tiferet-mission

Domain-driven mission planning for autonomous drone operations, powered by MAVLink-compatible workflows and dual-backend persistence.

Overview

tiferet-mission is a Tiferet extension package that provides a complete Domain-Driven Design (DDD) layer for drone mission planning. It models MAVLink-style mission plans as first-class domain objects with lifecycle management, device assignment validation, and dual-backend persistence (SQLite and HDF5).

Installation

# Core (SQLite backend)
pip install tiferet-mission

# With HDF5 support
pip install tiferet-mission[h5]

Quick Start

from tiferet.events import DomainEvent
from tiferet_mission.events import CreateMission, AddMissionItem, ValidateMission
from tiferet_mission.repos.sqlite import MissionSqliteRepository

# Initialize the SQLite repository
mission_service = MissionSqliteRepository(db_path='missions.db')

# Create a mission
mission = DomainEvent.handle(
    CreateMission,
    dependencies={'mission_service': mission_service},
    name='Survey Alpha',
    drone_type='copter',
)

# Add waypoints
for cmd, kwargs in [
    ('NAV_TAKEOFF', {'altitude': 10.0}),
    ('NAV_WAYPOINT', {'latitude': 35.123, 'longitude': -120.456, 'altitude': 50.0}),
    ('NAV_RETURN_TO_LAUNCH', {}),
]:
    DomainEvent.handle(
        AddMissionItem,
        dependencies={'mission_service': mission_service},
        id=mission.id, command=cmd, **kwargs,
    )

# Validate the mission
validated = DomainEvent.handle(
    ValidateMission,
    dependencies={'mission_service': mission_service},
    id=mission.id,
)
print(f'Mission "{validated.name}" status: {validated.status}')  # validated

Architecture

tiferet_mission/
├── assets/           Error code constants
├── domain/           DomainObject subclasses (Mission, MissionItem, DeviceAssignment)
├── events/           DomainEvent subclasses (11 mission lifecycle events)
├── interfaces/       Service contracts (MissionService, DeviceRegistryService)
├── mappers/          Aggregates + SQL TransferObjects + H5 TableObjects/NodeObjects
├── repos/            SQLite repository implementation
└── tests/            Unit + integration tests

Features

Domain Objects

• Mission — ordered collection of mission items with lifecycle status and device reference
• MissionItem — MAVLink-compatible command (NAV/DO/CONDITION) with auto-derived metadata
• DeviceAssignment — audit record linking a device to a mission

Domain Events (11)

• CRUD: CreateMission, GetMission, ListMissions, DeleteMission
• Items: AddMissionItem, RemoveMissionItem, ReorderMissionItems
• Device: AssignDevice (with type validation), UnassignDevice
• Lifecycle: ValidateMission, UpdateMissionStatus

MAVLink Compatibility

• 20+ MAV_CMD commands mapped (NAV_WAYPOINT, NAV_TAKEOFF, NAV_LAND, DO_CHANGE_SPEED, etc.)
• Mission items mirror the MISSION_ITEM_INT message structure
• Extensible command reference table

Dual-Backend Persistence

• SQLite — relational storage via MissionSqliteRepository
• HDF5 — columnar storage via H5 transfer objects (requires [h5] extra)
• Both implement the same MissionService interface — switching is a config change

Device Type Validation

• DeviceRegistryService — read-only interface for querying external device registries
• AssignDevice event validates drone type compatibility before assignment

Dependencies

• tiferet >= 2.0.0b1 (core framework)
• tiferet-h5 >= 0.1.0 + tables >= 3.10.0 (optional, for HDF5 backend)

Documentation

• Domain Guide
• Events Guide
• Mappers Guide

License

BSD 3-Clause. See LICENSE.