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Run a mission

Build a plan, load it, start it, and watch its progress.

Before you begin

You need an authenticated channel — see Authenticate. Running a mission moves a physical vessel: confirm control authority and mode first (Control).

Build and load the plan

SetMissionPlan validates the plan on the server and returns any errors.

run_mission.py
from greenroom.mission.v1 import (
    mission_service_pb2,
    mission_service_pb2_grpc,
    mission_plan_pb2,
    steps_pb2,
    primitives_pb2,
)

client = mission_service_pb2_grpc.MissionServiceStub(channel)

plan = mission_plan_pb2.MissionPlan(
    name="Patrol A",
    version="1.0.0",
    steps=[
        steps_pb2.Step(waypoint=steps_pb2.Waypoint(
            id="wp1",
            point=primitives_pb2.Point(latitude=-33.85, longitude=151.21),
            speed=4.0,
        )),
        steps_pb2.Step(station_keep=steps_pb2.StationKeep(
            id="hold",
            speed=2.0,
            inner_radius=5.0,
            outer_radius=20.0,
        )),
    ],
)

resp = client.SetMissionPlan(
    mission_service_pb2.SetMissionPlanRequest(vessel_id="vessel_1", plan=plan)
)
if not resp.success:
    raise RuntimeError(resp.message)  # server validation errors
Plans must end with a terminal step

A plan must finish with a terminal step — station-keep, trail-target, or disarm — or server-side validation rejects it and SetMissionPlan returns success=false.

Start the mission
client.StartMissionPlan(
    mission_service_pb2.StartMissionPlanRequest(vessel_id="vessel_1")  # step_id empty = from the top
)
Observe progress
request = mission_service_pb2.StreamMissionStateRequest(vessel_id="vessel_1")
for response in client.StreamMissionState(request):
    state = response.state
    print(mission_state := state.state)  # overall MissionStatus
    for run in state.steps:
        print(f"  {run.step.WhichOneof('step')}: {run.state}")

StopMissionPlan, ResetMissionPlan, and ClearMissionPlan control execution without rebuilding the plan. StreamWithinGeofence and StreamMissionRunning provide quick boolean views for UIs.

What's next​