Depth, altitude and location triggers combined with AND in mission rules - #308
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Depth, altitude and location triggers combined with AND in mission rules#308jp-pino wants to merge 2 commits into
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Add DepthTrigger, AltitudeTrigger and LocationTrigger next to DetectionTrigger and wrap the four in a Trigger message with a oneof. MissionRule now carries a repeated list of triggers that must all be satisfied at once, and hold_ms, release_ms and cooldown_ms move from DetectionTrigger to the rule, where they apply to the combination. MissionRuleStatus gains a TriggerStatus per trigger so a client can show which condition is holding a rule back and whether the sensor for it is missing. SetMultibeamConfigCommand and MultibeamDriverCommand carry the GuestPortDeviceID the configuration was made for, and the drone skips the configuration with NOTIFICATION_TYPE_MULTIBEAM_SONAR_MISMATCH when the multibeam driver reports a different sonar. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Say what the drone actually does with a trigger band and with a multibeam configuration: - DepthTrigger and AltitudeTrigger: neither bound may be negative and a maximum that is set has to be above the minimum, so a band with no width is refused rather than accepted as a rule that never fires. A depth trigger reports sensor_unavailable while no depth has reached the mission at all, rather than never. - MissionRule: a rule needs at least one instruction in one of its lists. - SetMultibeamConfigCommand and MultibeamDriverCommand: the configuration is also measured against the range, frequency modes and beam count of the sonar, and a configuration outside them skips the instruction rather than being clamped. For the driver command that means the driver is not started. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
jp-pino
added this pull request to stack #304
September 10, 2026 17:45
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Adds three more mission rule triggers and lets a rule require several at once.
DepthTrigger { min_depth, max_depth }— satisfied between two depths below the surface.max_depthzero means no upper bound.AltitudeTrigger { min_altitude, max_altitude }— satisfied between two heights above the seabed, from a DVL or an altimeter.max_altitudezero means no upper bound.LocationTrigger { position, circle_of_acceptance }— satisfied inside a circle around a position.Triggerwraps the four kinds in aoneof condition(detection_trigger1,depth_trigger2,altitude_trigger3,location_trigger4), with aTriggerKindenum whose values are those field numbers.MissionRuletakesrepeated Trigger triggers = 7, all of which must be satisfied at once. The singledetection_triggerfield 4 is reserved.hold_ms(8),release_ms(9) andcooldown_ms(10) move fromDetectionTriggertoMissionRule, where they apply to the combination;DetectionTriggerreserves 6, 7 and 8.MissionRuleStatustakesrepeated TriggerStatus triggers = 7.TriggerStatus { kind, satisfied, sensor_unavailable }says which condition is holding a rule back, and whether the reading it needs is missing. A trigger whose sensor is unavailable is simply not satisfied.SetMultibeamConfigCommandandMultibeamDriverCommandtake aGuestPortDeviceID expected_device_id— the sonar the configuration was made for. The comments describe the contract: the drone compares it with the sonar the multibeam driver reports and skips the configuration when they differ.NOTIFICATION_TYPE_MULTIBEAM_SONAR_MISMATCH(40) for that skip.Review follow-ups
Comments that did not match the behaviour they describe:
DepthTriggerandAltitudeTrigger: neither bound may be negative, and a maximum that is set has to be above the minimum. A band whose bounds are equal is only ever satisfied by an exact float match, so it is refused rather than accepted as a condition that never holds. A depth trigger reportssensor_unavailablewhile no depth has arrived at all, not never.MissionRule: a rule needs at least one instruction in one of its lists.SetMultibeamConfigCommandandMultibeamDriverCommand: the configuration is also measured against the range, the frequency modes and the beam count of the sonar, and one outside them skips the instruction with a reason instead of being clamped. For the driver command that means the driver is not started.Depends on #307.
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