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Feature/mission executor #79

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Merged
robin-farmx merged 8 commits into from
Jul 6, 2026
Merged

Feature/mission executor #79

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5fa32fa
feat: add MissionStatus msg and GetMissionStatus srv
robin-farmx May 29, 2026
ddddaf1
feat: add LoadFlightPlan and ValidateFlightPlan services
robin-farmx May 29, 2026
e7a4192
feat: add preflight message and service types
robin-farmx May 29, 2026
151180f
feat: add launch, abort, and event message types
robin-farmx May 29, 2026
ca91c38
feat: add pause and resume support as well as preflight check categories
robin-farmx Jun 24, 2026
8878f9d
Add in progress bool to preflight status
robin-farmx Jun 25, 2026
188e51b
Move boolean preflight statuses into single state variable
robin-farmx Jun 25, 2026
8a536ff
feat: support for forcing launch regardless of preflight status
robin-farmx Jun 25, 2026
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13 changes: 13 additions & 0 deletions brain_box_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
msg/MarkerType.msg
msg/MaxMinAve.msg
msg/MissionIdArray.msg
msg/MissionEvent.msg
msg/MissionStatus.msg
msg/PreflightCheckResult.msg
msg/PreflightStatus.msg
msg/NodeStatus.msg
msg/NormalsStamped.msg
msg/NormalWithPoint.msg
Expand Down Expand Up @@ -210,6 +214,15 @@ rosidl_generate_interfaces(${PROJECT_NAME}
srv/SDKPermissionControl.srv
srv/SegmentSearch.srv
srv/VelocityControl.srv
srv/AbortMission.srv
srv/GetMissionStatus.srv
srv/LaunchMission.srv
srv/MissionPreflight.srv
srv/PauseMission.srv
srv/PreflightRun.srv
srv/LoadFlightPlan.srv
srv/ResumeMission.srv
srv/ValidateFlightPlan.srv
srv/VxFlightPlan.srv
srv/VxMissionExec.srv

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1 change: 1 addition & 0 deletions brain_box_msgs/action/VxFlightExec.action
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Expand Up @@ -7,6 +7,7 @@
# key="FP_START" value="id" start flight plan with id
# key="FP_ABORT" value="" abort currently executing flight plan
# key="FP_PAUSE" value="" pause currently executing flight plan
# key="FP_RESUME" value="" resume currently paused flight plan

brain_box_msgs/KeyValue command

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4 changes: 4 additions & 0 deletions brain_box_msgs/msg/MissionEvent.msg
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@@ -0,0 +1,4 @@
builtin_interfaces/Time stamp
string event # PLAN_LOADED, VALIDATED, PREFLIGHT_READY, LAUNCHED, COMPLETED, ABORTED, ERROR
string plan_id
string message
16 changes: 16 additions & 0 deletions brain_box_msgs/msg/MissionStatus.msg
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@@ -0,0 +1,16 @@
builtin_interfaces/Time stamp

# Mission executor states
uint8 NO_PLAN=0
uint8 PLAN_LOADED=1
uint8 VALIDATED=2
uint8 PREFLIGHT_READY=3
uint8 RUNNING=4
uint8 PAUSED=5
uint8 COMPLETED=6
uint8 ABORTED=7
uint8 ERROR=8

uint8 state
string plan_id
string message
4 changes: 4 additions & 0 deletions brain_box_msgs/msg/PreflightCheckResult.msg
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@@ -0,0 +1,4 @@
string check_name
string category
bool passed
string reason
10 changes: 10 additions & 0 deletions brain_box_msgs/msg/PreflightStatus.msg
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@@ -0,0 +1,10 @@
builtin_interfaces/Time stamp

uint8 UNKNOWN=0
uint8 IN_PROGRESS=1
uint8 PASSED=2
uint8 FAILED=3

uint8 state
bool overall_pass
brain_box_msgs/PreflightCheckResult[] checks
4 changes: 4 additions & 0 deletions brain_box_msgs/srv/AbortMission.srv
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---
bool success
string reason
brain_box_msgs/MissionStatus status
4 changes: 4 additions & 0 deletions brain_box_msgs/srv/GetMissionStatus.srv
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---
brain_box_msgs/MissionStatus status
bool success
string reason
5 changes: 5 additions & 0 deletions brain_box_msgs/srv/LaunchMission.srv
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bool force
---
bool success
string reason
brain_box_msgs/MissionStatus status
7 changes: 7 additions & 0 deletions brain_box_msgs/srv/LoadFlightPlan.srv
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string plan_id_hint # optional filename base; empty = derived from XML content
string plan_content # raw XML
---
bool success
string reason
string plan_id
brain_box_msgs/MissionStatus status
5 changes: 5 additions & 0 deletions brain_box_msgs/srv/MissionPreflight.srv
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---
bool success
string reason
brain_box_msgs/PreflightStatus preflight_status
brain_box_msgs/MissionStatus mission_status
4 changes: 4 additions & 0 deletions brain_box_msgs/srv/PauseMission.srv
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---
bool success
string reason
brain_box_msgs/MissionStatus status
3 changes: 3 additions & 0 deletions brain_box_msgs/srv/PreflightRun.srv
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string[] checks_to_skip
---
brain_box_msgs/PreflightStatus result
4 changes: 4 additions & 0 deletions brain_box_msgs/srv/ResumeMission.srv
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---
bool success
string reason
brain_box_msgs/MissionStatus status
4 changes: 4 additions & 0 deletions brain_box_msgs/srv/ValidateFlightPlan.srv
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---
bool success
string reason
brain_box_msgs/MissionStatus status
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