You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
41 lines
1.8 KiB
41 lines
1.8 KiB
7 years ago
|
# AirMap Monitor Service {#monitord}
|
||
|
|
|
||
|
|
The AirMap monitor service monitors the state of vehicles and takes
|
||
|
|
action based on changes to this state:
|
||
|
|
|
||
|
|
- when the state of a vehicle changes to active:
|
||
|
|
- create a flight with the AirMap services
|
||
|
|
- start flight communications
|
||
|
|
- transmit telemetry updates to AirMap
|
||
|
|
- receive updates for manned and unmanned aerial traffic relevant to a flight
|
||
|
|
- when the state of a vehicle changes to inactive:
|
||
|
|
- stop flight communications
|
||
|
|
- end flight
|
||
|
|
|
||
|
|
The daemon exposes its functionality via a gRPC interface (see
|
||
|
|
`${AIRMAPD_ROOT}/interfaces/grpc/airmap/monitor/monitor.proto`). Client
|
||
|
|
applications can either rely on the C++-API avaiable in
|
||
|
|
`${AIRMAPD_ROOT}/include/airmap/monitor/client.h` or rely on the gRPC
|
||
|
|
ecosystem to easily connect to the daemon in their choice of language
|
||
|
|
and runtime. Please see `${AIRMAPD_ROOT/examples/monitor/client.cpp` for
|
||
|
|
an example of using the C++-API. The following diagram summarizes the overall setup:
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
# Service Configuration
|
||
|
|
|
||
|
|
The service is executed with the following command:
|
||
|
|
|
||
|
|
```
|
||
|
|
$ airmap daemon
|
||
|
|
```
|
||
|
|
|
||
|
|
Please note that the service needs exactly one MavLink endpoint to be configured on the command line.
|
||
|
|
The following endpoint types are supported:
|
||
|
|
- TCP: Provide `--tcp-endpoint-ip=IP` and `--tcp-endpoint-port=PORT` to `airmap daemon`.
|
||
|
|
- UDP: Provide `--udp-endpoint-port=PORT` to `airmap daemon`.
|
||
|
|
- Serial: Provide `--serial-device=PATH/TO/DEVICE` to `airmap daemon`.
|
||
|
|
|
||
|
|
The gRPC endpoint exported by the service can be specified with `--grpc-endpoint=ENDPOINT`, defaulting to `0.0.0.0:9090`.
|
||
|
|
The overall daemon configuration for accessing the AirMap services can be specified with `--config-file=PATH/TO/CONFIG/FILE`.
|
||
|
|
By default, the config file is expected in `~/.config/airmap/production/config.json`.
|