Drone.Adapters.Sim.State (ex_drone v0.2.0)

In-process simulator state for Drone.Adapters.Sim.

Tracks pose, battery, mode, and command history without network I/O. Created via new/1 from the simulator adapter's connect/1 callback.

Summary

Types

t()

Simulator adapter state.

Functions

add_flight_time(state, seconds)

Increments the flight time by the given number of seconds.

drain_battery(state, amount)

Decreases battery by amount, floored at 0.

new(opts \\ [])

Builds a new simulator state from connection options.

push_command(state, cmd)

Records cmd as the last command and prepends it to history.

Types

t()

@type t() :: %Drone.Adapters.Sim.State{
  battery: number(),
  command_history: [Drone.Command.t()],
  config: map(),
  flight_time_seconds: non_neg_integer(),
  flying: boolean(),
  last_command: Drone.Command.t() | nil,
  mode: :idle | :sdk_mode | :flying | :emergency,
  speed: integer(),
  x: integer(),
  y: integer(),
  yaw: integer(),
  z: integer()
}

Simulator adapter state.

Fields

Field	Type	Default	Meaning
`x`	`integer()`	`0` or `:initial_x`	World X cm
`y`	`integer()`	`0` or `:initial_y`	World Y cm (yaw 0 faces +Y)
`z`	`integer()`	`0` or `:initial_z`	Altitude cm
`yaw`	`integer()`	`0` or `:initial_yaw`	Heading degrees
`flying`	`boolean()`	`false`	Motors / airborne
`battery`	`number()`	`100`	Percent (may be fractional internally)
`speed`	`integer()`	`0`	cm/s
`mode`	`:idle \| :sdk_mode \| :flying \| :emergency`	`:idle`	State machine mode
`flight_time_seconds`	`non_neg_integer()`	`0`	Cumulative motor-on time
`last_command`	`Drone.Command.t() \| nil`	`nil`	Most recent command
`command_history`	`[Drone.Command.t()]`	`[]`	Newest-first history
`config`	`map()`	drain / failure opts	Simulator configuration

Example

%Drone.Adapters.Sim.State{
  x: -50,
  y: 0,
  z: 30,
  yaw: 0,
  flying: true,
  battery: 97.5,
  speed: 0,
  mode: :flying,
  flight_time_seconds: 8,
  last_command: %Drone.Command{type: :takeoff, args: [], raw: nil},
  command_history: [],
  config: %{failure_rate: 0.0, fail_commands: []}
}

Functions

add_flight_time(state, seconds)

@spec add_flight_time(t(), non_neg_integer()) :: t()

Increments the flight time by the given number of seconds.

Used to simulate time elapsed during command execution.

Parameters

state (t/0)
seconds (non_neg_integer())

Returns

Updated t/0.

drain_battery(state, amount)

@spec drain_battery(t(), float()) :: t()

Decreases battery by amount, floored at 0.

Parameters

state (t/0)
amount (float())

Returns

Updated t/0.

new(opts \\ [])

@spec new(keyword()) :: t()

Builds a new simulator state from connection options.

Parameters

opts (keyword()) — supported keys:
- :initial_x, :initial_y, :initial_z, :initial_yaw (integer())
- :battery (number())
- :battery_drain_per_move, :battery_drain_per_takeoff, :battery_drain_per_land, :battery_drain_per_query (float())
- :failure_rate (float() 0.0..1.0)
- :fail_commands ([atom()]) — always fail these command types

Returns

t/0

Example

state = Drone.Adapters.Sim.State.new(initial_x: -50, battery: 80)
state.x
#=> -50

push_command(state, cmd)

@spec push_command(t(), Drone.Command.t()) :: t()

Records cmd as the last command and prepends it to history.

Parameters

state (t/0)
cmd (Drone.Command.t())

Returns

Updated t/0.