API mission

src/app/lidar_manager_app.cpp

@@ -1,6 +1,10 @@
 #include "app/lidar_manager_app.hpp"
 
+#include "mission/mission_enqueue.hpp"
 #include "mission/mission_queue.hpp"
+#include "mission/mission_scheduler.hpp"
+#include "mission/mission_store.hpp"
+#include "mission/modbus_trigger_service.hpp"
 #include "server/api_server.hpp"
 #include "server/static_file_server.hpp"
 #include "storage/state_repository.hpp"
@@ -23,10 +27,22 @@ int LidarManagerApp::run()
   repo.load();
 
   const std::filesystem::path mission_queue_path = data_path_.parent_path() / "mission_queue.json";
+  const std::filesystem::path missions_store_path = data_path_.parent_path() / "missions.json";
   MissionQueue mission_queue(mission_queue_path);
+  MissionStore mission_store(missions_store_path);
+
+  const auto enqueue_fn = [&mission_store, &mission_queue](const nlohmann::json& request, std::string& err) -> bool {
+    nlohmann::json payload;
+    if (!MissionEnqueue::buildPayload(mission_store, request, payload, err))
+      return false;
+    return static_cast<bool>(mission_queue.enqueue(payload, err));
+  };
+
+  ModbusTriggerService modbus(mission_store, enqueue_fn, 5502);
+  MissionScheduler scheduler(mission_store, enqueue_fn);
 
   httplib::Server svr;
-  ApiServer api(repo, mission_queue);
+  ApiServer api(repo, mission_queue, mission_store, modbus, scheduler);
   api.registerRoutes(svr);
   StaticFileServer::mount(svr, www_root_);
 
@@ -36,6 +52,8 @@ int LidarManagerApp::run()
                www_root_.string().c_str(),
                data_path_.string().c_str(),
                (data_path_.parent_path() / "models").string().c_str());
+  std::fprintf(stderr, "MiR REST API: http://0.0.0.0:%d/api/v2.0.0/mission_queue\n", port_);
+  std::fprintf(stderr, "Modbus TCP triggers: port 5502 (coils 1001-2000)\n");
 
   svr.listen("0.0.0.0", port_);
   return 0;