Mission rules: detection triggers with enter and exit instructions

protobuf_definitions/control.proto

@@ -129,6 +129,10 @@ message PauseMissionCtrl {
 message ClearMissionCtrl {
 }
 
+// Clears the mission rules.
+message ClearMissionRulesCtrl {
+}
+
 // Run a single instruction right away, outside any mission.
 //
 // Instructions that do not move the drone (camera, tilt, lights, multibeam) run in any mission

protobuf_definitions/message_formats.proto

@@ -687,7 +687,9 @@ enum NotificationType {
   NOTIFICATION_TYPE_DVL_PROTOCOL_UNSUPPORTED = 34; // DVL firmware speaks a protocol version Blunux does not support.
   NOTIFICATION_TYPE_INSTRUCTION_STARTED = 35; // A mission instruction started; the value names it.
   NOTIFICATION_TYPE_MISSION_PAUSED_BY_INSTRUCTION = 36; // Paused after an instruction with pause_on_completion.
-  NOTIFICATION_TYPE_MISSION_UPDATED = 37; // The loaded mission was changed; the value is its revision.
+  NOTIFICATION_TYPE_MISSION_UPDATED = 37; // The loaded mission was changed; the value says what changed.
+  NOTIFICATION_TYPE_MISSION_RULE_FIRED = 38; // A mission rule fired; the value is its name.
+  NOTIFICATION_TYPE_MISSION_RULE_RELEASED = 39; // A mission rule released; the value is its name.
 }
 
 // List of available notification levels.

protobuf_definitions/mission_planning.proto

@@ -4,6 +4,7 @@
 syntax = "proto3";
 
 package blueye.protocol;
+import "google/protobuf/timestamp.proto";
 import "message_formats.proto";
 option csharp_namespace = "Blueye.Protocol.Protobuf";
 
@@ -101,6 +102,40 @@ message ControlModeCommand {
 }
 
 // A WaypointCommand will request the drone to drive to a point automatically.
+// DetectionTrigger fires a rule on what the computer vision models see.
+message DetectionTrigger {
+  repeated string class_names = 1; // Any of these class names; empty matches every class.
+  string model_name = 2; // Only detections from this model; empty matches every model.
+  Camera camera = 3; // Only detections from this camera; unspecified matches every camera.
+  float min_confidence = 4; // Detections below this confidence are ignored (0..1).
+  float min_area_fraction = 5; // Least bounding box area over image area a detection must have (0..1).
+  uint32 hold_ms = 6; // How long the trigger must match before the rule fires.
+  uint32 release_ms = 7; // How long the trigger must stay unmatched before the rule releases.
+  uint32 cooldown_ms = 8; // Time after a release before the rule can fire again.
+}
+
+// MissionRule runs instructions when its trigger fires and when it releases.
+message MissionRule {
+  uint32 id = 1; // Rule id, defined by the client.
+  string name = 2; // Rule name, for the log and the app.
+  bool enabled = 3; // A disabled rule never fires.
+  oneof trigger {
+    DetectionTrigger detection_trigger = 4; // Fire on detections.
+  }
+  repeated Instruction enter_instructions = 5; // Run when the rule fires. Instructions that move the drone are refused.
+  repeated Instruction exit_instructions = 6; // Run when the rule releases.
+}
+
+// MissionRuleStatus is the state of one rule.
+message MissionRuleStatus {
+  uint32 id = 1; // Rule id.
+  MissionRuleState state = 2; // What the rule is doing.
+  uint32 episodes = 3; // Times the rule has fired since it was set.
+  google.protobuf.Timestamp last_fired = 4; // When the rule last fired; unset before the first time.
+  InstructionResultState last_result = 5; // Outcome of the last instruction the rule ran.
+  string last_reason = 6; // Reason of the last result, when there is one.
+}
+
 // InsertInstruction adds an instruction to the loaded mission.
 message InsertInstruction {
   Instruction instruction = 1; // The instruction to add. Its id must be new to the mission.
@@ -371,6 +406,15 @@ message MissionStatus {
 }
 
 // Outcome of an instruction started with RunInstructionCtrl.
+// MissionRuleState is where a rule is in its episode.
+enum MissionRuleState {
+  MISSION_RULE_STATE_UNSPECIFIED = 0; // Unspecified.
+  MISSION_RULE_STATE_IDLE = 1; // Waiting for the trigger.
+  MISSION_RULE_STATE_ACTIVE = 2; // The rule has fired and has not released yet.
+  MISSION_RULE_STATE_COOLDOWN = 3; // Released; waiting for the cooldown before it can fire again.
+  MISSION_RULE_STATE_DISABLED = 4; // The rule is disabled.
+}
+
 enum InstructionResultState {
   INSTRUCTION_RESULT_STATE_UNSPECIFIED = 0; // Unspecified.
   INSTRUCTION_RESULT_STATE_ACCEPTED = 1; // The instruction was accepted and has started.

protobuf_definitions/req_rep.proto

@@ -164,6 +164,26 @@ message SetInstructionUpdateRep {
   uint32 revision = 3; // Revision of the mission after the change.
 }
 
+// Replaces the mission rules. Rules run independently of missions.
+message SetMissionRulesReq {
+  repeated MissionRule rules = 1; // The rules to run; an empty list clears them.
+}
+
+// Response after setting the mission rules.
+message SetMissionRulesRep {
+  bool accepted = 1; // True when the rules were set.
+  string reason = 2; // Why the rules were refused.
+}
+
+// Get the mission rules.
+message GetMissionRulesReq {
+}
+
+// The mission rules.
+message GetMissionRulesRep {
+  repeated MissionRule rules = 1; // The rules currently set.
+}
+
 // Set the heading mode used in dead reckoning.
 message SetHeadingModeReq {
   HeadingMode heading_mode = 1; // The heading mode to set.

protobuf_definitions/telemetry.proto

@@ -68,6 +68,11 @@ message NotificationTel {
 //
 // Published when the instruction is accepted or rejected, and again when it completes, fails or
 // is cancelled.
+// State of the mission rules.
+message MissionRulesTel {
+  repeated MissionRuleStatus rules = 1; // One entry per rule.
+}
+
 message InstructionResultTel {
   InstructionResult result = 1; // Result of the instruction.
 }