Adds basic hitl module (#83)

* Adds basic hitl module

* Fixes unused variable issue

* Adds more clear create method naming

* Fixes hitl submodules create and init methods

Author: honzikschenk

modules/hitl/__init__.py

@@ -0,0 +1,36 @@
+"""
+Emulates camera input to PI.
+"""
+
+
+class CameraEmulator:
+    """
+    Setup for camera emulator.
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(cls, images_path: str) -> "tuple[True, CameraEmulator] | tuple[False, None]":
+        """
+        Setup camera emulator.
+
+        Args:
+            images_path: Path to the directory containing images for the camera emulator. Cycles through these images to simulate camera input (every 1 second).
+
+        Returns:
+            Success, CameraEmulator instance.
+        """
+
+        if not isinstance(images_path, str):
+            return False, None
+
+        return True, CameraEmulator(cls.__create_key, images_path)
+
+    def __init__(self, class_private_create_key: object, images_path: str) -> None:
+        """
+        Private constructor, use create() method.
+        """
+        assert class_private_create_key is CameraEmulator.__create_key, "Use create() method"
+
+        self._images_path = images_path

modules/hitl/camera_emulator.py

@@ -0,0 +1,68 @@
+"""
+Setup for HITL modules.
+"""
+
+from modules.mavlink.flight_controller import FlightController
+
+from modules.hitl.position_emulator import PositionEmulator
+from modules.hitl.camera_emulator import CameraEmulator
+
+
+class HITL:
+    """
+    Hardware In The Loop (HITL) setup for emulating drone hardware.
+    Provides a way to emulate the drone's position and camera input
+    for testing purposes without needing actual hardware.
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(
+        cls, drone: FlightController, camera_module: bool, images_path: str | None = None
+    ) -> "tuple[True, HITL] | tuple[False, None]":
+        """
+        Factory method to create a HITL instance.
+
+        Args:
+            drone: The FlightController instance for the drone.
+            camera_module: Boolean indicating if the camera module is enabled.
+            images_path: Optional path to the images directory for the camera emulator.
+
+        Returns:
+            Success, HITL instance | None.
+        """
+        if not isinstance(drone, FlightController):
+            return False, None
+
+        result, position_emulator = PositionEmulator.create(drone)
+        if not result:
+            return False, None
+
+        if camera_module:
+            result, camera_emulator = CameraEmulator.create(images_path)
+            if not result:
+                return False, None
+
+        hitl = HITL(
+            cls.__create_key, drone, position_emulator, camera_emulator if camera_module else None
+        )
+
+        return True, hitl
+
+    def __init__(
+        self,
+        class_private_create_key: object,
+        drone: FlightController,
+        position_emulator: "PositionEmulator",
+        camera_emulator: "CameraEmulator | None" = None,
+    ) -> None:
+        """
+        Private constructor, use create() method.
+        """
+        assert class_private_create_key is HITL.__create_key, "Use create() method"
+
+        self.drone = drone
+
+        self.position_emulator = position_emulator
+        self.camera_emulator = camera_emulator

modules/hitl/hitl_base.py

@@ -0,0 +1,37 @@
+"""
+Emulates position and attitude to Pixhawk.
+"""
+
+from modules.mavlink.flight_controller import FlightController
+
+
+class PositionEmulator:
+    """
+    Setup for position emulator.
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(
+        cls, drone: FlightController
+    ) -> "tuple[True, PositionEmulator] | tuple[False, None]":
+        """
+        Setup position emulator.
+
+        Returns:
+            Success, PositionEmulator instance.
+        """
+
+        if not isinstance(drone, FlightController):
+            return False, None
+
+        return True, PositionEmulator(cls.__create_key, drone)
+
+    def __init__(self, class_private_create_key: object, drone: FlightController) -> None:
+        """
+        Private constructor, use create() method.
+        """
+        assert class_private_create_key is PositionEmulator.__create_key, "Use create() method"
+
+        self._drone = drone