63 lines
1.7 KiB
Dart
63 lines
1.7 KiB
Dart
import '../domain/waypoint/flat_waypoint_list.dart';
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/// Abstrakte Flugmodi, protokollunabhaengig (Architektur-Doku 3.1).
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enum FlightMode { missionRun, guidedPoint, returnHome, hold }
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/// Feature-Flags des angebundenen Flightcontrollers (Doku 3.1).
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class FcCapabilities {
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const FcCapabilities({
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required this.supportsMultiMission,
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required this.supportsInFlightUpload,
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required this.maxWaypoints,
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});
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final bool supportsMultiMission;
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final bool supportsInFlightUpload;
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final int maxWaypoints;
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}
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/// Normalisiertes Telemetrie-Frame, das an die UI weitergereicht wird (Doku 3.4).
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class TelemetryFrame {
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const TelemetryFrame({
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required this.lat,
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required this.lon,
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required this.altitudeM,
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required this.speedMs,
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required this.headingDeg,
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required this.armed,
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this.activeWaypointIndex,
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});
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final double lat;
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final double lon;
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final double altitudeM;
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final double speedMs;
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/// Kurs ueber Grund in Grad (0 = Norden, im Uhrzeigersinn) - dreht den
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/// Drohnen-Marker (Doku 3.10, [DroneMarkerIcon]).
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final double headingDeg;
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final bool armed;
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final int? activeWaypointIndex;
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}
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/// Zentrale Abstraktion fuer alle Flightcontroller-Interaktionen (Doku 3.1).
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/// Implementierungen: MspFlightControllerLink (iNAV), MavlinkFlightControllerLink
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/// (ArduPilot, Post-MVP), MockFlightControllerLink (Tests ohne Hardware).
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abstract class FlightControllerLink {
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FcCapabilities get capabilities;
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Future<void> connect();
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Future<void> disconnect();
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Future<void> uploadMission(FlatWaypointList mission);
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Future<void> setFlightMode(FlightMode mode);
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Future<void> arm();
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Stream<TelemetryFrame> subscribeTelemetry();
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Future<int?> readActiveWaypointIndex();
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}
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