Mission Files

Version 1.1.0

A mission file is a configuration for a robot controlling software , it defines the execution order and additional properties for example waypoints.

The mission file is composed of a header, a body and a end.

Header

The Header contains some configuration for example the name.

The Header is always written in YAML.

HEADER
mission:true This is a mission file
version:1.0.0 Version of the misson file
mf_version:1.1.0 Version of this readme definition
name: "Example"
author: "Example"
license: "none"
supported-devices:
- 'example-robot'
- 'another example robot'
type:"waypoints"

Example Files for each type are stored in the examples folder.

Types :     
  - waypoints | The Body Defines a list of waypoints with speed height longitude and latitude     
  - script | The Body defines a python script to execute
  - _plugin_name_/_body-type_    
  - ai | The Body defines a way to get input from a neural network and where to send the robots output
  - steps | The Body defines steps to execute for example `{"steps":[{"type":"fly","velocity":[0,0,0]}]}`
  - events-steps | advanced version of the steps parameter allows the device to react do events for example {"events":[{name:"battery-low",run:"example.steps"}]} 

Events that you should send if you are a developer of a robot controlling software that uses this file format

• battery-low
• collision-with-obj
• turned-on
• manual-off

Optional Header objects are :

• ignorerrors:true (default : false) The robot ignores all errors in execution
• simulate:true(default : false) The controlling software executes the mission file in a simulation not on a real device.
• devicecheck:false(default : true) Ignores The supported-devices section of the Header
• yamlbody:true(default:false) Activates the not yet supported option to write the Body and the End part in yaml
• exampleplugin/exampleoption: 1 (default : 0)

Plugins

Plugins are defined in the Header the section is marked with a PLUGINS at the start.

`PLUGINS`
`example_plugin:1.0.0`
`https://example.com/example_plugin.mfplugin`

Body

The Body section is marked with a BODY.

Type 1

`BODY`     
`url:example.com/example.steps` The Url where the real Body is stored.     

Type 2

`BODY`    
`{}`  

Type 3

`BODY`
`file:example.steps`

Here are some lines for your BODY that might be usefull (in waypoint files) :

`{"type":"sleep","time":"4s"}`

End

The end is a Json block that is executed after the body

Error

The error section is a Yaml block that defines what to do if the connection is lost or something bad happens

connection-lost:"example.mission"

Exceptions that you should send if you are a developer of a robot controlling software that uses this file format

connection-lost The connection to the device was lost
collision The device (for example a drone) collided with something.
manual-off The device was turned of by a human
battery-off The battery failed or is empty

.step

Step files contain only a Body and a Error section, they cant be run so they have to be called by a mission file in the body or end part.

{"run":"example.com/example.steps"} | {"run":"example.steps"}