@jawji/orchestrator 0.1.0

package/proto/mission/mission.proto

@@ -0,0 +1,285 @@
+syntax = "proto3";
+
+package mavsdk.rpc.mission;
+
+import "mavsdk_options.proto";
+
+option java_package = "io.mavsdk.mission";
+option java_outer_classname = "MissionProto";
+
+// Enable waypoint missions.
+service MissionService {
+    /*
+     * Upload a list of mission items to the system.
+     *
+     * The mission items are uploaded to a drone. Once uploaded the mission can be started and
+     * executed even if the connection is lost.
+     */
+    rpc UploadMission(UploadMissionRequest) returns(UploadMissionResponse) {}
+    /*
+     * Upload a list of mission items to the system and report upload progress.
+     *
+     * The mission items are uploaded to a drone. Once uploaded the mission can be started and
+     * executed even if the connection is lost.
+     */
+    rpc SubscribeUploadMissionWithProgress(SubscribeUploadMissionWithProgressRequest) returns(stream UploadMissionWithProgressResponse) {
+        option (mavsdk.options.async_type) = ASYNC;
+        option (mavsdk.options.is_finite) = true;
+    }
+    /*
+     * Cancel an ongoing mission upload.
+     */
+    rpc CancelMissionUpload(CancelMissionUploadRequest) returns(CancelMissionUploadResponse) { option (mavsdk.options.async_type) = SYNC; }
+    /*
+     * Download a list of mission items from the system (asynchronous).
+     *
+     * Will fail if any of the downloaded mission items are not supported
+     * by the MAVSDK API.
+     */
+    rpc DownloadMission(DownloadMissionRequest) returns(DownloadMissionResponse) {}
+    /*
+     * Download a list of mission items from the system (asynchronous) and report progress.
+     *
+     * Will fail if any of the downloaded mission items are not supported
+     * by the MAVSDK API.
+     */
+    rpc SubscribeDownloadMissionWithProgress(SubscribeDownloadMissionWithProgressRequest) returns(stream DownloadMissionWithProgressResponse) {
+        option (mavsdk.options.async_type) = ASYNC;
+        option (mavsdk.options.is_finite) = true;
+    }
+/*
+ * Cancel an ongoing mission download.
+ */
+    rpc CancelMissionDownload(CancelMissionDownloadRequest) returns(CancelMissionDownloadResponse) { option (mavsdk.options.async_type) = SYNC; }
+    /*
+     * Start the mission.
+     *
+     * A mission must be uploaded to the vehicle before this can be called.
+     */
+    rpc StartMission(StartMissionRequest) returns(StartMissionResponse) {}
+    /*
+     * Pause the mission.
+     *
+     * Pausing the mission puts the vehicle into
+     * [HOLD mode](https://docs.px4.io/en/flight_modes/hold.html).
+     * A multicopter should just hover at the spot while a fixedwing vehicle should loiter
+     * around the location where it paused.
+     */
+    rpc PauseMission(PauseMissionRequest) returns(PauseMissionResponse) {}
+    /*
+     * Clear the mission saved on the vehicle.
+     */
+    rpc ClearMission(ClearMissionRequest) returns(ClearMissionResponse) {}
+    /*
+     * Sets the mission item index to go to.
+     *
+     * By setting the current index to 0, the mission is restarted from the beginning. If it is set
+     * to a specific index of a mission item, the mission will be set to this item.
+     *
+     * Note that this is not necessarily true for general missions using MAVLink if loop counters
+     * are used.
+     */
+    rpc SetCurrentMissionItem(SetCurrentMissionItemRequest) returns(SetCurrentMissionItemResponse) {}
+    /*
+     * Check if the mission has been finished.
+     */
+    rpc IsMissionFinished(IsMissionFinishedRequest) returns(IsMissionFinishedResponse) { option (mavsdk.options.async_type) = SYNC; }
+    /*
+     * Subscribe to mission progress updates.
+     */
+    rpc SubscribeMissionProgress(SubscribeMissionProgressRequest) returns(stream MissionProgressResponse) {}
+    /*
+     * Get whether to trigger Return-to-Launch (RTL) after mission is complete.
+     *
+     * Before getting this option, it needs to be set, or a mission
+     * needs to be downloaded.
+     */
+    rpc GetReturnToLaunchAfterMission(GetReturnToLaunchAfterMissionRequest) returns(GetReturnToLaunchAfterMissionResponse) { option (mavsdk.options.async_type) = SYNC; }
+    /*
+     * Set whether to trigger Return-to-Launch (RTL) after the mission is complete.
+     *
+     * This will only take effect for the next mission upload, meaning that
+     * the mission may have to be uploaded again.
+     */
+    rpc SetReturnToLaunchAfterMission(SetReturnToLaunchAfterMissionRequest) returns(SetReturnToLaunchAfterMissionResponse) { option (mavsdk.options.async_type) = SYNC; }
+}
+
+message UploadMissionRequest {
+    MissionPlan mission_plan = 1; // The mission plan
+}
+message UploadMissionResponse {
+    MissionResult mission_result = 1;
+}
+
+message SubscribeUploadMissionWithProgressRequest {
+    MissionPlan mission_plan = 1; // The mission plan
+}
+message UploadMissionWithProgressResponse {
+    MissionResult mission_result = 1;
+    ProgressData progress_data = 2; // The progress data
+}
+
+message CancelMissionUploadRequest {}
+message CancelMissionUploadResponse {
+    MissionResult mission_result = 1;
+}
+
+message DownloadMissionRequest {}
+message DownloadMissionResponse {
+    MissionResult mission_result = 1;
+    MissionPlan mission_plan = 2; // The mission plan
+}
+
+message SubscribeDownloadMissionWithProgressRequest {}
+message DownloadMissionWithProgressResponse {
+    MissionResult mission_result = 1;
+    ProgressDataOrMission progress_data = 2; // The progress data, or the mission plan (when the download is finished)
+}
+
+message CancelMissionDownloadRequest {}
+message CancelMissionDownloadResponse {
+    MissionResult mission_result = 1;
+}
+
+message StartMissionRequest {}
+message StartMissionResponse {
+    MissionResult mission_result = 1;
+}
+
+message PauseMissionRequest {}
+message PauseMissionResponse {
+    MissionResult mission_result = 1;
+}
+
+message ClearMissionRequest {}
+message ClearMissionResponse {
+    MissionResult mission_result = 1;
+}
+
+message SetCurrentMissionItemRequest {
+    int32 index = 1; // Index of the mission item to be set as the next one (0-based)
+}
+message SetCurrentMissionItemResponse {
+    MissionResult mission_result = 1;
+}
+
+message IsMissionFinishedRequest {}
+message IsMissionFinishedResponse {
+    MissionResult mission_result = 1;
+    bool is_finished = 2; // True if the mission is finished and the last mission item has been reached
+}
+
+message SubscribeMissionProgressRequest {}
+message MissionProgressResponse {
+    MissionProgress mission_progress = 1; // Mission progress
+}
+
+message GetReturnToLaunchAfterMissionRequest {}
+message GetReturnToLaunchAfterMissionResponse {
+    MissionResult mission_result = 1;
+    bool enable = 2; // If true, trigger an RTL at the end of the mission
+}
+
+message SetReturnToLaunchAfterMissionRequest {
+    bool enable = 1; // If true, trigger an RTL at the end of the mission
+}
+message SetReturnToLaunchAfterMissionResponse {
+    MissionResult mission_result = 1;
+}
+
+/*
+ * Type representing a mission item.
+ *
+ * A MissionItem can contain a position and/or actions.
+ * Mission items are building blocks to assemble a mission,
+ * which can be sent to (or received from) a system.
+ * They cannot be used independently.
+ */
+message MissionItem {
+    double latitude_deg = 1 [(mavsdk.options.default_value)="NaN", (mavsdk.options.epsilon)=0.0000001]; // Latitude in degrees (range: -90 to +90)
+    double longitude_deg = 2 [(mavsdk.options.default_value)="NaN", (mavsdk.options.epsilon)=0.0000001]; // Longitude in degrees (range: -180 to +180)
+    float relative_altitude_m = 3 [(mavsdk.options.default_value)="NaN"]; // Altitude relative to takeoff altitude in metres
+    float speed_m_s = 4 [(mavsdk.options.default_value)="NaN"]; // Speed to use after this mission item (in metres/second)
+    bool is_fly_through = 5 [(mavsdk.options.default_value)="false"]; // True will make the drone fly through without stopping, while false will make the drone stop on the waypoint
+    float gimbal_pitch_deg = 6 [(mavsdk.options.default_value)="NaN", (mavsdk.options.epsilon)=0.0001]; // Gimbal pitch (in degrees)
+    float gimbal_yaw_deg = 7 [(mavsdk.options.default_value)="NaN", (mavsdk.options.epsilon)=0.0001]; // Gimbal yaw (in degrees)
+    CameraAction camera_action = 8; // Camera action to trigger at this mission item
+    float loiter_time_s = 9 [(mavsdk.options.default_value)="NaN"]; // Loiter time (in seconds)
+    double camera_photo_interval_s = 10 [(mavsdk.options.default_value)="1.0"]; // Camera photo interval to use after this mission item (in seconds)
+    float acceptance_radius_m = 11 [(mavsdk.options.default_value)="NaN"]; // Radius for completing a mission item (in metres)
+    float yaw_deg = 12 [(mavsdk.options.default_value)="NaN"]; // Absolute yaw angle (in degrees)
+    float camera_photo_distance_m = 13 [(mavsdk.options.default_value)="NAN"]; // Camera photo distance to use after this mission item (in meters)
+    VehicleAction vehicle_action = 14; // Vehicle action to trigger at this mission item.
+
+    // Possible camera actions at a mission item.
+    enum CameraAction {
+        CAMERA_ACTION_NONE = 0; // No action
+        CAMERA_ACTION_TAKE_PHOTO = 1; // Take a single photo
+        CAMERA_ACTION_START_PHOTO_INTERVAL = 2; // Start capturing photos at regular intervals
+        CAMERA_ACTION_STOP_PHOTO_INTERVAL = 3; // Stop capturing photos at regular intervals
+        CAMERA_ACTION_START_VIDEO = 4; // Start capturing video
+        CAMERA_ACTION_STOP_VIDEO = 5; // Stop capturing video
+        CAMERA_ACTION_START_PHOTO_DISTANCE = 6; // Start capturing photos at regular distance
+        CAMERA_ACTION_STOP_PHOTO_DISTANCE = 7; // Stop capturing photos at regular distance
+    }
+
+    // Possible vehicle actions at a mission item
+    enum VehicleAction {
+        VEHICLE_ACTION_NONE = 0; // No action
+        VEHICLE_ACTION_TAKEOFF = 1; // Vehicle will takeoff and go to defined waypoint
+        VEHICLE_ACTION_LAND = 2; // When a waypoint is reached vehicle will land at current position
+        VEHICLE_ACTION_TRANSITION_TO_FW = 3; // When a waypoint is reached vehicle will transition to fixed-wing mode
+        VEHICLE_ACTION_TRANSITION_TO_MC = 4; // When a waypoint is reached vehicle will transition to multi-copter mode
+    }
+}
+
+// Mission plan type
+message MissionPlan {
+    repeated MissionItem mission_items = 1; // The mission items
+}
+
+// Mission progress type.
+message MissionProgress {
+    int32 current = 1; // Current mission item index (0-based), if equal to total, the mission is finished
+    int32 total = 2; // Total number of mission items
+}
+
+// Result type.
+message MissionResult {
+    // Possible results returned for action requests.
+    enum Result {
+        RESULT_UNKNOWN = 0; // Unknown result
+        RESULT_SUCCESS = 1; // Request succeeded
+        RESULT_ERROR = 2; // Error
+        RESULT_TOO_MANY_MISSION_ITEMS = 3; // Too many mission items in the mission
+        RESULT_BUSY = 4; // Vehicle is busy
+        RESULT_TIMEOUT = 5; // Request timed out
+        RESULT_INVALID_ARGUMENT = 6; // Invalid argument
+        RESULT_UNSUPPORTED = 7; // Mission downloaded from the system is not supported
+        RESULT_NO_MISSION_AVAILABLE = 8; // No mission available on the system
+        RESULT_UNSUPPORTED_MISSION_CMD = 11; // Unsupported mission command
+        RESULT_TRANSFER_CANCELLED = 12; // Mission transfer (upload or download) has been cancelled
+        RESULT_NO_SYSTEM = 13; // No system connected
+        RESULT_NEXT = 14; // Intermediate message showing progress
+        RESULT_DENIED = 15; // Request denied
+        RESULT_PROTOCOL_ERROR = 16; // There was a protocol error
+        RESULT_INT_MESSAGES_NOT_SUPPORTED = 17; // The system does not support the MISSION_INT protocol
+    }
+
+    Result result = 1; // Result enum value
+    string result_str = 2; // Human-readable English string describing the result
+}
+
+// Progress data coming from mission upload.
+message ProgressData {
+    float progress = 1 [(mavsdk.options.default_value)="NaN"]; // Progress (0..1.0)
+}
+
+// Progress data coming from mission download, or the mission itself (if the transfer succeeds).
+message ProgressDataOrMission {
+    bool has_progress = 1 [(mavsdk.options.default_value)="false"]; // Whether this ProgressData contains a 'progress' status or not
+    float progress = 2 [(mavsdk.options.default_value)="NaN"]; // Progress (0..1.0)
+
+    bool has_mission = 3; // Whether this ProgressData contains a 'mission_plan' or not
+    MissionPlan mission_plan = 4; // Mission plan
+}