Initial commit

Lts/Proxies/TrainingAreaBase/Plugins/UAS/TmsIfAdapter/uav_commander.h

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+/**
+  * Sends / receives data to / from one UAVCommander via TMS-IF
+  * $Id$
+  * $HeadURL$
+  * $Author$
+  * Created by Mike Wille, ESZS, 2025-04-17
+  */
+
+#pragma once
+
+
+#include <string>
+#include <functional>
+#include <vector>
+
+#include <QVector3D>
+#include <QString>
+
+
+namespace UAS
+{
+namespace CoordinateFrame
+{
+namespace ReportPositions
+{
+struct Message
+{
+  double lat;
+  double lon;
+  double alt;
+  int64_t timestamp;
+};
+
+using CallbackFn = std::function<void(const CoordinateFrame::ReportPositions::Message &data)>;
+}
+}
+
+namespace TeleOperation {
+///  Enumeration of states of a the radio link.
+enum Type
+{
+    ///  The connection is in a undefined state.
+    Undefined,
+    ///  The link is currently disconnected.
+    Disconnected,
+    ///  The link is currently connecting.
+    Connecting,
+    ///  The link is currently disconnecting
+    Diconnecting,
+    ///  The link is currently connected.
+    Connected,
+    ///  The link is currently in error state.
+    Error
+};
+
+namespace RadioLinkConnectionState {
+struct Message
+{
+  Type status;
+};
+using CallbackFn = std::function<void(const TeleOperation::RadioLinkConnectionState::Message &data)>;
+}
+
+}
+
+namespace BuiltInTest {
+///  Enumeration of states of a the radio link.
+namespace TestResult {
+///  Test result type enumeration.
+enum Type
+{
+    ///  Unknown -- test has not yet been completed or could not be initiated.
+    Undefined,
+    ///  OK -- no failure was detected.
+    OK,
+    ///  Warning -- a situation which warrants a warning was detected.
+    Warning,
+    ///  Reduced performance -- an error was detected which results in reduced performance.
+    Reduced_Performance_Error,
+    ///  Fatal error -- a failure was detected which results in complete loss of functionality.
+    Fatal_Error
+};
+}
+namespace ReportCBitStatus {
+struct Message
+{
+  std::string                    Key;
+  std::string                    RoutineName;
+  BuiltInTest::TestResult::Type  Result;
+  unsigned long                  ErrorCode;
+  std::string                    ErrorCodeDescription;
+};
+using CallbackFn = std::function<void(const ReportCBitStatus::Message &data)>;
+}
+}
+
+
+namespace Device {
+///  Enumeration of states of a the radio link.
+namespace OperationModeStateKind {
+///  Operation mode state enumeration.
+enum Type
+{
+    ///  Unknown mode state.
+    Undefined,
+    ///  Off.
+    Off,
+    ///  On.
+    On,
+    ///  Standby.
+    Standby,
+    ///  Initialising.
+    Init,
+    ///  Shutting down.
+    Shutdown,
+    ///  Normal operation.
+    Normal,
+    ///  Manual operation.
+    Manual,
+    ///  Automatic operation.
+    Auto,
+    ///  Calibrating.
+    Calibrating,
+    ///  Maintenance.
+    Maintenance
+};
+}
+namespace ReportDeviceStatus
+{
+struct Message
+{
+  OperationModeStateKind::Type  Status;
+};
+using CallbackFn = std::function<void(const ReportDeviceStatus::Message &data)>;
+}
+}
+
+
+namespace ObjectManager
+{
+namespace ReportPoint
+{
+struct Message
+{
+  int uasId;
+  bool isRemoved;
+};
+}
+}
+
+
+namespace MissionCtrl
+{
+
+enum Task // see tmsif/type/MissionCtrl.hpp:43
+{
+  Undefined,  // 0
+  Connect,    // 1
+  Disconnect, // 2
+  Arm,        // 3
+  Disarm,     // 4
+  Fire,
+  Observe,    // 6
+  ///  Let vehicle ascend.
+  Climb,
+  ///  Let vehicle descend.
+  Descend,
+  ///  Perform vehicle takeoff.
+  Takeoff,    // 9
+  ///  Perform vehicle landing.
+  Land,       // 10
+  Reboot,     // 11
+  Shutdown,   // 12
+  ///  Loiter around a specified position.
+  Loiter,     // 13
+  ///  Return to a specified position.
+  Return,     // 14
+  ///  Follow a specified entity.
+  Follow,     // 15
+  ///  Stop current motion/action.
+  Stop,
+  ///  Resume the stopped motion/action.
+  Resume
+};
+
+namespace ReportMissionStatus
+{
+
+struct Message
+{
+  std::string currentMissionName;
+  Task currentTask;
+  std::vector<Task> currentlyAllowedTasks;
+  std::string missionEnded;
+};
+
+using CallbackFn = std::function<void(const MissionCtrl::ReportMissionStatus::Message &data)>;
+}
+}
+
+
+class UAVCommander
+{
+public:
+  virtual ~UAVCommander() = default;
+  bool isReady() const { return m_isReady; }
+  virtual void startIA(const std::string &ip, const uint16_t port, const bool useTcp) noexcept(false) = 0;
+
+  virtual void sendMission(double lat, double lon, double alt = 0, const QString &missionName = {}) noexcept(false) = 0;
+  virtual void returnToHome() = 0;
+  virtual void sendTryReclaimAutoMode() = 0;
+
+  virtual void set_CoordinateFrame_ReportPosition_Callback(CoordinateFrame::ReportPositions::CallbackFn callbackFn) = 0;
+  virtual void set_isReady_Callback(std::function<void()> callbackFn) = 0;
+  virtual void set_ReportCBitStatus_Callback(BuiltInTest::ReportCBitStatus::CallbackFn callbackFn) = 0;
+  virtual void set_ReportDeviceStatusType_Callback(Device::ReportDeviceStatus::CallbackFn callbackFn) = 0;
+  virtual void set_ReportRadioLinkConnectionState_Callback(TeleOperation::RadioLinkConnectionState::CallbackFn callbackFn) = 0;
+  virtual void set_ReportMissionStatus_Callback(MissionCtrl::ReportMissionStatus::CallbackFn callbackFn) = 0;
+
+protected:
+  bool m_isReady { false };
+};
+} // namespace UAS