core: expose Vehicle type

Author: Luc-Meunier

docs/en/cpp/api_reference/classmavsdk_1_1_system.md

@@ -45,6 +45,7 @@ void | [unsubscribe_component_discovered](#classmavsdk_1_1_system_1a5d62d308534b
 void | [unsubscribe_component_discovered_id](#classmavsdk_1_1_system_1a37bca637341bba8b07e8f95c97d122db) ([ComponentDiscoveredIdHandle](classmavsdk_1_1_system.md#classmavsdk_1_1_system_1abd573ae09348f33e7cd3a006fc26a708) handle) | Unsubscribe from subscribe_component_discovered_id.
 void | [enable_timesync](#classmavsdk_1_1_system_1a7c7177fb0789aefbfb375f4bb12ce824) () | Enable time synchronization using the TIMESYNC messages.
 [Autopilot](namespacemavsdk.md#namespacemavsdk_1aba05635d1785223a4d7b457ae0407297) | [autopilot_type](#classmavsdk_1_1_system_1af3ded5464f6025f5d31955e100e15894) () const | Get autopilot type.
+[Vehicle](namespacemavsdk.md#namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95b) | [vehicle_type](#classmavsdk_1_1_system_1aababe0d2e6c91aef11a06dcdbccdf69e) () const | Get vehicle type.
 const [System](classmavsdk_1_1_system.md) & | [operator=](#classmavsdk_1_1_system_1ace4603ebad199e8619876993a2ad5237) (const [System](classmavsdk_1_1_system.md) &)=delete | Equality operator (object is not copyable).
 
 
@@ -369,6 +370,19 @@ Get autopilot type.
 
  [Autopilot](namespacemavsdk.md#namespacemavsdk_1aba05635d1785223a4d7b457ae0407297) - autopilot type discovered.
 
+### vehicle_type() {#classmavsdk_1_1_system_1aababe0d2e6c91aef11a06dcdbccdf69e}
+```cpp
+Vehicle mavsdk::System::vehicle_type() const
+```
+
+
+Get vehicle type.
+
+
+**Returns**
+
+ [Vehicle](namespacemavsdk.md#namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95b) - vehicle type discovered.
+
 ### operator=() {#classmavsdk_1_1_system_1ace4603ebad199e8619876993a2ad5237}
 ```cpp
 const System & mavsdk::System::operator=(const System &)=delete

docs/en/cpp/api_reference/namespacemavsdk.md

@@ -61,6 +61,7 @@ enum [Autopilot](#namespacemavsdk_1aba05635d1785223a4d7b457ae0407297) | Autopilo
 enum [ComponentType](#namespacemavsdk_1a20fe7f7c8312779a187017111bf33d12) | ComponentType of configurations, used for automatic ID setting.
 enum [ConnectionResult](#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) | Result type returned when adding a connection.
 enum [ForwardingOption](#namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9) | ForwardingOption for Connection, used to set message forwarding option.
+enum [Vehicle](#namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95b) | Vehicle type.
 
 ## Functions
 
@@ -71,6 +72,8 @@ std::string | [base64_encode](#namespacemavsdk_1a57a9962be22a61e5c36a66bc17e6a2a
 std::vector< uint8_t > | [base64_decode](#namespacemavsdk_1a34e7609c9e2ddcc72a74bbc79daf9c19) (const std::string & str) | Decode a base64 string into raw bytes.
 std::ostream & | [operator<<](#namespacemavsdk_1a2aa91d8b846b07fe7f305b399375ce5f) (std::ostream & str, const [ConnectionResult](namespacemavsdk.md#namespacemavsdk_1a0bad93f6d037051ac3906a0bcc09f992) & result) | Stream operator to print information about a `ConnectionResult`.
 &nbsp; | [overloaded](#namespacemavsdk_1a724e321aaff91eb2ba28279e0292e552) (Ts...)-> overloaded< Ts... > | Template deduction helper for `overloaded`
+std::ostream & | [operator<<](#namespacemavsdk_1a3e7a55e89629afd2a079d79c047e8dbd) (std::ostream & os, const [Vehicle](namespacemavsdk.md#namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95b) & vehicle) | Stream operator to print information about a `Vehicle`.
+[Vehicle](namespacemavsdk.md#namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95b) | [to_vehicle_from_mav_type](#namespacemavsdk_1a4dede924df915e32b4807aa87a98b5bb) (MAV_TYPE type) | Convert a 'MAV_TYPE' to a `Vehicle`.
 
 ## Enumeration Type Documentation
 
@@ -157,6 +160,47 @@ Value | Description
 <span id="namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9a67cc131236b099b681048d4812558fca"></span> `ForwardingOff` |  
 <span id="namespacemavsdk_1a7066729108eae8a605d4dd169e4581b9ac07f34e9a31f4a26b48711122e89cdb8"></span> `ForwardingOn` |  
 
+### enum Vehicle {#namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95b}
+
+```
+#include: vehicle.h
+```
+
+
+Vehicle type.
+
+
+Value | Description
+--- | ---
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba8045a0a6c688b0635e3caccc408a1446"></span> `Generic` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95bafd01c0a8cba34e17735a9878e76d485d"></span> `FixedWing` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba623a7997ee9493420463eb52b88de935"></span> `Quadrotor` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95badc6f3fe82dfec3326452006d58dd4aad"></span> `Coaxial` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba2ab8b43468e8b92b0fc5c81e70e35a2d"></span> `Helicopter` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95bade750545706d10adc6a3b6ca1b0f7c3f"></span> `Airship` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba3dd340796c8755fa272c9b776f7b1058"></span> `FreeBalloon` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba15e8bfff2c10ca22da244d85b2bf7d94"></span> `Rocket` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba6c985fc3261cb4ccf6d72c725780807e"></span> `GroundRover` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba5e17c124ec97ee9ed25907042ef61f35"></span> `SurfaceBoat` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba0d234e5bcf75c768eb0db6bf96e3c22d"></span> `Submarine` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95baceee3c48890aa63467460b92940d24fe"></span> `Hexarotor` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba782cacf1683e035f039e607f34e4e945"></span> `Octorotor` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba7f5a1551acfeb83770c0665760132e17"></span> `Tricopter` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95bab80c55e3e8ba28a29ace551cf3390763"></span> `FlappingWing` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba65c449ad44e2c0b6c1fffc5c5cea7413"></span> `Kite` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba06b101d8e4475605ca9d1e2217c7296a"></span> `VtolTailsitterDuorotor` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba8b5a7606cd877542d59f2edc0618d06a"></span> `VtolTailsitterQuadrotor` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95baac9f48fd3bb7a7e42f5ae811fec2781e"></span> `VtolTiltrotor` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95bad755986e4ea01f23bdf03c2653676d75"></span> `VtolFixedrotor` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95babf28f759e1d46a1198943c8882d652b2"></span> `VtolTailsitter` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba278136ab9f897733648f230a9a6f6384"></span> `VtolTiltwing` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba88cbbac22ccc3e79b5adc1af44d7b8ec"></span> `Parafoil` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba4786f3d8d1faa285ddecf2a74f16c922"></span> `Dodecarotor` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba27005abdd874048c19c30c061eb1d9ba"></span> `Decarotor` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba889d6c668249b544803bafc6c18dbf34"></span> `Parachute` |  
+<span id="namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95ba35a7a97619a60e154205a06207e18b60"></span> `GenericMultirotor` |  
+
 ## Function Documentation
 
 
@@ -261,4 +305,47 @@ Template deduction helper for `overloaded`
 
 **Parameters**
 
-* Ts...  - 
+* Ts...  - 
+
+### operator<<() {#namespacemavsdk_1a3e7a55e89629afd2a079d79c047e8dbd}
+
+```
+#include: vehicle.h
+```
+```cpp
+std::ostream & mavsdk::operator<<(std::ostream &os, const Vehicle &vehicle)
+```
+
+
+Stream operator to print information about a `Vehicle`.
+
+
+**Parameters**
+
+* std::ostream& **os** - 
+* const [Vehicle](namespacemavsdk.md#namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95b)& **vehicle** - 
+
+**Returns**
+
+&emsp;std::ostream & - A reference to the stream.
+
+### to_vehicle_from_mav_type() {#namespacemavsdk_1a4dede924df915e32b4807aa87a98b5bb}
+
+```
+#include: vehicle.h
+```
+```cpp
+Vehicle mavsdk::to_vehicle_from_mav_type(MAV_TYPE type)
+```
+
+
+Convert a 'MAV_TYPE' to a `Vehicle`.
+
+
+**Parameters**
+
+* MAV_TYPE **type** - 
+
+**Returns**
+
+&emsp;[Vehicle](namespacemavsdk.md#namespacemavsdk_1a9e3a3a502dc8313cb931a8a44cc6f95b) - The corresponding `Vehicle`.

src/mavsdk/core/CMakeLists.txt

@@ -60,6 +60,7 @@ target_sources(mavsdk
     tcp_server_connection.cpp
     timeout_handler.cpp
     udp_connection.cpp
+    vehicle.cpp
     log.cpp
     cli_arg.cpp
     geometry.cpp
@@ -175,6 +176,7 @@ install(FILES
     include/mavsdk/geometry.h
     include/mavsdk/server_component.h
     include/mavsdk/mavlink_address.h
+    include/mavsdk/vehicle.h
     ${CMAKE_CURRENT_BINARY_DIR}/include/mavsdk/mavlink_include.h
     DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/mavsdk"
 )

src/mavsdk/core/include/mavsdk/system.h

@@ -9,6 +9,7 @@
 #include "component_type.h"
 #include "deprecated.h"
 #include "handle.h"
+#include "vehicle.h"
 
 namespace mavsdk {
 
@@ -185,6 +186,13 @@ class System {
      */
     Autopilot autopilot_type() const;
 
+    /**
+     * @brief Get vehicle type.
+     *
+     * @return vehicle type discovered.
+     */
+    Vehicle vehicle_type() const;
+
     /**
      * @brief Copy constructor (object is not copyable).
      */

src/mavsdk/core/include/mavsdk/vehicle.h

@@ -0,0 +1,56 @@
+#pragma once
+
+#include <sstream>
+#include "mavlink_include.h"
+
+namespace mavsdk {
+
+/**
+ * @brief Vehicle type
+ */
+enum class Vehicle {
+    Unknown, // Vehicle unknown
+    Generic, // Generic micro air vehicle
+    FixedWing, // Fixed wing aircraft
+    Quadrotor, // Quadrotor
+    Coaxial, // Coaxial helicopter
+    Helicopter, // Normal helicopter with tail rotor
+    Airship, // Airship, controlled
+    FreeBalloon, // Free balloon, uncontrolled
+    Rocket, // Rocket
+    GroundRover, // Ground rover
+    SurfaceBoat, // Surface boat
+    Submarine, // Submarine
+    Hexarotor, // Hexarotor
+    Octorotor, // Octorotor
+    Tricopter, // Tricopter
+    FlappingWing, // Flapping wing
+    Kite, // Kite
+    VtolTailsitterDuorotor, // Two-rotor Tailsitter VTOL
+    VtolTailsitterQuadrotor, // Quad-rotor Tailsitter VTOL
+    VtolTiltrotor, // Tiltrotor VTOL
+    VtolFixedrotor, // VTOL with separate fixed rotors
+    VtolTailsitter, // Tailsitter VTOL
+    VtolTiltwing, // Tiltwing VTOL
+    Parafoil, // Steerable nonrigid airfoil
+    Dodecarotor, // Dodecarotor
+    Decarotor, // Decarotor
+    Parachute, // Parachute
+    GenericMultirotor, // Generic multirotor
+};
+
+/**
+ * @brief Stream operator to print information about a `Vehicle`.
+ *
+ * @return A reference to the stream.
+ */
+std::ostream& operator<<(std::ostream& os, const Vehicle& vehicle);
+
+/**
+ * @brief Convert a 'MAV_TYPE' to a `Vehicle`.
+ *
+ * @return The corresponding `Vehicle`.
+ */
+Vehicle to_vehicle_from_mav_type(MAV_TYPE type);
+
+} // namespace mavsdk

src/mavsdk/core/system.cpp

@@ -97,4 +97,9 @@ Autopilot System::autopilot_type() const
     return _system_impl->autopilot();
 }
 
+Vehicle System::vehicle_type() const
+{
+    return _system_impl->vehicle();
+}
+
 } // namespace mavsdk

src/mavsdk/core/system_impl.cpp

@@ -589,6 +589,11 @@ MAV_TYPE SystemImpl::get_vehicle_type() const
     return _vehicle_type;
 }
 
+Vehicle SystemImpl::vehicle() const
+{
+    return to_vehicle_from_mav_type(_vehicle_type);
+}
+
 uint8_t SystemImpl::get_own_mav_type() const
 {
     return _mavsdk_impl.get_mav_type();

src/mavsdk/core/system_impl.h

@@ -19,6 +19,7 @@
 #include "timeout_handler.h"
 #include "timesync.h"
 #include "system.h"
+#include "vehicle.h"
 #include <cstdint>
 #include <functional>
 #include <atomic>
@@ -133,6 +134,7 @@ class SystemImpl {
     uint8_t get_own_component_id() const;
     uint8_t get_own_mav_type() const;
     MAV_TYPE get_vehicle_type() const;
+    Vehicle vehicle() const;
 
     bool is_armed() const { return _armed; }