Run a single instruction outside a mission: RunInstructionCtrl, CancelInstructionCtrl, InstructionResultTel

protobuf_definitions/control.proto

@@ -6,6 +6,7 @@ syntax = "proto3";
 package blueye.protocol;
 import "aquatroll.proto";
 import "message_formats.proto";
+import "mission_planning.proto";
 option csharp_namespace = "Blueye.Protocol.Protobuf";
 
 // Issue a command to move the drone in the surge, sway, heave, or yaw direction.
@@ -128,6 +129,22 @@ message PauseMissionCtrl {
 message ClearMissionCtrl {
 }
 
+// Run a single instruction right away, outside any mission.
+//
+// Instructions that do not move the drone (camera, tilt, lights, multibeam) run in any mission
+// state, alongside a running mission. Instructions that move the drone run only while no mission
+// is running, and are rejected otherwise. The outcome is reported in InstructionResultTel with
+// the same request_id.
+message RunInstructionCtrl {
+  Instruction instruction = 1; // Instruction to execute.
+  uint32 request_id = 2; // Client-chosen id, echoed in InstructionResultTel.
+}
+
+// Cancel an instruction started with RunInstructionCtrl.
+message CancelInstructionCtrl {
+  uint32 request_id = 1; // The request_id given to RunInstructionCtrl.
+}
+
 // Issue a command to reset the position estimate.
 message ResetPositionCtrl {
   ResetPositionSettings settings = 1; // Reset settings.

protobuf_definitions/mission_planning.proto

@@ -249,3 +249,21 @@ message MissionStatus {
   uint32 total_number_of_path_segments = 8; // Total number of path segments in the mission.
   uint32 id = 9; // Mission id of the active mission.
 }
+
+// Outcome of an instruction started with RunInstructionCtrl.
+enum InstructionResultState {
+  INSTRUCTION_RESULT_STATE_UNSPECIFIED = 0; // Unspecified.
+  INSTRUCTION_RESULT_STATE_ACCEPTED = 1; // The instruction was accepted and has started.
+  INSTRUCTION_RESULT_STATE_REJECTED = 2; // The instruction was not started, see reason.
+  INSTRUCTION_RESULT_STATE_COMPLETED = 3; // The instruction completed.
+  INSTRUCTION_RESULT_STATE_FAILED = 4; // The instruction stopped before completing, see reason.
+  INSTRUCTION_RESULT_STATE_CANCELLED = 5; // The instruction was cancelled by a client or by the drone.
+}
+
+// Result of an instruction started with RunInstructionCtrl.
+message InstructionResult {
+  uint32 request_id = 1; // The request_id given to RunInstructionCtrl.
+  uint32 instruction_id = 2; // Id of the instruction, as given by the client.
+  InstructionResultState state = 3; // Outcome so far.
+  string reason = 4; // Why the instruction was rejected, failed or was cancelled (optional).
+}

protobuf_definitions/telemetry.proto

@@ -64,6 +64,14 @@ message NotificationTel {
   Notification notification = 1; // Notification from the control system.
 }
 
+// Result of an instruction started with RunInstructionCtrl.
+//
+// Published when the instruction is accepted or rejected, and again when it completes, fails or
+// is cancelled.
+message InstructionResultTel {
+  InstructionResult result = 1; // Result of the instruction.
+}
+
 // Control force in all directions.
 message ControlForceTel {
   ControlForce control_force = 1; // Control force in all directions.