Mission instructions, instruction updates and mission rules

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";
 option java_multiple_files = true;
 
@@ -129,6 +130,28 @@ 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, laser, multibeam, tilt
+// stabilization, CV model, annotation, set speed) run in any mission state, alongside a running
+// mission. Instructions that move the drone (waypoint, go to home, transect, survey, depth set
+// point, relative depth, go to surface or seabed, control mode, set heading) run only while no
+// mission is running, one at a time, and are rejected otherwise. A wait is rejected. 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/message_formats.proto

@@ -806,6 +806,14 @@ enum NotificationType {
   NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED = 32; // DVL thermal protection mode detected.
   NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED = 33; // Video partition not mounted.
   NOTIFICATION_TYPE_DVL_PROTOCOL_UNSUPPORTED = 34; // DVL firmware speaks a protocol version Blunux does not support.
+  NOTIFICATION_TYPE_INSTRUCTION_STARTED = 35; // An instruction started; the value names it or is its target.
+  NOTIFICATION_TYPE_MISSION_PAUSED_BY_INSTRUCTION = 36; // Paused after the instruction whose id is the value.
+  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.
+  // A multibeam instruction was made for a different sonar than the one the multibeam driver
+  // reports, so it was skipped; the value is the id of the skipped instruction.
+  NOTIFICATION_TYPE_MULTIBEAM_SONAR_MISMATCH = 40;
 }
 
 // List of available notification levels.