Feature/flight structure

flight/__init__.py

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+"""Initialization file for state exporting"""
+from states.state import State
+from states.pre_processing import PreProcess
+from states.takeoff import Takeoff
+from states.waypoints import Waypoints
+
+STATES = {
+    "Pre-Processing": PreProcess,
+    "Takeoff": Takeoff,
+    "Waypoints": Waypoints
+}

flight/state_settings.py

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+"""Class to contain setters and getters for settings in various flight states"""
+
+DEFAULT_WAYPOINTS: int = 14
+DEFAULT_RUN_TITLE: str = "N/A"
+DEFAULT_RUN_DESCRIPTION: str = "N/A"
+
+
+class StateSettings:
+    def __init__(self):
+        """Default constructor results in default settings"""
+
+    # ---- Takeoff settings ---- #
+
+    def enable_simple_takeoff(self, simple_takeoff: bool) -> None:
+        """
+        Setter for whether to perform simple takeoff instead of regular takeoff
+            simple_takeoff(bool): True for drone to go straight up, False to behave normally
+        """
+        self.simple_takeoff = simple_takeoff
+
+    # ---- Waypoint Settings ---- #
+
+    def set_number_waypoints(self, waypoints: int) -> None:
+        """Set the number of waypoints given by Interop System"""
+        self.num_waypoints = waypoints
+
+    # ---- Other settings ---- #
+
+    def set_run_title(self, title: str) -> None:
+        """Set a title for the run/test to be output in logging"""
+        self.run_title = title
+
+    def set_run_description(self, description: str) -> None:
+        """Set a description for the run/test to be output in logging"""
+        self.run_description = description

flight/states/pre_processing.py

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+"""State to receive data from interop system and perform preliminary calculations"""
+import logging
+from state import State
+from ..state_settings import StateSettings
+from takeoff import Takeoff
+
+
+class PreProcess(State):
+    async def data_retrieval(self, drone):
+        """Prelim function to accept data"""
+        return Takeoff(self.state_settings)
+

flight/states/state.py

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+"""Base State class which all other states inherit"""
+import logging
+from mavsdk import System
+from ..state_settings import StateSettings
+
+
+class State:
+    """
+    Base State class
+    Attributes:
+        drone (System): The drone object; used for flight.
+    """
+
+    def __init__(self, state_settings: StateSettings):
+        logging.info('State "%s" has begun', self.name)
+        self.state_settings = state_settings
+
+    async def run(self, drone: System):
+        """
+        Does all of the operations for the state
+        Parameters
+        ----------
+        drone : System
+            The drone system; used for flight operations.
+        Returns
+        -------
+        State or None
+            Either the next State in the machine or None if the machine stops
+        Raises
+        ------
+        Exception
+            If this function hasn't been overloaded.
+        """
+        raise Exception("Run not implemented for state")
+
+    async def _check_arm_or_arm(self, drone: System):
+        """
+        Verifies that the drone is armed, if not armed, arms the drone
+        Parameters
+        ----------
+        drone : System
+            The drone system; used for flight operations.
+        """
+        async for is_armed in drone.telemetry.armed():
+            if not is_armed:
+                logging.debug("Not armed. Attempting to arm")
+                await drone.action.arm()
+            else:
+                logging.warning("Drone armed")
+                break
+
+    @property
+    def name(self):
+        """Returns the name of the class"""
+        return type(self).__name__

flight/states/takeoff.py

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+"""Run takeoff function to launch drone to minimum altitude"""
+import logging
+from state import State
+from ..state_settings import StateSettings
+from waypoints import Waypoints
+
+
+class Takeoff(State):
+    async def run(self, drone):
+        """Run offboard functions to have the drone takeoff"""
+        return Waypoints(self.state_settings)

flight/states/waypoints.py

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+"""Run flight plan assembled in pre-rpocessing to fly to all waypoints sequentially"""
+import logging
+from state import State
+from ..state_settings import StateSettings
+
+
+class Waypoints(State):
+    async def run(self, drone):
+        """Run waypoint path plan with obstacle avoidance running throughout"""
+        return