skeleton layout of remaining mission ticks (#130)

skeleton headers and source files for ticks outlined on the wiki https://tritonuas.github.io/wiki/software/obc/tick_architecture/tick_overview/

include/ticks/airdrop_approach.hpp

@@ -0,0 +1,23 @@
+#ifndef INCLUDE_TICKS_AIRDROP_APPROACH_HPP_
+#define INCLUDE_TICKS_AIRDROP_APPROACH_HPP_
+
+#include <memory>
+#include <chrono>
+
+#include "ticks/tick.hpp"
+
+/*
+ * Fly to aidrop points and communicate with airdrop mechanism.
+ * 
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/airdropapproach/
+ */
+class AirdropApproachTick : public Tick {
+ public:
+ explicit AirdropApproachTick(std::shared_ptr<MissionState> state);
+
+ std::chrono::milliseconds getWait() const override;
+
+ Tick* tick() override;
+};
+
+#endif // INCLUDE_TICKS_AIRDROP_APPROACH_HPP_

include/ticks/auto_landing.hpp

@@ -0,0 +1,21 @@
+#ifndef INCLUDE_TICKS_AUTO_LANDING_HPP_
+#define INCLUDE_TICKS_AUTO_LANDING_HPP_
+
+#include <memory>
+#include <chrono>
+
+#include "ticks/tick.hpp"
+
+/*
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/autolanding/
+ */
+class AutoLandingTick : public Tick {
+ public:
+ explicit AutoLandingTick(std::shared_ptr<MissionState> state);
+
+ std::chrono::milliseconds getWait() const override;
+
+ Tick* tick() override;
+};
+
+#endif // INCLUDE_TICKS_AUTO_LANDING_HPP_

include/ticks/cv_loiter.hpp

@@ -0,0 +1,24 @@
+#ifndef INCLUDE_TICKS_CV_LOITER_HPP_
+#define INCLUDE_TICKS_CV_LOITER_HPP_
+
+#include <memory>
+#include <chrono>
+
+#include "ticks/tick.hpp"
+
+/*
+ * Stop taking photos, loiter away from the search zone
+ * and wait until CV processing is done. 
+ * 
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/cvloiter/
+ */
+class CVLoiterTick : public Tick {
+ public:
+ explicit CVLoiterTick(std::shared_ptr<MissionState> state);
+
+ std::chrono::milliseconds getWait() const override;
+
+ Tick* tick() override;
+};
+
+#endif // INCLUDE_TICKS_CV_LOITER_HPP_

include/ticks/fly_search.hpp

@@ -0,0 +1,24 @@
+#ifndef INCLUDE_TICKS_FLY_SEARCH_HPP_
+#define INCLUDE_TICKS_FLY_SEARCH_HPP_
+
+#include <memory>
+#include <chrono>
+
+#include "ticks/tick.hpp"
+
+/*
+ * Take photos and run CV pipeline while flying over
+ * search region
+ * 
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/flysearch/
+ */
+class FlySearchTick : public Tick {
+ public:
+ explicit FlySearchTick(std::shared_ptr<MissionState> state);
+
+ std::chrono::milliseconds getWait() const override;
+
+ Tick* tick() override;
+};
+
+#endif // INCLUDE_TICKS_FLY_SEARCH_HPP_

include/ticks/fly_waypoints.hpp

@@ -0,0 +1,23 @@
+#ifndef INCLUDE_TICKS_FLY_WAYPOINTS_HPP_
+#define INCLUDE_TICKS_FLY_WAYPOINTS_HPP_
+
+#include <memory>
+#include <chrono>
+
+#include "ticks/tick.hpp"
+
+/*
+ * Handles logic during flight of initial waypoints 
+ * 
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/flywaypoints/
+ */
+class FlyWaypointsTick : public Tick {
+ public:
+ explicit FlyWaypointsTick(std::shared_ptr<MissionState> state);
+
+ std::chrono::milliseconds getWait() const override;
+
+ Tick* tick() override;
+};
+
+#endif // INCLUDE_TICKS_FLY_WAYPOINTS_HPP_

include/ticks/ids.hpp

@@ -8,7 +8,14 @@ enum class TickID {
  PathGen,
  PathValidate,
  MissionUpload,
- MissionStart
+ Takeoff,
+ FlyWaypoints,
+ FlySearch,
+ CVLoiter,
+ AirdropApproach,
+ ManualLanding,
+ AutoLanding,
+ MissionDone
 };
 
 #define _SET_TICK_ID_MAPPING(id) \
@@ -20,7 +27,14 @@ constexpr const char* TICK_ID_TO_STR(TickID id) {
  _SET_TICK_ID_MAPPING(PathGen);
  _SET_TICK_ID_MAPPING(PathValidate);
  _SET_TICK_ID_MAPPING(MissionUpload);
- _SET_TICK_ID_MAPPING(MissionStart);
+ _SET_TICK_ID_MAPPING(Takeoff);
+ _SET_TICK_ID_MAPPING(FlyWaypoints);
+ _SET_TICK_ID_MAPPING(FlySearch);
+ _SET_TICK_ID_MAPPING(CVLoiter);
+ _SET_TICK_ID_MAPPING(AirdropApproach);
+ _SET_TICK_ID_MAPPING(ManualLanding);
+ _SET_TICK_ID_MAPPING(AutoLanding);
+ _SET_TICK_ID_MAPPING(MissionDone);
  default: return "Unknown TickID";
  }
 }

include/ticks/manual_landing.hpp

@@ -0,0 +1,21 @@
+#ifndef INCLUDE_TICKS_MANUAL_LANDING_HPP_
+#define INCLUDE_TICKS_MANUAL_LANDING_HPP_
+
+#include <memory>
+#include <chrono>
+
+#include "ticks/tick.hpp"
+
+/*
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/manuallanding/
+ */
+class ManualLandingTick : public Tick {
+ public:
+ explicit ManualLandingTick(std::shared_ptr<MissionState> state);
+
+ std::chrono::milliseconds getWait() const override;
+
+ Tick* tick() override;
+};
+
+#endif // INCLUDE_TICKS_MANUAL_LANDING_HPP_

include/ticks/mission_done.hpp

@@ -0,0 +1,21 @@
+#ifndef INCLUDE_TICKS_MISSION_DONE_HPP_
+#define INCLUDE_TICKS_MISSION_DONE_HPP_
+
+#include <memory>
+#include <chrono>
+
+#include "ticks/tick.hpp"
+
+/*
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/missiondone/
+ */
+class MissionDoneTick : public Tick {
+ public:
+ explicit MissionDoneTick(std::shared_ptr<MissionState> state);
+
+ std::chrono::milliseconds getWait() const override;
+
+ Tick* tick() override;
+};
+
+#endif // INCLUDE_TICKS_MISSION_DONE_HPP_

include/ticks/mission_prep.hpp

@@ -10,6 +10,8 @@
 /*
  * Checks every second whether or not a valid mission has been uploaded.
  * Transitions to PathGenTick once it has been generated.
+ * 
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/missionprep/
  */
 class MissionPrepTick : public Tick {
  public:

include/ticks/mission_upload.hpp

@@ -9,8 +9,10 @@
 #include "ticks/tick.hpp"
 
 /*
- * 
+ * Handles uploading waypoint mission to the Pixhawk flight
+ * controller over Mavlink messages.
  *
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/missionupload/
  */
 class MissionUploadTick: public Tick {
  public:

include/ticks/path_gen.hpp

@@ -14,6 +14,8 @@
 /*
  * Generates a path, caches the path in the mission state,
  * then waits for it to be validated.
+ *
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/pathgen/
  */
 class PathGenTick : public Tick {
  public:

include/ticks/path_validate.hpp

@@ -9,8 +9,9 @@
 #include "core/mission_state.hpp"
 
 /*
- * Generates a path, caches the path in the mission state,
- * then waits for it to be validated.
+ * Check validation of the generated path by the GCS. 
+ * 
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/pathvalidate/
  */
 class PathValidateTick : public Tick {
  public:

include/ticks/mission_start.hpp → include/ticks/takeoff.hpp

@@ -1,24 +1,24 @@
-#ifndef INCLUDE_TICKS_MISSION_START_HPP_
-#define INCLUDE_TICKS_MISSION_START_HPP_
+#ifndef INCLUDE_TICKS_TAKEOFF_HPP_
+#define INCLUDE_TICKS_TAKEOFF_HPP_
 
 #include <memory>
 #include <chrono>
-#include <string>
-#include <future>
 
 #include "ticks/tick.hpp"
 
 /*
  * Waits until the plane has been switched into autopilot mode, then switches to the 
  * next state. IF we ever implement autonomous takeoff, this will need to be replaced.
+ * 
+ * See https://tritonuas.github.io/wiki/software/obc/tick_architecture/ticks/takeoff/
  */
-class MissionStartTick: public Tick {
+class TakeoffTick: public Tick {
  public:
- explicit MissionStartTick(std::shared_ptr<MissionState> state);
+ explicit TakeoffTick(std::shared_ptr<MissionState> state);
 
  std::chrono::milliseconds getWait() const override;
 
  Tick* tick() override;
 };
 
-#endif // INCLUDE_TICKS_MISSION_START_HPP_
+#endif // INCLUDE_TICKS_TAKEOFF_HPP_

include/utilities/constants.hpp

@@ -47,7 +47,14 @@ const std::chrono::milliseconds MISSION_PREP_TICK_WAIT = std::chrono::millisecon
 const std::chrono::milliseconds PATH_GEN_TICK_WAIT = std::chrono::milliseconds(1000);
 const std::chrono::milliseconds PATH_VALIDATE_TICK_WAIT = std::chrono::milliseconds(1000);
 const std::chrono::milliseconds MISSION_UPLOAD_TICK_WAIT = std::chrono::milliseconds(1000);
-const std::chrono::milliseconds MISSION_START_TICK_WAIT = std::chrono::milliseconds(100);
+const std::chrono::milliseconds TAKEOFF_TICK_WAIT = std::chrono::milliseconds(100);
+const std::chrono::milliseconds FLY_WAYPOINTS_TICK_WAIT = std::chrono::milliseconds(100);
+const std::chrono::milliseconds FLY_SEARCH_TICK_WAIT = std::chrono::milliseconds(100);
+const std::chrono::milliseconds CV_LOITER_TICK_WAIT = std::chrono::milliseconds(100);
+const std::chrono::milliseconds AIRDROP_APPROACH_TICK_WAIT = std::chrono::milliseconds(100);
+const std::chrono::milliseconds MANUAL_LANDING_TICK_WAIT = std::chrono::milliseconds(100);
+const std::chrono::milliseconds AUTO_LANDING_TICK_WAIT = std::chrono::milliseconds(100);
+const std::chrono::milliseconds MISSION_DONE_TICK_WAIT = std::chrono::milliseconds(100);
 
 const double EARTH_RADIUS_METERS = 6378137.0;
 

src/ticks/airdrop_approach.cpp

@@ -0,0 +1,17 @@
+#include "ticks/airdrop_approach.hpp"
+
+#include <memory>
+
+#include "ticks/ids.hpp"
+#include "utilities/constants.hpp"
+
+AirdropApproachTick::AirdropApproachTick(std::shared_ptr<MissionState> state)
+ :Tick(state, TickID::AirdropApproach) {}
+
+std::chrono::milliseconds AirdropApproachTick::getWait() const {
+ return AIRDROP_APPROACH_TICK_WAIT;
+}
+
+Tick* AirdropApproachTick::tick() {
+ return nullptr;
+}

src/ticks/auto_landing.cpp

@@ -0,0 +1,17 @@
+#include "ticks/auto_landing.hpp"
+
+#include <memory>
+
+#include "ticks/ids.hpp"
+#include "utilities/constants.hpp"
+
+AutoLandingTick::AutoLandingTick(std::shared_ptr<MissionState> state)
+ :Tick(state, TickID::AutoLanding) {}
+
+std::chrono::milliseconds AutoLandingTick::getWait() const {
+ return AUTO_LANDING_TICK_WAIT;
+}
+
+Tick* AutoLandingTick::tick() {
+ return nullptr;
+}

src/ticks/cv_loiter.cpp

@@ -0,0 +1,17 @@
+#include "ticks/cv_loiter.hpp"
+
+#include <memory>
+
+#include "ticks/ids.hpp"
+#include "utilities/constants.hpp"
+
+CVLoiterTick::CVLoiterTick(std::shared_ptr<MissionState> state)
+ :Tick(state, TickID::CVLoiter) {}
+
+std::chrono::milliseconds CVLoiterTick::getWait() const {
+ return CV_LOITER_TICK_WAIT;
+}
+
+Tick* CVLoiterTick::tick() {
+ return nullptr;
+}

src/ticks/fly_search.cpp

@@ -0,0 +1,17 @@
+#include "ticks/fly_search.hpp"
+
+#include <memory>
+
+#include "ticks/ids.hpp"
+#include "utilities/constants.hpp"
+
+FlySearchTick::FlySearchTick(std::shared_ptr<MissionState> state)
+ :Tick(state, TickID::FlySearch) {}
+
+std::chrono::milliseconds FlySearchTick::getWait() const {
+ return FLY_SEARCH_TICK_WAIT;
+}
+
+Tick* FlySearchTick::tick() {
+ return nullptr;
+}

src/ticks/fly_waypoints.cpp

@@ -0,0 +1,17 @@
+#include "ticks/fly_waypoints.hpp"
+
+#include <memory>
+
+#include "ticks/ids.hpp"
+#include "utilities/constants.hpp"
+
+FlyWaypointsTick::FlyWaypointsTick(std::shared_ptr<MissionState> state)
+ :Tick(state, TickID::FlyWaypoints) {}
+
+std::chrono::milliseconds FlyWaypointsTick::getWait() const {
+ return FLY_WAYPOINTS_TICK_WAIT;
+}
+
+Tick* FlyWaypointsTick::tick() {
+ return nullptr;
+}

src/ticks/manual_landing.cpp

@@ -0,0 +1,17 @@
+#include "ticks/manual_landing.hpp"
+
+#include <memory>
+
+#include "ticks/ids.hpp"
+#include "utilities/constants.hpp"
+
+ManualLandingTick::ManualLandingTick(std::shared_ptr<MissionState> state)
+ :Tick(state, TickID::ManualLanding) {}
+
+std::chrono::milliseconds ManualLandingTick::getWait() const {
+ return MANUAL_LANDING_TICK_WAIT;
+}
+
+Tick* ManualLandingTick::tick() {
+ return nullptr;
+}