QG4/libs/airmapd/include/airmap/monitor

AirMap Monitor Service

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.