AutoModality · bitcurious · Aug 2, 2024 · Aug 6, 2024 · Aug 23, 2024
diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt
@@ -188,6 +188,30 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 	msg/VxYaw.msg
 	msg/ZEDStatus.msg
 
+	#psdk msg
+	"msg/DisplayMode.msg"
+	"msg/FlightAnomaly.msg"
+	"msg/GimbalStatus.msg"
+	"msg/HomePosition.msg"
+	"msg/PositionFused.msg"
+	"msg/GPSDetails.msg"
+	"msg/RelativeObstacleInfo.msg"
+	"msg/SDKCtrlInfo.msg"
+	"msg/GimbalRotation.msg"
+	"msg/RTKYaw.msg"
+	"msg/FlightStatus.msg"
+	"msg/RCConnectionStatus.msg"
+	"msg/ControlMode.msg"
+	"msg/HmsInfoMsg.msg"
+	"msg/HmsInfoTable.msg"
+	"msg/SingleBatteryInfo.msg"
+	"msg/EscData.msg"
+	"msg/EscStatusIndividual.msg"
+	"msg/FileInfo.msg"
+	"msg/SubFileInfo.msg"
+	"msg/FileAttributes.msg"
+	"msg/PerceptionCameraParameters.msg"
+
 	#services
 	srv/AMMapBoundingBoxQuery.srv
 	srv/AnalyzeSingleImage.srv
@@ -205,6 +229,42 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 	srv/VelocityControl.srv
 	srv/VxFlightPlan.srv
 	srv/VxMissionExec.srv
+
+	#psdk services
+	"srv/CameraGetFileListInfo.srv"
+	"srv/CameraGetType.srv"
+	"srv/CameraSetExposureModeEV.srv"
+	"srv/CameraGetExposureModeEV.srv"
+	"srv/CameraSetShutterSpeed.srv"
+	"srv/CameraGetShutterSpeed.srv"
+	"srv/CameraSetISO.srv"
+	"srv/CameraGetISO.srv"
+	"srv/CameraSetFocusTarget.srv"
+	"srv/CameraGetFocusTarget.srv"
+	"srv/CameraSetFocusMode.srv"
+	"srv/CameraGetFocusMode.srv"
+	"srv/CameraSetOpticalZoom.srv"
+	"srv/CameraGetOpticalZoom.srv"
+	"srv/CameraSetInfraredZoom.srv"
+	"srv/CameraSetAperture.srv"
+	"srv/CameraGetAperture.srv"
+	"srv/CameraShootSinglePhoto.srv"
+	"srv/CameraShootBurstPhoto.srv"
+	"srv/CameraShootIntervalPhoto.srv"
+	"srv/CameraStopShootPhoto.srv"
+	"srv/CameraRecordVideo.srv"
+	"srv/CameraGetLaserRangingInfo.srv"
+	"srv/CameraSetupStreaming.srv"
+	"srv/CameraFormatSdCard.srv"
+	"srv/CameraGetSDStorageInfo.srv"
+	"srv/GimbalSetMode.srv"
+	"srv/GimbalReset.srv"
+	"srv/SetHomeFromGPS.srv"
+	"srv/SetGoHomeAltitude.srv"
+	"srv/GetGoHomeAltitude.srv"
+	"srv/SetObstacleAvoidance.srv"
+	"srv/GetObstacleAvoidance.srv"
+	"srv/PerceptionStereoVisionSetup.srv"
 
 	#actions
 	action/CheckForObjects.action
@@ -216,6 +276,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 	action/RTL.action
 	action/VxFlightExec.action
 	action/Fibonacci.action
+
+	#psdk action
+	"action/CameraDeleteFileByIndex.action"
+	"action/CameraDownloadFileByIndex.action"
 
 	DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs nav_msgs shape_msgs vision_msgs rcl_interfaces
  )

diff --git a/brain_box_msgs/action/CameraDeleteFileByIndex.action b/brain_box_msgs/action/CameraDeleteFileByIndex.action
@@ -0,0 +1,8 @@
+# goal
+uint8 payload_index 1       # see enum E_DjiMountPosition in dji_typedef.h
+uint32 file_index
+---
+# result
+bool success
+---
+# feedback
diff --git a/brain_box_msgs/action/CameraDownloadFileByIndex.action b/brain_box_msgs/action/CameraDownloadFileByIndex.action
@@ -0,0 +1,11 @@
+# goal
+uint8 payload_index 1       # see enum E_DjiMountPosition in dji_typedef.h
+uint32 file_index
+string file_name
+string file_path 
+
+---
+# result
+bool success
+---
+# feedback
diff --git a/brain_box_msgs/msg/ControlMode.msg b/brain_box_msgs/msg/ControlMode.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+uint8 control_mode      # The modes in which the aircraft is being controlled (control loops being applied on horizontal, vertical and yaw axes of the aircraft)
+uint8 device_mode       # 0->RC  1->MSDK  4->PSDK
+uint8 control_auth      # 1->Has control authority 0->No control authority
diff --git a/brain_box_msgs/msg/DisplayMode.msg b/brain_box_msgs/msg/DisplayMode.msg
@@ -0,0 +1,49 @@
+uint8 DISPLAY_MODE_MANUAL_CTRL = 0
+uint8 DISPLAY_MODE_ATTITUDE = 1
+uint8 DISPLAY_MODE_RESERVED_2 = 2
+uint8 DISPLAY_MODE_RESERVED_3 = 3
+uint8 DISPLAY_MODE_RESERVED_4 = 4
+uint8 DISPLAY_MODE_RESERVED_5 = 5
+uint8 DISPLAY_MODE_P_GPS = 6
+uint8 DISPLAY_MODE_RESERVED_7 = 7
+uint8 DISPLAY_MODE_RESERVED_8 = 8
+uint8 DISPLAY_MODE_HOTPOINT_MODE = 9
+uint8 DISPLAY_MODE_ASSISTED_TAKEOFF = 10
+uint8 DISPLAY_MODE_AUTO_TAKEOFF = 11
+uint8 DISPLAY_MODE_AUTO_LANDING = 12
+uint8 DISPLAY_MODE_RESERVED_13 = 13
+uint8 DISPLAY_MODE_RESERVED_14 = 14
+uint8 DISPLAY_MODE_NAVI_GO_HOME = 15
+uint8 DISPLAY_MODE_RESERVED_16 = 16
+uint8 DISPLAY_MODE_NAVI_SDK_CTRL = 17
+uint8 DISPLAY_MODE_RESERVED_18 = 18
+uint8 DISPLAY_MODE_RESERVED_19 = 19
+uint8 DISPLAY_MODE_RESERVED_20 = 20
+uint8 DISPLAY_MODE_RESERVED_21 = 21
+uint8 DISPLAY_MODE_RESERVED_22 = 22
+uint8 DISPLAY_MODE_RESERVED_23 = 23
+uint8 DISPLAY_MODE_RESERVED_24 = 24
+uint8 DISPLAY_MODE_RESERVED_25 = 25
+uint8 DISPLAY_MODE_RESERVED_26 = 26
+uint8 DISPLAY_MODE_RESERVED_27 = 27
+uint8 DISPLAY_MODE_RESERVED_28 = 28
+uint8 DISPLAY_MODE_RESERVED_29 = 29
+uint8 DISPLAY_MODE_RESERVED_30 = 30
+uint8 DISPLAY_MODE_RESERVED_31 = 31
+uint8 DISPLAY_MODE_RESERVED_32 = 32
+uint8 DISPLAY_MODE_FORCE_AUTO_LANDING = 33
+uint8 DISPLAY_MODE_RESERVED_34 = 34
+uint8 DISPLAY_MODE_RESERVED_35 = 35
+uint8 DISPLAY_MODE_RESERVED_36 = 36
+uint8 DISPLAY_MODE_RESERVED_37 = 37
+uint8 DISPLAY_MODE_RESERVED_38 = 38
+uint8 DISPLAY_MODE_RESERVED_39 = 39
+uint8 DISPLAY_MODE_SEARCH_MODE = 40
+uint8 DISPLAY_MODE_ENGINE_START = 41
+uint8 DISPLAY_MODE_RESERVED_42 = 42
+uint8 DISPLAY_MODE_RESERVED_43 = 42
+
+
+
+std_msgs/Header header  
+uint8 display_mode
diff --git a/brain_box_msgs/msg/EscData.msg b/brain_box_msgs/msg/EscData.msg
@@ -0,0 +1,5 @@
+
+
+std_msgs/Header header  
+
+EscStatusIndividual[] esc   # Array of ESC status
diff --git a/brain_box_msgs/msg/EscStatusIndividual.msg b/brain_box_msgs/msg/EscStatusIndividual.msg
@@ -0,0 +1,9 @@
+int16 current            # ESC current, unit: mA
+int16 speed              # ESC speed, unit: rpm
+uint16 voltage           # Input power from battery to ESC, unit: mV
+int16 temperature        # ESC temperature, unit: degree C
+int16 stall              # Motor is stall
+int16 empty              # Motor has no load
+int16 unbalanced         # Motor speed is unbalanced
+int16 esc_disconnected   # ESC is disconnected
+int16 temperature_high   # Temperature is high
diff --git a/brain_box_msgs/msg/FileAttributes.msg b/brain_box_msgs/msg/FileAttributes.msg
@@ -0,0 +1,6 @@
+uint32 photo_ratio
+uint32 photo_rotation
+uint32 video_duration
+uint32 video_frame_rate
+uint32 video_rotation
+uint32 video_resolution
diff --git a/brain_box_msgs/msg/FileInfo.msg b/brain_box_msgs/msg/FileInfo.msg
@@ -0,0 +1,8 @@
+string name
+uint8  type
+uint32 size
+uint32 index
+int64 create_time_unix
+FileAttributes attributes
+uint8 number_sub_files
+SubFileInfo[] sub_files
diff --git a/brain_box_msgs/msg/FlightAnomaly.msg b/brain_box_msgs/msg/FlightAnomaly.msg
@@ -0,0 +1,15 @@
+std_msgs/Header header
+uint32 impact_in_air                     # 0: No impact,                      1: _impact happens in Air 
+uint32 random_fly                       # 0: Normal,                         1: Randomly fly in GPS mode without stick input
+uint32 height_ctrl_fail                  # 0: Height control normal,          1: Height control failed 
+uint32 roll_pitch_ctrl_fail               # 0: Tilt control normal,            1: Tilt control failed 
+uint32 yaw_ctrl_fail                     # 0: Yaw control normal,             1: Yaw control failed 
+uint32 aircraft_is_falling              # 0: Aircraft is not falling,        1: Aircraft is falling 
+uint32 strong_wind_level1               # 0: wind is under big wind level 1, 1: wind is stronger than  big wind level 1
+uint32 strong_wind_level2               # 0: wind is under big wind level 2, 1: wind is stronger than  big wind level 2
+uint32 compass_installation_error       # 0: Compass install right,          1: Compass install error 
+uint32 imu_installation_error           # 0: IMU install right,              1: IMU install error 
+uint32 esc_temperature_high             # 0: ESC temperature is normal,      1: ESC temperature is high 
+uint32 at_least_one_esc_disconnected     # 0: No ESC disconnected,            1: At least one ESC is disconnected 
+uint32 gps_yaw_error                    # 0: No GPS yaw error,               1: GPS yaw error 
+uint32 reserved
diff --git a/brain_box_msgs/msg/FlightStatus.msg b/brain_box_msgs/msg/FlightStatus.msg
@@ -0,0 +1,6 @@
+uint8 FLIGHT_STATUS_STOPED = 0
+uint8 FLIGHT_STATUS_ON_GROUND = 1
+uint8 FLIGHT_STATUS_ON_AIR = 2
+
+std_msgs/Header header  
+uint8 flight_status
diff --git a/brain_box_msgs/msg/GPSDetails.msg b/brain_box_msgs/msg/GPSDetails.msg
@@ -0,0 +1,19 @@
+std_msgs/Header header
+float32 horizontal_dop                             # Horizontal dilution of precision, unit: 0.01, eg: 100 = 1.00, <1: ideal, 1-2: excellent, 2-5: good, 5-10: moderate, 10-20: fair, >20: poor.
+float32 position_dop                               # Position dilution of precision, unit: 0.01, eg: 100 = 1.00, <1: ideal, 1-2: excellent, 2-5: good, 5-10: moderate, 10-20: fair, >20: poor.
+
+uint16 GPS_FIX_STATE_NO_FIX = 0                    # GPS position has not been fixed. 
+uint16 GPS_FIX_STATE_DEAD_RECKONING_ONLY = 1       # GPS position is dead reckoned only. 
+uint16 GPS_FIX_STATE_2D_FIX = 2                    # The horizontal position with latitude/longitude (or northing/easting or X/Y) is fixed. 
+uint16 GPS_FIX_STATE_3D_FIX = 3                    # The horizontal and vertical position with latitude/longitude/altitude (northing/easting/altitude or X/Y/Z) is fixed. 
+uint16 GPS_FIX_STATE_GPS_PLUS_DEAD_RECKONING = 4   # Position is calculated by GPS and combined with dead reckoning. 
+uint16 GPS_FIX_STATE_TIME_ONLY_FIX = 5             # Only time is fixed. 
+float32 fix_state   
+
+float32 vertical_accuracy                           # Vertical position accuracy (mm), the smaller, the better.
+float32 horizontal_accuracy                         # Horizontal position accuracy (mm), the smaller, the better.
+float32 speed_accuracy                              # Speed accuracy (cm/s), the smaller, the better.
+uint32 num_gps_satellites_used                      # Number of GPS satellites used for fixing position.
+uint32 num_glonass_satellites_used                  # Number of GLONASS satellites used for fixing position.
+uint16 num_total_satellites_used                    # Total number of satellites used for fixing position.
+uint16 gps_counter                                  # Accumulated times of sending GPS data.
diff --git a/brain_box_msgs/msg/GimbalRotation.msg b/brain_box_msgs/msg/GimbalRotation.msg
@@ -0,0 +1,8 @@
+uint8 payload_index 1 # see enum E_DjiMountPosition in dji_typedef.h
+uint8 rotation_mode # see E_DjiGimbalRotationMode in dji_gimbal_manager.h 0 /*!< Incremental angle rotation mode, represents rotating gimbal specified angles based on current angles. */
+                                                                        # 1, /*!< Absolute angle rotation mode, represents rotating gimbal to specified angles in the ground coordinate. */
+                                                                        # 2  /*!< Speed rotation mode, specifies rotation speed of gimbal in the ground coordinate. */
+float32 pitch # unit: radians
+float32 roll  # unit: radians
+float32 yaw   # unit: radians
+float32 time  # /*!< Expect execution time of gimbal rotation, unit: second. */
diff --git a/brain_box_msgs/msg/GimbalStatus.msg b/brain_box_msgs/msg/GimbalStatus.msg
@@ -0,0 +1,18 @@
+std_msgs/Header header
+uint32 mount_status            # 1 - gimbal mounted, 0 - gimbal not mounted
+uint32 is_busy
+uint32 pitch_limited           # 1 - axis reached limit, 0 - no 
+uint32 roll_limited            # 1 - axis reached limit, 0 - no 
+uint32 yaw_limited             # 1 - axis reached limit, 0 - no 
+uint32 calibrating            # 1 - calibrating, 0 - no 
+uint32 prev_calibration_result # 1 - success, 0 - fail 
+uint32 installed_direction     # 1 - reversed for OSMO, 0 - normal 
+uint32 disabled_mvo
+uint32 gear_show_unable
+uint32 gyro_falut              # 1 - fault, 0 - normal 
+uint32 esc_pitch_status         # 1 - Pitch data is normal, 0 - fault 
+uint32 esc_roll_status          # 1 - Roll data is normal, 0 - fault 
+uint32 esc_yaw_status           # 1 - Yaw data is normal , 0 - fault 
+uint32 drone_data_recv          # 1 - normal , 0 - at fault 
+uint32 init_unfinished         # 1 - init complete, 0 - not complete 
+uint32 fw_updating             # 1 - updating, 0 - not updating 
diff --git a/brain_box_msgs/msg/HmsInfoMsg.msg b/brain_box_msgs/msg/HmsInfoMsg.msg
@@ -0,0 +1,10 @@
+uint32 error_code           # Error code associated to HMS message
+uint8 component_index       # Related to "payloadId" in the camera module
+uint8 error_level
+string ground_info          # Description of the error code if/when the drone is on the ground
+string fly_info             # Description of the error code if/when the drone is in the air
+
+uint8 MIN_HMS_ERROR_LEVEL = 0
+uint8 MID_HMS_ERROR_LEVEL = 3
+uint8 MAX_HMS_ERROR_LEVEL = 6
+
diff --git a/brain_box_msgs/msg/HmsInfoTable.msg b/brain_box_msgs/msg/HmsInfoTable.msg
@@ -0,0 +1,3 @@
+uint32 num_msg          # Length of 'table' array
+HmsInfoMsg[] table      # Array of HmsInfoMsg
+
diff --git a/brain_box_msgs/msg/HomePosition.msg b/brain_box_msgs/msg/HomePosition.msg
@@ -0,0 +1,7 @@
+uint8 HOME_POSITION_STATUS_FAILED = 0
+uint8 HOME_POSITION_STATUS_SUCCESS = 1
+
+std_msgs/Header header
+uint8 home_position_status 
+float64 latitude
+float64 longitude
diff --git a/brain_box_msgs/msg/PerceptionCameraParameters.msg b/brain_box_msgs/msg/PerceptionCameraParameters.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+uint8 stereo_cameras_direction
+float64[9] left_intrinsics
+float64[9] right_intrinsics
+float64[9] rotation_left_in_right
+float64[3] translation_left_in_right
diff --git a/brain_box_msgs/msg/PositionFused.msg b/brain_box_msgs/msg/PositionFused.msg
@@ -0,0 +1,5 @@
+std_msgs/Header header
+geometry_msgs/Point position
+uint8 x_health
+uint8 y_health
+uint8 z_health
diff --git a/brain_box_msgs/msg/RCConnectionStatus.msg b/brain_box_msgs/msg/RCConnectionStatus.msg
@@ -0,0 +1,5 @@
+std_msgs/Header header
+uint8 air_connection                    # Sky side is connected, i.e., receiver is connected to FC
+uint8 ground_connection                 # Ground side is connected, i.e., RC is on and connected to FC
+uint8 app_connection                    # Mobile App is connected to RC
+uint8 air_or_ground_disconnected        # 0 if sky or ground side is disconnected for 3 seconds
diff --git a/brain_box_msgs/msg/RTKYaw.msg b/brain_box_msgs/msg/RTKYaw.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+uint16 yaw                  # unit: deg. The RTK yaw will provide the vector from ANT1 to ANT2 as configured in DJI Assistant 2. This
+                            # means that the value of RTK yaw will be 90deg offset from the yaw of the aircraft.
diff --git a/brain_box_msgs/msg/RelativeObstacleInfo.msg b/brain_box_msgs/msg/RelativeObstacleInfo.msg
@@ -0,0 +1,15 @@
+std_msgs/Header header
+
+float32 down               # distance from obstacle (m) 
+float32 front              # distance from obstacle (m) 
+float32 right              # distance from obstacle (m) 
+float32 back               # distance from obstacle (m) 
+float32 left               # distance from obstacle (m) 
+float32 up                 # distance from obstacle (m) 
+uint8 down_health          # Down sensor flag: 0 - not working, 1 - working 
+uint8 front_health         # Front sensor flag: 0 - not working, 1 - working 
+uint8 right_health         # Right sensor flag: 0 - not working, 1 - working 
+uint8 back_health          # Back sensor flag: 0 - not working, 1 - working 
+uint8 left_health          # Left sensor flag: 0 - not working, 1 - working 
+uint8 up_health            # Up sensor health flag: 0 - not working, 1 - working 
+uint8 reserved              # Reserved sensor health flag
diff --git a/brain_box_msgs/msg/SDKCtrlInfo.msg b/brain_box_msgs/msg/SDKCtrlInfo.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+uint8 control_mode         # see CtlrMode in dji_status.hpp
+uint8 device_status        # 0->rc  1->app  4->serial 
+uint8 flight_status        # 1->opensd  0->close 
+uint8 vrc_status
+uint8 reserved
diff --git a/brain_box_msgs/msg/SingleBatteryInfo.msg b/brain_box_msgs/msg/SingleBatteryInfo.msg
@@ -0,0 +1,16 @@
+std_msgs/Header header
+
+uint8 battery_index
+float32 voltage
+float32 current
+float32 full_capacity
+float32 capacity_remain
+float32 capacity_percentage
+float32 temperature
+uint8 cell_count
+uint32 self_check_error
+uint32 closed_reason
+uint16 abnormal_comm
+uint16 is_embed
+
+
diff --git a/brain_box_msgs/msg/SubFileInfo.msg b/brain_box_msgs/msg/SubFileInfo.msg
@@ -0,0 +1,6 @@
+string name
+uint8  type
+uint32 size
+uint32 index
+int64 create_time_unix
+FileAttributes attributes
diff --git a/brain_box_msgs/srv/CameraFormatSdCard.srv b/brain_box_msgs/srv/CameraFormatSdCard.srv
@@ -0,0 +1,6 @@
+#request
+uint8 payload_index 1   # see enum E_DjiMountPosition in dji_typedef.h
+
+---
+#response
+bool success
diff --git a/brain_box_msgs/srv/CameraGetAperture.srv b/brain_box_msgs/srv/CameraGetAperture.srv
@@ -0,0 +1,6 @@
+#request
+uint8 payload_index 1       # see enum E_DjiMountPosition in dji_typedef.h
+---
+#response
+bool success
+uint16 aperture              # see enum E_DjiCameraManagerAperture in dji_camera_manager.h
diff --git a/brain_box_msgs/srv/CameraGetExposureModeEV.srv b/brain_box_msgs/srv/CameraGetExposureModeEV.srv
@@ -0,0 +1,7 @@
+#request
+uint8 payload_index 1       # see enum E_DjiMountPosition in dji_typedef.h
+---
+#response
+bool success  
+uint8 exposure_mode         # see enum  E_DjiCameraManagerExposureMode in dji_camera_manager.h
+uint8 ev_factor             # ev_factor see enum E_DjiCameraManagerExposureCompensation in dji_camera_manager.h
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,5 @@


		std_msgs/Header header

		EscStatusIndividual[] esc # Array of ESC status
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		uint32 num_msg # Length of 'table' array
		HmsInfoMsg[] table # Array of HmsInfoMsg