes]:</p>
<div class="literal-block-wrapper docutils container" id="id9">
<div class="code-block-caption"><span class="caption-text">Function call response: <strong>get_info</strong></span><a class="headerlink" href="#id9" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"ack"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="s2">"get_info"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg2"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"drone-id"</span><span class="p">:</span><span class="w"> </span><span class="s2">"one"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"time2bingo"</span><span class="p">:</span><span class="w"> </span><span class="mi">15</span>
<span class="w"> </span><span class="p">}</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
</section>
<section id="fcn-set-mode">
<h3>Fcn: set_mode<a class="headerlink" href="#fcn-set-mode" title="Permalink to this heading">¶</a></h3>
<p>The function <strong>set_mode</strong> sets the mode to AUTO or MAN. If mode is set
to AUTO the coordinates of the current view are sent as zoom
reference. If mode is set to MAN the zoom can be omitted. In AUTO the
map navigation does not affect the drones and allows the user to
navigate the map while the drones collects pictures from the area of
interest at the current zoom level.</p>
<div class="literal-block-wrapper docutils container" id="id10">
<div class="code-block-caption"><span class="caption-text">Function call: <strong>set_mode</strong></span><a class="headerlink" href="#id10" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"set_mode"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"mode"</span><span class="p">:</span><span class="w"> </span><span class="s2">"AUTO"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"zoom"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"up_left"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="s2">"up_right"</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"down_left"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"down_right"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">},</span>
<span class="w"> </span><span class="nt">"center"</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">"lat"</span><span class="p">:</span><span class="w"> </span><span class="mf">58.123456</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"long"</span><span class="p">:</span><span class="w"> </span><span class="mf">16.123456</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="p">}</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
</section>
<section id="fcn-clear-que">
<h3>Fcn: clear_que<a class="headerlink" href="#fcn-clear-que" title="Permalink to this heading">¶</a></h3>
<p>The function <strong>clear_que</strong> clears all view in the current que.</p>
<div class="literal-block-wrapper docutils container" id="id11">
<div class="code-block-caption"><span class="caption-text">Function call: <strong>clear_que</strong></span><a class="headerlink" href="#id11" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"clear_que"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="s2">""</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
</section>
<section id="fcn-que-eta">
<h3>Fcn: que_ETA<a class="headerlink" href="#fcn-que-eta" title="Permalink to this heading">¶</a></h3>
<p>The function <strong>que_ETA</strong> requests the ETA for next que item.</p>
<div class="literal-block-wrapper docutils container" id="id12">
<div class="code-block-caption"><span class="caption-text">Function call: <strong>que_ETA</strong></span><a class="headerlink" href="#id12" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"que_ETA"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="s2">""</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
<p>The response holds the number of seconds estimated to the next queued
item to be handled.</p>
<div class="literal-block-wrapper docutils container" id="id13">
<div class="code-block-caption"><span class="caption-text">Function call response: <strong>que_ETA</strong></span><a class="headerlink" href="#id13" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"ack"</span><span class="p">,</span>
<span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="s2">"que_ETA"</span><span class="p">,</span>
<span class="nt">"arg2"</span><span class="p">:</span><span class="w"> </span><span class="mi">30</span>
<span class="p">}</span>
</pre></div>
</div>
</div>
</section>
<section id="fcn-quit">
<h3>Fcn: quit<a class="headerlink" href="#fcn-quit" title="Permalink to this heading">¶</a></h3>
<p>The function quit informs the RDS that the last GUI client
disconnected and that the mission can be aborted. Drone will fly home
and land.</p>
<div class="literal-block-wrapper docutils container" id="id14">
<div class="code-block-caption"><span class="caption-text">Function call: <strong>quit</strong></span><a class="headerlink" href="#id14" title="Permalink to this code">¶</a></div>
<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
<span class="w"> </span><span class="nt">"fcn"</span><span class="p">:</span><span class="w"> </span><span class="s2">"quit"</span><span class="p">,</span>
<span class="w"> </span><span class="nt">"arg"</span><span class="p">:</span><span class="w"> </span><span class="s2">""</span>
<span class="p">}</span>
</pre></div>
</div>
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</section>
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