petal-leafsdk 0.2.4__py3-none-any.whl

petal_leafsdk/__init__.py

@@ -0,0 +1,11 @@
+import logging
+from importlib.metadata import PackageNotFoundError, version as _pkg_version
+
+logger = logging.getLogger(__name__)
+
+try:
+    # ⚠️ Use the *distribution* name (what you put in pyproject.toml), not necessarily the import name
+    __version__ = _pkg_version("petal-leafsdk")
+except PackageNotFoundError:
+    # Useful during local development before install; pick what you prefer here
+    __version__ = "0.0.0"

petal_leafsdk/data_model.py

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+# petal_leafsdk/data_model.py
+
+from pydantic import BaseModel, Field
+from typing import Any, List, Optional, Literal, Union, Tuple, Sequence, Dict
+from enum import Enum
+
+Tuple3D = Tuple[float, float, float]   # exact length 3
+
+# Mission schema
+class TakeoffParams(BaseModel):
+    alt: float
+
+class GotoLocalPositionParams(BaseModel):
+    waypoints: Union[Tuple3D, Sequence[Tuple3D]]
+    yaws_deg: Optional[Union[float, Sequence[float]]] = 0.0
+    speed: Optional[Union[float, Sequence[float]]] = 0.2
+    yaw_speed: Optional[Union[float, Sequence[float], Literal["sync"]]] = "sync"
+    is_pausable: bool = True
+    average_deceleration: float = 0.5   # m2/s
+
+class GotoGPSWaypointParams(BaseModel):
+    waypoints: Union[Tuple3D, Sequence[Tuple3D]]
+    yaws_deg: Optional[Union[float, Sequence[float]]] = 0.0
+    speed: Optional[Union[float, Sequence[float]]] = 0.2
+    yaw_speed: Optional[Union[float, Sequence[float], Literal["sync"]]] = "sync"
+    is_pausable: bool = True
+    average_deceleration: float = 0.5   # m2/s
+
+class GotoRelativeParams(BaseModel):
+    waypoints: Union[Tuple3D, Sequence[Tuple3D]]
+    yaws_deg: Optional[Union[float, Sequence[float]]] = 0.0
+    speed: Optional[Union[float, Sequence[float]]] = 0.2
+    yaw_speed: Optional[Union[float, Sequence[float], Literal["sync"]]] = "sync"
+    is_pausable: bool = True
+    average_deceleration: float = 0.5   # m2/s
+
+class YawAbsoluteParams(BaseModel):
+    yaws_deg: Union[float, Sequence[float]]
+    yaw_speed: Optional[Union[float, Sequence[float]]] = 30.0
+    is_pausable: bool = True
+    average_deceleration: float = 0.5   # m2/s
+
+class YawRelativeParams(BaseModel):
+    yaws_deg: Union[float, Sequence[float]]
+    yaw_speed: Optional[Union[float, Sequence[float]]] = 30.0
+    is_pausable: bool = True
+    average_deceleration: float = 0.5   # m2/s
+
+class WaitParams(BaseModel):
+    duration: float
+
+class TakeoffNode(BaseModel):
+    name: str
+    type: Literal["Takeoff"]
+    params: TakeoffParams
+
+class GotoLocalPositionNode(BaseModel):
+    name: str
+    type: Literal["GotoLocalPosition"]
+    params: GotoLocalPositionParams
+
+class GotoGPSWaypointNode(BaseModel):
+    name: str
+    type: Literal["GotoGPSWaypoint"]
+    params: GotoGPSWaypointParams
+
+class GotoRelativeNode(BaseModel):
+    name: str
+    type: Literal["GotoRelative"]
+    params: GotoRelativeParams
+
+class YawAbsoluteNode(BaseModel):
+    name: str
+    type: Literal["YawAbsolute"]
+    params: YawAbsoluteParams
+
+class YawRelativeNode(BaseModel):
+    name: str
+    type: Literal["YawRelative"]
+    params: YawRelativeParams
+
+class WaitNode(BaseModel):
+    name: str
+    type: Literal["Wait"]
+    params: WaitParams
+
+class LandNode(BaseModel):
+    name: str
+    type: Literal["Land"]
+    params: Optional[dict] = None
+
+class Edge(BaseModel):
+    from_: str = Field(..., alias="from")
+    to: str
+    condition: Optional[str] = None
+
+    model_config = {"populate_by_name": True}
+
+Node = Union[TakeoffNode, GotoLocalPositionNode, GotoGPSWaypointNode, GotoRelativeNode, YawAbsoluteNode, YawRelativeNode, WaitNode, LandNode]
+
+
+class MissionStepProgress(BaseModel):
+    completed_mission_step_id: str
+    completed_mission_step_description: Optional[str] = ""
+    next_mission_step_id: str
+    next_mission_step_description: Optional[str] = ""
+
+class ProgressUpdateSubscription(BaseModel):
+    address: str  # e.g., http://localhost:5000/WHMS/v1/update_step_progress
+
+class SafeReturnPlanRequestAddress(BaseModel):
+    address: str  # e.g., http://localhost:5000/WHMS/v1/safe_return_plan_request
+
+
+class JoystickMode(Enum):
+    DISABLED = "disabled"
+    ENABLED = "enabled"
+    ENABLED_ON_PAUSE = "enabled_on_pause"
+
+
+class MissionConfig:
+    joystick_mode: JoystickMode = JoystickMode.ENABLED
+
+
+class MissionGraph(BaseModel):
+    id: str = Field(..., description="Unique identifier for the mission", example="main")
+    joystick_mode: JoystickMode = JoystickMode.ENABLED
+    nodes: List[Node] = Field(..., description="List of mission steps/nodes")
+    edges: List[Edge] = Field(..., description="Connections between mission steps/nodes")
+    
+    model_config = {
+        "json_schema_extra": {
+            "example": {
+                "id": "main",
+                "nodes": [
+                    {
+                    "name": "Takeoff",
+                    "type": "Takeoff",
+                    "params": {
+                        "alt": 1
+                    }
+                    },
+                    {
+                    "name": "Wait 1",
+                    "type": "Wait",
+                    "params": {
+                        "duration": 2
+                    }
+                    },
+                    {
+                    "name": "GotoLocalWaypoint 1",
+                    "type": "GotoLocalPosition",
+                    "params": {
+                        "waypoints": [
+                        [
+                            0.5,
+                            0.0,
+                            1.0
+                        ]
+                        ],
+                        "yaws_deg": [
+                        0.0
+                        ],
+                        "speed": [
+                        0.2
+                        ],
+                        "yaw_speed": [
+                        30.0
+                        ]
+                    }
+                    },
+                    {
+                    "name": "GotoLocalWaypoint 2",
+                    "type": "GotoLocalPosition",
+                    "params": {
+                        "waypoints": [
+                        [
+                            0.5,
+                            0.5,
+                            1.0
+                        ],
+                        [
+                            0.0,
+                            0.0,
+                            1.0
+                        ]
+                        ],
+                        "yaws_deg": [
+                        0.0,
+                        0.0
+                        ],
+                        "speed": [
+                        0.2,
+                        0.2
+                        ],
+                        "yaw_speed": [
+                        30.0,
+                        30.0
+                        ]
+                    }
+                    },
+                    {
+                    "name": "GotoLocalWaypoint 3",
+                    "type": "GotoLocalPosition",
+                    "params": {
+                        "waypoints": [
+                        [
+                            0.0,
+                            0.5,
+                            1.0
+                        ],
+                        [
+                            0.5,
+                            0.5,
+                            1.0
+                        ],
+                        [
+                            0.5,
+                            0.0,
+                            1.0
+                        ]
+                        ],
+                        "yaws_deg": [
+                        0.0,
+                        10.0,
+                        20.0
+                        ],
+                        "speed": [
+                        0.2,
+                        0.3,
+                        0.4
+                        ],
+                        "yaw_speed": [
+                        10.0,
+                        20.0,
+                        20.0
+                        ]
+                    }
+                    },
+                    {
+                    "name": "Wait 2",
+                    "type": "Wait",
+                    "params": {
+                        "duration": 2
+                    }
+                    },
+                    {
+                    "name": "Land",
+                    "type": "Land",
+                    "params": {}
+                    }
+                ],
+                "edges": [
+                    {
+                    "from": "Takeoff",
+                    "to": "Wait 1",
+                    "condition": None
+                    },
+                    {
+                    "from": "Wait 1",
+                    "to": "GotoLocalWaypoint 1",
+                    "condition": None
+                    },
+                    {
+                    "from": "GotoLocalWaypoint 1",
+                    "to": "GotoLocalWaypoint 2",
+                    "condition": None
+                    },
+                    {
+                    "from": "GotoLocalWaypoint 2",
+                    "to": "GotoLocalWaypoint 3",
+                    "condition": None
+                    },
+                    {
+                    "from": "GotoLocalWaypoint 3",
+                    "to": "Wait 2",
+                    "condition": None
+                    },
+                    {
+                    "from": "Wait 2",
+                    "to": "Land",
+                    "condition": None
+                    }
+                ]
+            }
+        }
+    }
+
+class CancelMissionRequest(BaseModel):
+    action: Optional[Literal["NONE", "HOVER", "RETURN_TO_HOME", "LAND_IMMEDIATELY"]] = "HOVER"

petal_leafsdk/mavlink_helpers.py

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+# leafsdk/utils/mavlink_helpers.py
+# MAVLink helper functions for LeafSDK
+
+import sys, time
+import os
+from pymavlink.dialects.v20 import droneleaf_mav_msgs as leafMAV
+from petal_app_manager.proxies.external import MavLinkExternalProxy
+from leafsdk import logger
+from typing import Optional, Union
+from leafsdk.utils.logstyle import LogIcons
+
+
+def get_mav_msg_name_from_id(msg_id: int) -> Union[str, int]:
+    """
+    Get MAVLink message name from its ID.
+    """
+    try:
+        msg_name = leafMAV.mavlink_map[msg_id].name
+        return msg_name
+    except KeyError:
+        logger.warning(f"{LogIcons.WARNING} Unknown MAVLink message ID: {msg_id}")
+        return msg_id
+
+def parse_heartbeat(msg):
+    """
+    Parse heartbeat message and return system status info.
+    """
+    if msg.get_type() != "HEARTBEAT":
+        logger.warning("Expected HEARTBEAT message, got something else.")
+        return None
+
+    status = {
+        "type": msg.type,
+        "autopilot": msg.autopilot,
+        "base_mode": msg.base_mode,
+        "custom_mode": msg.custom_mode,
+        "system_status": msg.system_status,
+        "mavlink_version": msg.mavlink_version,
+    }
+    logger.debug(f"Parsed heartbeat: {status}")
+    return status
+
+def setup_mavlink_subscriptions(key: str, callback: callable, mav_proxy: Optional[MavLinkExternalProxy] = None, duplicate_filter_interval: Optional[float] = 0):
+    """Setup MAVLink subscriptions - call this after object creation if using MAVLink"""
+    if mav_proxy is None:
+        logger.warning(f"{LogIcons.WARNING} MAVLink proxy not provided, skipping MAVLink subscriptions")
+        return
+        
+    try:
+        # Subscribe to a general broadcast channel
+        mav_proxy.register_handler(
+            key=key,
+            fn=callback,
+            duplicate_filter_interval=duplicate_filter_interval
+        )
+
+        logger.info(f"{LogIcons.SUCCESS} MAVLink subscriptions set up successfully to {get_mav_msg_name_from_id(int(key))}.")
+    except Exception as e:
+        logger.error(f"{LogIcons.ERROR} Failed to set up MAVLink subscriptions: {e}")
+
+def unsetup_mavlink_subscriptions(key: str, callback: callable, mav_proxy: Optional[MavLinkExternalProxy] = None):
+    """Unsubscribe from MAVLink channels - call this when the step is no longer needed"""
+    if mav_proxy is None:
+        logger.warning(f"{LogIcons.WARNING} MAVLink proxy not provided, skipping MAVLink unsubscriptions")
+        return
+        
+    try:
+        mav_proxy.unregister_handler(key=key, fn=callback)
+        logger.info(f"{LogIcons.SUCCESS} MAVLink subscriptions to {get_mav_msg_name_from_id(int(key))} have been removed.")
+    except Exception as e:
+        logger.error(f"{LogIcons.ERROR} Failed to remove MAVLink subscriptions: {e}")