Drone.Adapter.Capabilities (ex_drone v0.3.0)

Adapter capability descriptors.

Capabilities let missions and callers discover what an adapter supports without leaking vehicle-specific concepts into the public Drone API. Adapters may implement optional Drone.Adapter.capabilities/1; when omitted, Drone.Adapter.capabilities/2 falls back to tello_like/0.

Examples

caps = Drone.Adapter.Capabilities.crazyflie(positioning: :flow)
true = Drone.Adapter.Capabilities.supports_command?(caps, :takeoff)
false = Drone.Adapter.Capabilities.supports_command?(caps, :flip)

Summary

Types

t()

Capability map advertised by an adapter.

Functions

crazyflie(opts \\ [])

Capabilities advertised by the Crazyflie adapter.

supports_command?(caps, type)

Returns whether command_type is listed as supported.

supports_query?(caps, type)

Returns whether query_type is listed as supported.

tello_like()

Default capabilities for Tello-shaped adapters (Sim and Tello).

Types

t()

@type t() :: %{
  optional(:sdk_mode) => :required | :optional | :not_applicable,
  optional(:commands) => [atom()],
  optional(:queries) => [atom()],
  optional(:positioning) => atom() | nil,
  optional(:units) => %{
    optional(:distance) => :cm,
    optional(:angle) => :degrees,
    optional(:duration) => :milliseconds | :seconds
  },
  optional(:maneuver_completion) => :immediate | :awaited | :fire_and_forget,
  optional(:requires_estimator) => boolean(),
  optional(:pose_source) => :adapter | :dead_reckoning,
  optional(:takeoff_height_cm) => pos_integer(),
  optional(:link) => atom()
}

Capability map advertised by an adapter.

All keys are optional so adapters can publish only what they know.

Key	Possible values	Meaning
`:sdk_mode`	`:required` \| `:optional` \| `:not_applicable`	Whether `connect_sdk` / `:sdk_mode` is mandatory before flight
`:commands`	`[atom()]`	Command types supported by `Drone.Command` / the adapter
`:queries`	`[atom()]`	Query types accepted by `:query` commands
`:positioning`	`atom()` \| `nil`	Positioning model (`:dead_reckoning`, `:flow`, `:lighthouse`, `:loco`, …)
`:units`	map	Canonical units for distance / angle / duration
`:maneuver_completion`	`:immediate` \| `:awaited` \| `:fire_and_forget`	How move completion is observed
`:requires_estimator`	`boolean()`	Motion needs estimator ready
`:pose_source`	`:adapter` \| `:dead_reckoning`	Who owns authoritative pose
`:takeoff_height_cm`	`pos_integer()`	Planned takeoff height for altitude safety
`:link`	`atom()`	Physical link hint (`:crazyradio`, …)

:units map keys:

Key	Possible values
`:distance`	`:cm`
`:angle`	`:degrees`
`:duration`	`:milliseconds` \| `:seconds`

Examples

%{
  sdk_mode: :required,
  commands: [:takeoff, :land, :move, :query],
  queries: [:battery, :height],
  positioning: :dead_reckoning,
  units: %{distance: :cm, angle: :degrees, duration: :seconds},
  maneuver_completion: :awaited
}

%{
  sdk_mode: :optional,
  maneuver_completion: :fire_and_forget,
  requires_estimator: true,
  link: :crazyradio,
  positioning: :flow
}

Functions

crazyflie(opts \\ [])

@spec crazyflie(keyword()) :: t()

Capabilities advertised by the Crazyflie adapter.

SDK mode is optional (no-op for mission portability). Maneuvers are fire-and-forget at the CRTP layer. Flip is not listed.

Parameters

opts (keyword()) — optional overrides:
- :positioning (atom()) — defaults to :flow; also :lighthouse, :loco, …

Returns

t/0 including Crazyflie extras :requires_estimator and :link.

Examples

caps = Drone.Adapter.Capabilities.crazyflie(positioning: :lighthouse)
:optional = caps.sdk_mode
:fire_and_forget = caps.maneuver_completion
true = caps.requires_estimator
:crazyradio = caps.link
:lighthouse = caps.positioning
false = Drone.Adapter.Capabilities.supports_command?(caps, :flip)

supports_command?(caps, type)

@spec supports_command?(t(), atom()) :: boolean()

Returns whether command_type is listed as supported.

When :commands is missing, the Tello default command list is used.

Parameters

caps (t/0) — capability map
command_type (atom()) — for example :takeoff, :flip

Returns

boolean().

Examples

caps = Drone.Adapter.Capabilities.tello_like()
true = Drone.Adapter.Capabilities.supports_command?(caps, :takeoff)
true = Drone.Adapter.Capabilities.supports_command?(caps, :flip)

cf = Drone.Adapter.Capabilities.crazyflie()
false = Drone.Adapter.Capabilities.supports_command?(cf, :flip)

supports_query?(caps, type)

@spec supports_query?(t(), atom()) :: boolean()

Returns whether query_type is listed as supported.

When :queries is missing, the Tello default query list is used.

Parameters

caps (t/0) — capability map
query_type (atom()) — for example :battery, :wifi

Returns

boolean().

Examples

caps = Drone.Adapter.Capabilities.crazyflie()
true = Drone.Adapter.Capabilities.supports_query?(caps, :battery)
false = Drone.Adapter.Capabilities.supports_query?(caps, :wifi)

tello_like()

@spec tello_like() :: t()

Default capabilities for Tello-shaped adapters (Sim and Tello).

SDK mode is required, maneuvers wait for completion, and positioning is dead-reckoning from commanded moves.

Returns

t/0 capability map.

Examples

caps = Drone.Adapter.Capabilities.tello_like()
:required = caps.sdk_mode
:awaited = caps.maneuver_completion
true = Drone.Adapter.Capabilities.supports_command?(caps, :flip)