created flight interface module

Author: ashum68

modules/flight_interface/flight_interface.py

@@ -0,0 +1,53 @@
+
+from . import conversions # to be implemented
+from .. import drone_odometry_local
+
+from ..common.mavlink.modules import drone_odometry
+from ..common.mavlink.modules import flight_controller
+
+class FlightInterface:
+
+    __create_key = object()
+
+    def create(
+        cls,
+        address: str,
+        timeout_home: float
+    ) -> "tuple[bool, FlightInterface | None]":
+        result, controller = flight_controller.FlightController.create(address)
+        if not result:
+            return False, None
+        
+        result, home_location = controller.get_home_location(timeout_home)
+        if not result:
+            return False, None
+        
+        return True, FlightInterface(cls.__create_key, controller, home_location)
+
+    def __init__(
+        self, 
+        create_key: object,
+        controller: flight_controller.FlightController,
+        home_location: drone_odometry.DroneLocation, 
+    ) -> None:
+        assert create_key is FlightInterface.__create_key, "Use create() method"
+
+        self.controller = controller
+        self.home_location = home_location
+
+    def run(self) -> "tuple[bool, drone_odometry_local.DroneOdometryLocal | None]":
+
+        result, drone_odometry = self.controller.get_odometry()
+        if not result:
+            return False, None
+
+        drone_position = drone_odometry.position
+        
+        result, drone_position_local = conversions.global_to_local(drone_position, self.home_location)
+        if not result:
+            return False, None
+
+        drone_orientation = drone_odometry.orientation
+
+        return drone_odometry_local.DroneOdometryLocal.create(drone_position_local, drone_orientation)
+