@jawji/orchestrator 0.1.0

package/dist/server/status-server.d.ts

@@ -0,0 +1,23 @@
+import type { ConfirmDecision } from '../types.js';
+export interface OrchestratorStatus {
+    state: 'idle' | 'holding' | 'awaiting-confirm' | 'no-safe-alternative';
+    verdict?: {
+        status: 'unsafe' | 'unknown';
+        candidate?: {
+            latitudeDeg: number;
+            longitudeDeg: number;
+            description: string;
+        };
+    };
+}
+export interface StatusServerOptions {
+    port: number;
+    onConfirm: (decision: ConfirmDecision) => void;
+}
+export interface StatusServer {
+    start(): Promise<void>;
+    stop(): Promise<void>;
+    setStatus(status: OrchestratorStatus): void;
+}
+export declare function createStatusServer(options: StatusServerOptions): StatusServer;
+//# sourceMappingURL=status-server.d.ts.map

package/dist/server/status-server.d.ts.map

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package/dist/server/status-server.js

@@ -0,0 +1,35 @@
+import express from 'express';
+export function createStatusServer(options) {
+    let currentStatus = { state: 'idle' };
+    let httpServer = null;
+    const app = express();
+    app.use(express.json());
+    app.get('/status', (_req, res) => {
+        res.json(currentStatus);
+    });
+    app.post('/confirm', (req, res) => {
+        const decision = req.body;
+        options.onConfirm(decision);
+        res.status(200).json({ received: true });
+    });
+    return {
+        setStatus(status) {
+            currentStatus = status;
+        },
+        start() {
+            return new Promise((resolve) => {
+                httpServer = app.listen(options.port, '127.0.0.1', () => resolve());
+            });
+        },
+        stop() {
+            return new Promise((resolve, reject) => {
+                if (!httpServer) {
+                    resolve();
+                    return;
+                }
+                httpServer.close((err) => (err ? reject(err) : resolve()));
+            });
+        },
+    };
+}
+//# sourceMappingURL=status-server.js.map

package/dist/server/status-server.js.map

@@ -0,0 +1 @@
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package/dist/types.d.ts

@@ -0,0 +1,55 @@
+export interface VehicleState {
+    flightMode: 'READY' | 'TAKEOFF' | 'HOLD' | 'MISSION' | 'RETURN_TO_LAUNCH' | 'LAND' | 'OFFBOARD' | 'OTHER';
+    latitudeDeg: number;
+    longitudeDeg: number;
+    absoluteAltitudeM: number;
+}
+export interface LandingCandidate {
+    latitudeDeg: number;
+    longitudeDeg: number;
+    description: string;
+}
+export type ModeVerdict = {
+    status: 'safe';
+} | {
+    status: 'unsafe';
+    candidate?: LandingCandidate;
+} | {
+    status: 'unknown';
+    reason: string;
+};
+export type ConfirmDecision = {
+    action: 'accept-candidate';
+} | {
+    action: 'reject';
+};
+export interface VehicleAdapter {
+    hold(): Promise<void>;
+    gotoLocation(coords: {
+        latitudeDeg: number;
+        longitudeDeg: number;
+        absoluteAltitudeM: number;
+    }): Promise<void>;
+    resumeMission(): Promise<void>;
+    subscribeFlightMode(onChange: (state: VehicleState) => void): () => void;
+}
+export interface CameraSource {
+    captureFrame(): Promise<Buffer>;
+}
+export interface VlmClient {
+    query(image: Buffer, prompt: string): Promise<unknown>;
+}
+export interface OrchestratorContext {
+    vehicle: VehicleAdapter;
+    camera: CameraSource;
+    vlm: VlmClient;
+}
+export type ConfirmPolicy = 'gated' | 'autonomous';
+export interface OrchestratorConfig {
+    mavsdkServerAddress: string;
+    vlmClient: VlmClient;
+    cameraSource: CameraSource;
+    confirmPolicy: ConfirmPolicy;
+    statusServerPort: number;
+}
+//# sourceMappingURL=types.d.ts.map

package/dist/types.d.ts.map

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package/dist/types.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=types.js.map

package/dist/types.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"types.js","sourceRoot":"","sources":["../src/types.ts"],"names":[],"mappings":""}

package/dist/vlm/miril-client.d.ts

@@ -0,0 +1,12 @@
+import type { VlmClient } from '../types.js';
+export type MirilPromptFamily = 'caption_v1' | 'simple_answer_v1' | 'operational_coordinate_v2';
+export interface MirilVlmClientOptions {
+    /** OpenAI-compatible chat completions endpoint, e.g. http://127.0.0.1:8000/v1/chat/completions */
+    endpoint: string;
+    /** Model name/id as configured on the serving backend. Defaults to 'miril-drone-2b-1'. */
+    model?: string;
+    /** Which of Miril's three documented response shapes to request. Defaults to 'operational_coordinate_v2', the landing-zone-check shape. */
+    promptFamily?: MirilPromptFamily;
+}
+export declare function createMirilVlmClient(options: MirilVlmClientOptions): VlmClient;
+//# sourceMappingURL=miril-client.d.ts.map

package/dist/vlm/miril-client.d.ts.map

@@ -0,0 +1 @@
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package/dist/vlm/miril-client.js

@@ -0,0 +1,45 @@
+const MIRIL_PROMPTS = {
+    caption_v1: 'Describe this aerial scene. Respond with JSON: {"caption": string}.',
+    simple_answer_v1: 'Answer the question about this aerial scene. Respond with JSON: {"answer": string}.',
+    operational_coordinate_v2: 'Assess this aerial scene for the requested operational task. Respond with JSON: {"description": string, "point_2d": [y, x], "status": string}.',
+};
+export function createMirilVlmClient(options) {
+    const promptFamily = options.promptFamily ?? 'operational_coordinate_v2';
+    const model = options.model ?? 'miril-drone-2b-1';
+    return {
+        async query(image, prompt) {
+            const instruction = `${MIRIL_PROMPTS[promptFamily]} ${prompt}`;
+            const response = await fetch(options.endpoint, {
+                method: 'POST',
+                headers: { 'content-type': 'application/json' },
+                body: JSON.stringify({
+                    model,
+                    messages: [
+                        {
+                            role: 'user',
+                            content: [
+                                { type: 'text', text: instruction },
+                                { type: 'image_url', image_url: { url: `data:image/jpeg;base64,${image.toString('base64')}` } },
+                            ],
+                        },
+                    ],
+                }),
+            });
+            if (!response.ok) {
+                throw new Error(`Miril query failed with status ${response.status}`);
+            }
+            const completion = (await response.json());
+            const content = completion.choices?.[0]?.message?.content;
+            if (!content) {
+                throw new Error('Miril response had no completion content');
+            }
+            try {
+                return JSON.parse(content);
+            }
+            catch {
+                throw new Error(`Miril response was not valid JSON: ${content}`);
+            }
+        },
+    };
+}
+//# sourceMappingURL=miril-client.js.map

package/dist/vlm/miril-client.js.map

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package/package.json

@@ -0,0 +1,47 @@
+{
+  "name": "@jawji/orchestrator",
+  "version": "0.1.0",
+  "description": "Standalone onboard vision-assisted autonomy for companion computers, starting with a landing-zone safety check.",
+  "type": "module",
+  "main": "./dist/index.js",
+  "types": "./dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "import": "./dist/index.js"
+    }
+  },
+  "files": [
+    "dist",
+    "proto"
+  ],
+  "scripts": {
+    "build": "tsc",
+    "test": "vitest run",
+    "test:watch": "vitest"
+  },
+  "keywords": [
+    "mavsdk",
+    "drone",
+    "autonomy",
+    "companion-computer",
+    "vision-language-model"
+  ],
+  "license": "MIT",
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/utachicodes/jawji-orchestrator.git"
+  },
+  "dependencies": {
+    "@grpc/grpc-js": "^1.14.4",
+    "@grpc/proto-loader": "^0.8.1",
+    "google-proto-files": "^5.0.2",
+    "express": "^4.21.0"
+  },
+  "devDependencies": {
+    "@types/express": "^4.17.0",
+    "@types/node": "^20.0.0",
+    "typescript": "^5.0.0",
+    "vitest": "^2.1.8"
+  }
+}

package/proto/action/action.proto

@@ -0,0 +1,368 @@
+syntax = "proto3";
+
+package mavsdk.rpc.action;
+
+import "mavsdk_options.proto";
+
+option java_package = "io.mavsdk.action";
+option java_outer_classname = "ActionProto";
+
+// Enable simple actions such as arming, taking off, and landing.
+service ActionService {
+    /*
+     * Send command to arm the drone.
+     *
+     * Arming a drone normally causes motors to spin at idle.
+     * Before arming take all safety precautions and stand clear of the drone!
+     */
+    rpc Arm(ArmRequest) returns(ArmResponse) {}
+    /*
+     * Send command to force-arm the drone without any checks.
+     *
+     * Attention: this is not to be used for normal flying but only bench tests!
+     *
+     * Arming a drone normally causes motors to spin at idle.
+     * Before arming take all safety precautions and stand clear of the drone!
+     */
+    rpc ArmForce(ArmForceRequest) returns(ArmForceResponse) {}
+    /*
+     * Send command to disarm the drone.
+     *
+     * This will disarm a drone that considers itself landed. If flying, the drone should
+     * reject the disarm command. Disarming means that all motors will stop.
+     */
+    rpc Disarm(DisarmRequest) returns(DisarmResponse) {}
+    /*
+     * Send command to take off and hover.
+     *
+     * This switches the drone into position control mode and commands
+     * it to take off and hover at the takeoff altitude.
+     *
+     * Note that the vehicle must be armed before it can take off.
+     */
+    rpc Takeoff(TakeoffRequest) returns(TakeoffResponse) {}
+    /*
+     * Send command to land at the current position.
+     *
+     * This switches the drone to 'Land' flight mode.
+     */
+    rpc Land(LandRequest) returns(LandResponse) {}
+    /*
+     * Send command to reboot the drone components.
+     *
+     * This will reboot the autopilot, companion computer, camera and gimbal.
+     */
+    rpc Reboot(RebootRequest) returns(RebootResponse) {}
+    /*
+     * Send command to shut down the drone components.
+     *
+     * This will shut down the autopilot, onboard computer, camera and gimbal.
+     * This command should only be used when the autopilot is disarmed and autopilots commonly
+     * reject it if they are not already ready to shut down.
+     */
+    rpc Shutdown(ShutdownRequest) returns(ShutdownResponse) {}
+    /*
+     * Send command to terminate the drone.
+     *
+     * This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).
+     */
+    rpc Terminate(TerminateRequest) returns(TerminateResponse) {}
+    /*
+     * Send command to kill the drone.
+     *
+     * This will disarm a drone irrespective of whether it is landed or flying.
+     * Note that the drone will fall out of the sky if this command is used while flying.
+     */
+    rpc Kill(KillRequest) returns(KillResponse) {}
+    /*
+     * Send command to return to the launch (takeoff) position and land.
+     *
+     * This switches the drone into [Return mode](https://docs.px4.io/master/en/flight_modes/return.html) which
+     * generally means it will rise up to a certain altitude to clear any obstacles before heading
+     * back to the launch (takeoff) position and land there.
+     */
+    rpc ReturnToLaunch(ReturnToLaunchRequest) returns(ReturnToLaunchResponse) {}
+    /*
+     * Send command to move the vehicle to a specific global position.
+     *
+     * The latitude and longitude are given in degrees (WGS84 frame) and the altitude
+     * in meters AMSL (above mean sea level).
+     *
+     * The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).
+     */
+    rpc GotoLocation(GotoLocationRequest) returns(GotoLocationResponse) {}
+    /*
+     * Send command do orbit to the drone.
+     *
+     * This will run the orbit routine with the given parameters.
+     */
+    rpc DoOrbit(DoOrbitRequest) returns(DoOrbitResponse) {}
+    /*
+     * Send command to hold position (a.k.a. "Loiter").
+     *
+     * Sends a command to drone to change to Hold flight mode, causing the
+     * vehicle to stop and maintain its current GPS position and altitude.
+     *
+     * Note: this command is specific to the PX4 Autopilot flight stack as
+     * it implies a change to a PX4-specific mode.
+     */
+    rpc Hold(HoldRequest) returns(HoldResponse) {}
+    /*
+     * Send command to set the value of an actuator.
+     *
+     * Note that the index of the actuator starts at 1 and that the value goes from -1 to 1.
+     */
+    rpc SetActuator(SetActuatorRequest) returns(SetActuatorResponse) {}
+    /*
+     * Send command to set the value of a relay.
+     *
+     * The index of the relay starts at 0.
+     * For the relay value, 1=on, 0=off, others possible depending on system hardware
+     */
+    rpc SetRelay(SetRelayRequest) returns(SetRelayResponse) {}
+    /*
+     * Send command to transition the drone to fixedwing.
+     *
+     * The associated action will only be executed for VTOL vehicles (on other vehicle types the
+     * command will fail). The command will succeed if called when the vehicle
+     * is already in fixedwing mode.
+     */
+    rpc TransitionToFixedwing(TransitionToFixedwingRequest) returns(TransitionToFixedwingResponse) {}
+    /*
+     * Send command to transition the drone to multicopter.
+     *
+     * The associated action will only be executed for VTOL vehicles (on other vehicle types the
+     * command will fail). The command will succeed if called when the vehicle
+     * is already in multicopter mode.
+     */
+    rpc TransitionToMulticopter(TransitionToMulticopterRequest) returns(TransitionToMulticopterResponse) {}
+    /*
+     * Get the takeoff altitude (in meters above ground).
+     */
+    rpc GetTakeoffAltitude(GetTakeoffAltitudeRequest) returns(GetTakeoffAltitudeResponse) {}
+    /*
+     * Set takeoff altitude (in meters above ground).
+     */
+    rpc SetTakeoffAltitude(SetTakeoffAltitudeRequest) returns(SetTakeoffAltitudeResponse) {}
+    /*
+     * Get the return to launch minimum return altitude (in meters).
+     */
+    rpc GetReturnToLaunchAltitude(GetReturnToLaunchAltitudeRequest) returns(GetReturnToLaunchAltitudeResponse) {}
+    /*
+     * Set the return to launch minimum return altitude (in meters).
+     */
+    rpc SetReturnToLaunchAltitude(SetReturnToLaunchAltitudeRequest) returns(SetReturnToLaunchAltitudeResponse) {}
+    /*
+     * Set current speed.
+     *
+     * This will set the speed during a mission, reposition, and similar.
+     * It is ephemeral, so not stored on the drone and does not survive a reboot.
+     */
+     rpc SetCurrentSpeed(SetCurrentSpeedRequest) returns(SetCurrentSpeedResponse) {}
+     /*
+     * Set GPS Global Origin.
+     *
+     * Sets the GPS coordinates of the vehicle local origin (0,0,0) position.
+     */
+     rpc SetGpsGlobalOrigin(SetGpsGlobalOriginRequest) returns(SetGpsGlobalOriginResponse) { option (mavsdk.options.async_type) = SYNC; }
+     /*
+     * Set home.
+     *
+     * Sets the home position.
+     */
+     rpc SetHome(SetHomeRequest) returns(SetHomeResponse) { option (mavsdk.options.async_type) = SYNC; }
+}
+
+message ArmRequest {}
+message ArmResponse {
+    ActionResult action_result = 1;
+}
+
+message ArmForceRequest {}
+message ArmForceResponse {
+    ActionResult action_result = 1;
+}
+
+message DisarmRequest {}
+message DisarmResponse {
+    ActionResult action_result = 1;
+}
+
+message TakeoffRequest {}
+message TakeoffResponse {
+    ActionResult action_result = 1;
+}
+
+message LandRequest {}
+message LandResponse {
+    ActionResult action_result = 1;
+}
+
+message RebootRequest {}
+message RebootResponse {
+    ActionResult action_result = 1;
+}
+
+message ShutdownRequest {}
+message ShutdownResponse {
+    ActionResult action_result = 1;
+}
+
+message TerminateRequest {}
+message TerminateResponse {
+    ActionResult action_result = 1;
+}
+
+message KillRequest {}
+message KillResponse {
+    ActionResult action_result = 1;
+}
+
+message ReturnToLaunchRequest {}
+message ReturnToLaunchResponse {
+    ActionResult action_result = 1;
+}
+
+message GotoLocationRequest {
+    double latitude_deg = 1; // Latitude (in degrees)
+    double longitude_deg = 2; // Longitude (in degrees)
+    float absolute_altitude_m = 3; // Altitude AMSL (in meters)
+    float yaw_deg = 4; // Yaw angle (in degrees, frame is NED, 0 is North, positive is clockwise)
+}
+message GotoLocationResponse {
+    ActionResult action_result = 1;
+}
+
+// Yaw behaviour during orbit flight.
+enum OrbitYawBehavior {
+    ORBIT_YAW_BEHAVIOR_HOLD_FRONT_TO_CIRCLE_CENTER = 0; // Vehicle front points to the center (default)
+    ORBIT_YAW_BEHAVIOR_HOLD_INITIAL_HEADING = 1; // Vehicle front holds heading when message received
+    ORBIT_YAW_BEHAVIOR_UNCONTROLLED = 2; // Yaw uncontrolled
+    ORBIT_YAW_BEHAVIOR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3; // Vehicle front follows flight path (tangential to circle)
+    ORBIT_YAW_BEHAVIOR_RC_CONTROLLED = 4; // Yaw controlled by RC input
+}
+
+message DoOrbitRequest {
+    float radius_m = 1; // Radius of circle (in meters)
+    float velocity_ms = 2; // Tangential velocity (in m/s)
+    OrbitYawBehavior yaw_behavior = 3; // Yaw behavior of vehicle (ORBIT_YAW_BEHAVIOUR)
+    double latitude_deg = 5 [(mavsdk.options.default_value)="NaN"]; // Center point latitude in degrees. NAN: use current latitude for center
+    double longitude_deg = 6 [(mavsdk.options.default_value)="NaN"]; // Center point longitude in degrees. NAN: use current longitude for center
+    double absolute_altitude_m = 7 [(mavsdk.options.default_value)="NaN"]; // Center point altitude in meters. NAN: use current altitude for center
+}
+message DoOrbitResponse {
+    ActionResult action_result = 1;
+}
+
+message HoldRequest {}
+message HoldResponse {
+    ActionResult action_result = 1;
+}
+
+message SetActuatorRequest {
+    int32 index = 1; // Index of actuator (starting with 1)
+    float value = 2; // Value to set the actuator to (normalized from [-1..1])
+}
+message SetActuatorResponse {
+    ActionResult action_result = 1;
+}
+
+// Commanded values for relays
+enum RelayCommand {
+    RELAY_COMMAND_ON = 0; // Turn the relay off
+    RELAY_COMMAND_OFF = 1; // Turn the relay on.
+}
+message SetRelayRequest {
+    int32 index = 1; // Index of relay (starting with 0)
+    RelayCommand setting = 2; // Value to set the relay to
+}
+message SetRelayResponse {
+    ActionResult action_result = 1;
+}
+
+message TransitionToFixedwingRequest {}
+message TransitionToFixedwingResponse {
+    ActionResult action_result = 1;
+}
+
+message TransitionToMulticopterRequest {}
+message TransitionToMulticopterResponse {
+    ActionResult action_result = 1;
+}
+
+message GetTakeoffAltitudeRequest {}
+message GetTakeoffAltitudeResponse {
+    ActionResult action_result = 1;
+    float altitude = 2; // Takeoff altitude relative to ground/takeoff location (in meters)
+}
+
+message SetTakeoffAltitudeRequest {
+    float altitude = 1; // Takeoff altitude relative to ground/takeoff location (in meters)
+}
+message SetTakeoffAltitudeResponse {
+    ActionResult action_result = 1;
+}
+
+message GetReturnToLaunchAltitudeRequest {}
+message GetReturnToLaunchAltitudeResponse {
+    ActionResult action_result = 1;
+    float relative_altitude_m = 2; // Return altitude relative to takeoff location (in meters)
+}
+
+message SetReturnToLaunchAltitudeRequest {
+    float relative_altitude_m = 1; // Return altitude relative to takeoff location (in meters)
+}
+message SetReturnToLaunchAltitudeResponse {
+    ActionResult action_result = 1;
+}
+
+message SetCurrentSpeedRequest {
+    float speed_m_s = 1; // Speed in meters/second
+}
+message SetCurrentSpeedResponse {
+    ActionResult action_result = 1;
+}
+
+message SetGpsGlobalOriginRequest {
+    double latitude_deg = 1; // Latitude (in degrees)
+    double longitude_deg = 2; // Longitude (in degrees)
+    float absolute_altitude_m = 3; // Altitude AMSL (in meters)
+}
+message SetGpsGlobalOriginResponse {
+    ActionResult action_result = 1;
+}
+
+message SetHomeRequest {
+    bool use_current_location = 1; // Use current location
+    double latitude_deg = 2; // Latitude (in degrees)
+    double longitude_deg = 3; // Longitude (in degrees)
+    float absolute_altitude_m = 4; // Altitude AMSL (in meters)
+}
+message SetHomeResponse {
+    ActionResult action_result = 1;
+}
+
+// Result type.
+message ActionResult {
+    // Possible results returned for action requests.
+    enum Result {
+        RESULT_UNKNOWN = 0; // Unknown result
+        RESULT_SUCCESS = 1; // Request was successful
+        RESULT_NO_SYSTEM = 2; // No system is connected
+        RESULT_CONNECTION_ERROR = 3; // Connection error
+        RESULT_BUSY = 4; // Vehicle is busy
+        RESULT_COMMAND_DENIED = 5; // Command refused by vehicle
+        RESULT_COMMAND_DENIED_LANDED_STATE_UNKNOWN = 6; // Command refused because landed state is unknown
+        RESULT_COMMAND_DENIED_NOT_LANDED = 7; // Command refused because vehicle not landed
+        RESULT_TIMEOUT = 8; // Request timed out
+        RESULT_VTOL_TRANSITION_SUPPORT_UNKNOWN = 9; // Hybrid/VTOL transition support is unknown
+        RESULT_NO_VTOL_TRANSITION_SUPPORT = 10; // Vehicle does not support hybrid/VTOL transitions
+        RESULT_PARAMETER_ERROR = 11; // Error getting or setting parameter
+        RESULT_UNSUPPORTED = 12; // Action not supported
+        RESULT_FAILED = 13; // Action failed
+        RESULT_INVALID_ARGUMENT = 14; // Invalid argument
+    }
+
+    Result result = 1; // Result enum value
+    string result_str = 2; // Human-readable English string describing the result
+}

package/proto/mavsdk_options.proto

@@ -0,0 +1,23 @@
+syntax = "proto3";
+
+import "google/protobuf/descriptor.proto";
+
+package mavsdk.options;
+
+option java_package = "options.mavsdk";
+
+extend google.protobuf.FieldOptions {
+    string default_value = 50000;
+    double epsilon = 50001;
+}
+
+extend google.protobuf.MethodOptions {
+    AsyncType async_type = 50000;
+    bool is_finite = 50001;
+}
+
+enum AsyncType {
+    ASYNC = 0;
+    SYNC = 1;
+    BOTH = 2;
+}