Added initial COT Sensor payloads to support UAV Tools integration for Arma Drones

addons/client/functions/fnc_convertClientLocation.sqf

@@ -107,6 +107,12 @@ switch (toLower worldName) do {
 	case "rut_mandol": {
 		_realLocation = _position call armatak_fnc_convert_to_rut_mandol;
 	};
+	case "hellanmaa": {
+		_realLocation = _position call armatak_fnc_convert_to_hellanmaa;
+	};
+	case "hellanmaaw": {
+		_realLocation = _position call armatak_fnc_convert_to_hellanmaa;
+	};
 	default {
 		_warning = format ["<t color='#FF8021'>ARMATAK</t><br/> %1", "Unsupported Map"];
 		[[_warning, 1.5]] call CBA_fnc_notify;

addons/main/Cfg3den.hpp

@@ -78,6 +78,16 @@ class Cfg3den {
             condition = "objectVehicle";
             typeName = "STRING";
           };
+          class armatak_attribute_video_url {
+            displayName = "Video URL (RTSP)";
+            tooltip = "RTSP stream URL for UAS Tool integration. When set, the drone will appear in the ATAK UAS Tool with FOV cone and video feed. Format: rtsp://address:port/path  (e.g. rtsp://192.168.1.10:8554/live/drone1). Leave empty to disable UAS Tool integration for this entity.";
+            property = "armatak_attribute_video_url";
+            control = "Edit";
+            expression = "_this setVariable ['armatak_attribute_video_url',_value]";
+            defaultValue = "''";
+            condition = "objectVehicle";
+            typeName = "STRING";
+          };
         };
       };
     };

addons/main/CfgFunctions.hpp

@@ -19,6 +19,12 @@ class CfgFunctions {
 			class send_marker_cot {
 				file = "\armatak\armatak\addons\main\functions\api\fn_send_marker_cot.sqf";
 			};
+			class send_uas_video_cot {
+				file = "\armatak\armatak\addons\main\functions\api\fn_send_uas_video_cot.sqf";
+			};
+			class send_uas_sensor_cot {
+				file = "\armatak\armatak\addons\main\functions\api\fn_send_uas_sensor_cot.sqf";
+			};
 			class stop_tcp_socket {
 				file = "\armatak\armatak\addons\main\functions\api\fn_stop_tcp_socket.sqf";
 			};

addons/main/functions/api/fn_send_drone_cot.sqf

@@ -32,3 +32,6 @@ if (!isNil "_pre_defined_role") then {
 };
 
 _cot = [_drone, _atak_role, _atak_callsign] call armatak_fnc_send_marker_cot;
+
+[_drone] call armatak_fnc_send_uas_video_cot;
+[_drone] call armatak_fnc_send_uas_sensor_cot;

addons/main/functions/api/fn_send_marker_cot.sqf

@@ -5,9 +5,10 @@
 params ["_unit", "_type", "_callsign"];
 
 _unit_position = _unit call armatak_client_fnc_extractClientPosition;
+_video_url = [_unit] call armatak_fnc_extract_marker_video_url;
 
 _uuid = _unit call armatak_fnc_extract_uuid;
 
-_marker_cot = [_uuid, _type, _unit_position select 1, _unit_position select 2, _unit_position select 3, _callsign, _unit_position select 5, _unit_position select 6]; 
+_marker_cot = [_uuid, _type, _unit_position select 1, _unit_position select 2, _unit_position select 3, _callsign, _unit_position select 5, _unit_position select 6, _video_url];
 
 "armatak" callExtension ["tcp_socket:cot:marker", [_marker_cot]];

addons/main/functions/api/fn_send_uas_sensor_cot.sqf

@@ -0,0 +1,55 @@
+// function name: armatak_fnc_send_uas_sensor_cot
+// function author: Valmo / ArmaTAK contributors
+// function description:
+//   Sends a b-m-p-s-p-loc CoT event every router tick (1 s) for a drone.
+//   This is the "sensor position" event consumed by the ATAK UAS Tool to:
+//     - Draw the FOV cone on the moving map.
+//     - Compute four-corners for AR marker overlay on the video feed.
+//     - Show the SPoI (Sensor Point of Interest) crosshair.
+//
+//   The event references the drone's b-i-v video endpoint via the drone UUID,
+//   so armatak_fnc_send_uas_video_cot must also be called for the same drone.
+//
+//   Exits silently when "armatak_attribute_video_url" is not set, which keeps
+//   the behavior identical to the old fn_send_drone_cot for drones without a
+//   configured video stream.
+//
+// Arguments:
+//   0: _drone <OBJECT>  The drone object.
+//
+// Return value: none
+
+params ["_drone"];
+
+private _video_url = _drone getVariable ["armatak_attribute_video_url", ""];
+if (_video_url == "") exitWith {};
+
+private _uuid       = _drone call armatak_fnc_extract_uuid;
+private _sensor_uid = _uuid + "-sensor";
+private _callsign   = [_drone] call armatak_fnc_extract_marker_callsign;
+
+private _pos = (getPos _drone) call armatak_client_fnc_convertClientLocation;
+private _lat = _pos select 0;
+private _lon = _pos select 1;
+private _hae = _pos select 2;
+
+private _azimuth = parseNumber ((getDir _drone) toFixed 0);
+
+private _allTurrets = [_drone, false] call BIS_fnc_allTurrets;
+if (count _allTurrets > 0) then {
+    private _firstTurretPath = _allTurrets select 0;
+    private _turretWeapons   = _drone weaponsTurret _firstTurretPath;
+    if (_turretWeapons isNotEqualTo []) then {
+        private _tDir = _drone weaponDirection (_turretWeapons select 0);
+        if (!((_tDir select 0) == 0 && (_tDir select 1) == 0)) then {
+            _azimuth = round (((_tDir select 0) atan2 (_tDir select 1) + 360) mod 360);
+        };
+    };
+};
+
+private _fov = _drone getVariable ["armatak_uas_fov", 60];
+
+private _range = round (((getPosATL _drone) select 2) max 1);
+
+private _payload = [_sensor_uid, _uuid, _callsign, _lat, _lon, _hae, _azimuth, _fov, _range];
+"armatak" callExtension ["tcp_socket:cot:uas_sensor", [_payload]];

addons/main/functions/api/fn_send_uas_video_cot.sqf

@@ -0,0 +1,30 @@
+// function name: armatak_fnc_send_uas_video_cot
+// function author: Valmo / ArmaTAK contributors
+// function description:
+//   Sends a b-i-v CoT event that declares the RTSP video endpoint for a drone.
+//   The ATAK UAS Tool picks this up and shows the drone in its UAS list with
+//   the associated video feed available for playback.
+//
+//   The drone entity MUST have the variable "armatak_attribute_video_url" set
+//   to a valid RTSP URL, e.g.:
+//       _drone setVariable ["armatak_attribute_video_url", "rtsp://192.168.1.10:8554/live/drone1"];
+//   or via the 3DEN attribute "Video URL (RTSP)" in the ARMA Team Awareness Kit
+//   attribute category.
+//
+//   If the variable is absent or empty the function exits silently.
+//
+// Arguments:
+//   0: _drone <OBJECT>  The drone object.
+//
+// Return value: none
+
+params ["_drone"];
+
+private _video_url = _drone getVariable ["armatak_attribute_video_url", ""];
+if (_video_url == "") exitWith {};
+
+private _uuid     = _drone call armatak_fnc_extract_uuid;
+private _callsign = [_drone] call armatak_fnc_extract_marker_callsign;
+
+private _payload = [_uuid, _callsign, _video_url];
+"armatak" callExtension ["tcp_socket:cot:uas_video", [_payload]];

addons/main/functions/extract_data/fn_extract_marker_video_url.sqf

@@ -0,0 +1,13 @@
+// function name: armatak_fnc_extract_marker_video_url
+// function author: Codex
+// function description: Gets the marker video URL configured in 3DEN for a vehicle
+
+params ["_unit"];
+
+private _videoUrl = _unit getVariable ["armatak_attribute_marker_video_url", ""];
+
+if (isNil "_videoUrl") exitWith {
+	""
+};
+
+_videoUrl

addons/main/functions/map/fn_convert_to_hellanmaa.sqf

@@ -0,0 +1,30 @@
+params ["_longitudeInGame", "_latitudeInGame", "_altitude"];
+
+private _mapWidth = 8192;
+private _mapHeight = 8192;
+
+//    SW corner (used as origin)
+private _SW_lat = 63.005389;
+private _SW_lon = 22.638957;
+
+//    SE corner
+private _SE_lat = 63.010092;
+private _SE_lon = 22.800107;
+
+//    NW corner
+private _NW_lat = 63.078713;
+private _NW_lon = 22.628542;
+
+private _edgeSE_lat = _SE_lat - _SW_lat;
+private _edgeSE_lon = _SE_lon - _SW_lon;
+
+private _edgeNW_lat = _NW_lat - _SW_lat;
+private _edgeNW_lon = _NW_lon - _SW_lon;
+
+private _fx = _longitudeInGame / _mapWidth;
+private _fy = _latitudeInGame / _mapHeight;
+
+private _realLat = _SW_lat + (_fx * _edgeSE_lat) + (_fy * _edgeNW_lat);
+private _realLon = _SW_lon + (_fx * _edgeSE_lon) + (_fy * _edgeNW_lon);
+
+[_realLat, _realLon, _altitude]

addons/video/$PBOPREFIX$

@@ -1 +0,0 @@
-armatak\armatak\addons\video

addons/video/CfgEventHandlers.hpp

@@ -1,11 +0,0 @@
-class Extended_PreStart_EventHandlers {
-    class ADDON {
-        init = QUOTE(call COMPILE_SCRIPT(XEH_preStart));
-    };
-};
-
-class Extended_PreInit_EventHandlers {
-    class ADDON {
-        init = QUOTE(call COMPILE_SCRIPT(XEH_preInit));
-    };
-};

addons/video/CfgVehicles.hpp

@@ -1,73 +0,0 @@
-class CfgVehicles {
-  class Logic;
-
-	class Module_F : Logic
-	{
-		class AttributesBase
-		{
-			class Default;
-			class Edit;
-			class Combo;
-			class Checkbox;
-			class CheckboxNumber;
-			class ModuleDescription;
-			class Units;
-		};
-
-		class ModuleDescription
-		{
-			class AnyBrain;
-		};
-	};
-	class EGVAR(server,moduleBase);
-	class GVAR(videoModule): EGVAR(server,moduleBase) {
-		scope = 2;
-		scopeCurator = 0;
-		displayname = "Video Streaming Handler";
-		icon = "\a3\Modules_F_Curator\Data\iconRadio_ca.paa";
-		category = QEGVAR(main,moduleCategory);
-		function = QFUNC(videoParser);
-		functionPriority = 1;
-		isGlobal = 0;
-		isTriggerActivated = 1;
-		isDisposable = 1;
-		is3den = 0;
-		curatorCanAttach = 0;
-		curatorInfoType = "RscDisplayAttributeModuleNuke";
-		canSetArea = 0;
-		canSetAreaShape = 0;
-		canSetAreaHeight = 0;
-		/*
-		class Attributes: AttributesBase {
-			class GVAR(instanceAddress): Edit {
-				property = QGVAR(instanceAddress);
-				displayname = "MediaMTX Provider Address";
-				tooltip = "MediaMTX Provider Instance Address";
-				typeName = "STRING";
-				defaultValue = "localhost";
-			};
-			class GVAR(instancePort): Edit {
-				property = QGVAR(instancePort);
-				displayname = QUOTE(MediaMTX Provider Port);
-				tooltip = QUOTE(MediaMTX Provider Port for handling video streams);
-				typeName = "STRING";
-				defaultValue = "8554";
-			};
-			class GVAR(instanceAuthUser): Edit {
-				property = QGVAR(instanceAuthUser);
-				displayname = QUOTE(MediaMTX Provider Username);
-				tooltip = QUOTE(MediaMTX Provider Instance Username);
-				typeName = "STRING";
-				defaultValue = "administrator";
-			};
-			class GVAR(instanceAuthPassword): Edit {
-				property = QGVAR(instanceAuthPassword);
-				displayname = QUOTE(MediaMTX Provider Password);
-				tooltip = QUOTE(MediaMTX Provider Instance Password);
-				typeName = "STRING";
-				defaultValue = "password";
-			};
-		};
-		*/
-	};
-};

addons/video/XEH_PREP.hpp

@@ -1 +0,0 @@
-PREP(videoParser);

addons/video/XEH_preInit.sqf

@@ -1,9 +0,0 @@
-#include "script_component.hpp"
-
-ADDON = false;
-
-PREP_RECOMPILE_START;
-#include "XEH_PREP.hpp"
-PREP_RECOMPILE_END;
-
-ADDON = true;

addons/video/XEH_preStart.sqf

@@ -1,3 +0,0 @@
-#include "script_component.hpp"
-
-#include "XEH_PREP.hpp"

addons/video/config.cpp

@@ -1,23 +0,0 @@
-#include "script_component.hpp"
-
-class CfgPatches {
-  class ADDON {
-    name = COMPONENT_NAME;
-    units[] = {
-      //QGVAR(videoModule)
-    };
-    weapons[] = {};
-    requiredAddons[] = {
-        "cba_main",
-        "ace_main",
-        "armatak_main",
-        "armatak_server"
-      };
-    requiredVersion = REQUIRED_VERSION;
-    author = PROJECT_AUTHOR;
-    url = "https://github.com/valmojr/armatak";
-  };
-};
-
-#include "CfgEventHandlers.hpp"
-//#include "CfgVehicles.hpp"

addons/video/functions/fnc_videoParser.sqf

@@ -1,83 +0,0 @@
-#include "..\script_component.hpp"
-
-params [
-	["_logic", objNull, [objNull]],
-	["_units", [], [[]]],
-	["_activated", true, [true]]
-];
-
-if (isServer) exitWith {
-	private _instance_address = GETVAR(_logic,GVAR(instanceAddress),false);
-	private _instance_port = GETVAR(_logic,GVAR(instancePort),false);
-	private _instance_auth_user = GETVAR(_logic,GVAR(instanceAuthUser),false);
-	private _instance_auth_pass = GETVAR(_logic,GVAR(instanceAuthPassword),false);
-
-	SETMVAR(GVAR(instanceAddress),_instance_address);
-	SETMVAR(GVAR(instancePort),_instance_port);
-	SETMVAR(GVAR(instanceAuthUser),_instance_auth_user);
-	SETMVAR(GVAR(instanceAuthPassword),_instance_auth_pass);
-
-	_startAction = [
-		QGVAR(startStream),
-		"Start Video Feed",
-		"",
-		{
-			_uuid = (_this select 0) call armatak_fnc_extract_uuid; 
-			_uuid_short = _uuid select [0, 8]; 
-			_role = roleDescription (_this select 0); 
-			_name = name (_this select 0); 
-
-			_role = [_role] call BIS_fnc_filterString;
-			_name = [_name] call BIS_fnc_filterString; 
-			
-			_stream_path = _name + "_" + _role + "_" + _uuid_short; 
-
-			armatak_mediamtx_video_stream_instance_address = GETMVAR(instance_address,false);
-			armatak_mediamtx_video_stream_instance_port = missionNamespace getVariable "instance_port";
-			armatak_mediamtx_video_stream_instance_auth_user = missionNamespace getVariable "instance_auth_user";
-			armatak_mediamtx_video_stream_instance_auth_pass = missionNamespace getVariable "instance_auth_pass";
-
-			"armatak" callExtension ["video_stream:start", [armatak_mediamtx_video_stream_instance_address, armatak_mediamtx_video_stream_instance_port, _stream_path, armatak_mediamtx_video_stream_instance_auth_user, armatak_mediamtx_video_stream_instance_auth_pass]];
-			(_this select 0) setVariable ["armatak_video_feed_is_streaming", true];
-		},
-		{
-			(_this select 0) getVariable "armatak_video_feed_is_streaming" == false
-		}
-	] call ace_interact_menu_fnc_createAction;
-	[
-		"Man",
-		1,
-		["ACE_SelfActions"],
-		_startAction,
-		true
-	] call ace_interact_menu_fnc_addActionToClass;
-
-	_stopAction = [
-		"ArmatakStopStream",
-		"Stop Video Feed",
-		"",
-		{
-			"armatak" callExtension ["video_stream:stop", []];
-			SETVAR(_this select 0,GVAR(isStreaming),false);
-		},
-		{
-			GETVAR((this select 0),GVAR(isStreaming),false)
-		}
-	] call ace_interact_menu_fnc_createAction;
-	[
-		"Man",
-		1,
-		["ACE_SelfActions"],
-		_stopAction,
-		true
-	] call ace_interact_menu_fnc_addActionToClass;
-	if (isMultiplayer) then {
-		{
-			SETVAR(_x,GVAR(isStreaming),false);
-		} forEach playableUnits;
-	} else {
-		SETVAR(player,GVAR(isStreaming),false);
-	};
-};
-
-true;

addons/video/script_component.hpp

@@ -1,17 +0,0 @@
-#define COMPONENT video
-#define COMPONENT_BEAUTIFIED Video Streaming
-#include "\armatak\armatak\addons\main\script_mod.hpp"
-
-// #define DEBUG_MODE_FULL
-// #define DISABLE_COMPILE_CACHE
-// #define ENABLE_PERFORMANCE_COUNTERS
-
-#ifdef DEBUG_ENABLED_MAIN
-    #define DEBUG_MODE_FULL
-#endif
-
-#ifdef DEBUG_SETTINGS_MAIN
-    #define DEBUG_SETTINGS DEBUG_SETTINGS_MAIN
-#endif
-
-#include "\z\ace\addons\main\script_macros.hpp"

src/cot/cot.rs

@@ -16,9 +16,18 @@ pub struct CursorOverTime {
     pub track_speed: Option<f32>,
     pub link_uid: Option<String>,
     pub remarker: Option<String>,
+    pub video_url: Option<String>,
 }
 
 impl CursorOverTime {
+    fn escape_xml_attribute(value: &str) -> String {
+        value
+            .replace('&', "&amp;")
+            .replace('"', "&quot;")
+            .replace('<', "&lt;")
+            .replace('>', "&gt;")
+    }
+
     pub fn convert_to_xml(&self) -> String {
         let uuid = match &self.uuid {
             Some(uuid) => uuid,
@@ -107,6 +116,18 @@ impl CursorOverTime {
             xml.push_str(format!("<remarks>ARMATAK | {}</remarks>", remark).as_str());
         }
 
+        if let Some(video_url) = &self.video_url {
+            if !video_url.trim().is_empty() {
+                xml.push_str(
+                    format!(
+                        "<__video url=\"{}\" />",
+                        Self::escape_xml_attribute(video_url.trim())
+                    )
+                    .as_str(),
+                );
+            }
+        }
+
         xml.push_str("</detail></event>");
 
         return xml;

src/cot/digital_pointer.rs

@@ -40,6 +40,8 @@ impl DigitalPointerPayload {
             track_speed: None,
             link_uid: Some(self.link_uid.clone()),
             remarker: None,
+            video_url: None,
         }
     }
 }
+

src/cot/eud.rs

@@ -57,6 +57,8 @@ impl EudCoTPayload {
             track_speed: Some(self.track_speed),
             link_uid: None,
             remarker: None,
+            video_url: None,
         }
     }
 }
+

src/cot/gps.rs

@@ -54,6 +54,8 @@ impl ExternalPositionPayload {
             track_speed: Some(self.track_speed),
             link_uid: None,
             remarker: Some(self.remarker.clone()),
+            video_url: None,
         }
     }
 }
+

src/cot/mod.rs

@@ -5,3 +5,4 @@ pub mod eud;
 pub mod gps;
 pub mod message;
 pub mod nato;
+pub mod uas;

src/cot/nato.rs

@@ -11,10 +11,40 @@ pub struct MarkerCoTPayload {
     pub contact_callsign: String,
     pub track_course: i32,
     pub track_speed: f32,
+    pub video_url: Option<String>,
 }
 
 impl FromArma for MarkerCoTPayload {
     fn from_arma(data: String) -> Result<MarkerCoTPayload, FromArmaError> {
+        if let Ok((
+            uuid,
+            r#type,
+            point_lat,
+            point_lon,
+            point_hae,
+            contact_callsign,
+            track_course,
+            track_speed,
+            video_url,
+        )) = <(String, String, f64, f64, f32, String, i32, f32, String)>::from_arma(data.clone())
+        {
+            return Ok(Self {
+                uuid,
+                r#type,
+                point_lat,
+                point_lon,
+                point_hae,
+                contact_callsign,
+                track_course,
+                track_speed,
+                video_url: if video_url.trim().is_empty() {
+                    None
+                } else {
+                    Some(video_url)
+                },
+            });
+        }
+
         let (
             uuid,
             r#type,
@@ -34,6 +64,7 @@ impl FromArma for MarkerCoTPayload {
             contact_callsign,
             track_course,
             track_speed,
+            video_url: None,
         })
     }
 }
@@ -55,6 +86,7 @@ impl MarkerCoTPayload {
             track_speed: Some(self.track_speed),
             link_uid: None,
             remarker: None,
+            video_url: self.video_url.clone(),
         }
     }
 }

src/cot/uas.rs

@@ -0,0 +1,243 @@
+// src/cot/uas.rs
+//
+// CoT types required for ATAK UAS Tool integration.
+//
+// Two event types are needed so that the UAS Tool plugin recognises a drone:
+//
+//   b-i-v              — Video endpoint declaration. Tells the UAS Tool where
+//                        to pull the RTSP stream for this drone.
+//
+//   b-m-p-s-p-loc      — Sensor position event. Carries the camera azimuth,
+//                        field-of-view, and slant-range that the UAS Tool uses
+//                        to draw the FOV cone on the map and to project AR
+//                        markers onto the video feed.
+//
+// The two events are linked: the b-m-p-s-p-loc detail contains
+//   <__video uid="<drone-uuid>"/>
+// which references the uid of the b-i-v event, so the UAS Tool knows which
+// video stream belongs to this sensor.
+
+use arma_rs::{FromArma, FromArmaError};
+use chrono::{Duration, SecondsFormat, Utc};
+
+// ---------------------------------------------------------------------------
+// Helpers
+// ---------------------------------------------------------------------------
+
+/// Parse an RTSP URL of the form  rtsp://address:port/path
+/// into its three components.
+fn parse_rtsp_url(url: &str) -> Option<(String, String, String)> {
+    let without_proto = url.strip_prefix("rtsp://")?;
+    let slash_pos = without_proto.find('/')?;
+    let host_port = &without_proto[..slash_pos];
+    let path = &without_proto[slash_pos..]; // includes the leading '/'
+    let colon_pos = host_port.rfind(':')?;
+    let address = host_port[..colon_pos].to_string();
+    let port = host_port[colon_pos + 1..].to_string();
+    Some((address, port, path.to_string()))
+}
+
+// ---------------------------------------------------------------------------
+// b-i-v  –  Video endpoint declaration
+// ---------------------------------------------------------------------------
+
+pub struct UasVideoCoTPayload {
+    /// The drone's persistent ATAK UUID (same uid used for PPLI / marker CoT).
+    pub uid: String,
+    /// Human-readable label shown in the UAS Tool video list.
+    pub callsign: String,
+    /// Full RTSP URL, e.g. "rtsp://192.168.1.10:8554/live/drone1".
+    pub video_url: String,
+}
+
+impl FromArma for UasVideoCoTPayload {
+    fn from_arma(data: String) -> Result<UasVideoCoTPayload, FromArmaError> {
+        let (uid, callsign, video_url) =
+            <(String, String, String)>::from_arma(data)?;
+        Ok(Self {
+            uid,
+            callsign,
+            video_url,
+        })
+    }
+}
+
+impl UasVideoCoTPayload {
+    /// Build the complete XML string for the b-i-v CoT event.
+    /// Returns an empty string if the RTSP URL cannot be parsed.
+    pub fn to_xml(&self) -> String {
+        let (address, port, path) = match parse_rtsp_url(&self.video_url) {
+            Some(parts) => parts,
+            None => {
+                log::warn!(
+                    "UasVideoCoTPayload: could not parse RTSP URL: {}",
+                    self.video_url
+                );
+                return String::new();
+            }
+        };
+
+        let now =
+            Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
+        // Long stale time: the video endpoint is considered valid for 1 hour.
+        // The CoT is re-sent every router tick so it stays fresh even if the
+        // TAK server restarts.
+        let stale = (Utc::now() + Duration::seconds(3600))
+            .to_rfc3339_opts(SecondsFormat::Millis, true);
+
+        let mut xml = String::new();
+        xml.push_str("<?xml version=\"1.0\" encoding=\"UTF-8\" ?>");
+        xml.push_str(&format!(
+            "<event type=\"b-i-v\" version=\"2.0\" how=\"m-g\" \
+             uid=\"{uid}\" time=\"{now}\" start=\"{now}\" stale=\"{stale}\">",
+            uid = self.uid,
+            now = now,
+            stale = stale
+        ));
+        // b-i-v events carry no real geographic position.
+        xml.push_str(
+            "<point lat=\"0\" lon=\"0\" hae=\"9999999.0\" \
+             ce=\"9999999.0\" le=\"9999999.0\"/>",
+        );
+        xml.push_str("<detail>");
+        xml.push_str("<__video>");
+        xml.push_str(&format!(
+            "<ConnectionEntry \
+             protocol=\"rtsp\" \
+             path=\"{path}\" \
+             address=\"{address}\" \
+             port=\"{port}\" \
+             uid=\"{uid}\" \
+             alias=\"{callsign}\" \
+             roverPort=\"-1\" \
+             rtspReliable=\"0\" \
+             ignoreEmbeddedKLV=\"False\" \
+             networkTimeout=\"0\" \
+             bufferTime=\"-1\"/>",
+            path = path,
+            address = address,
+            port = port,
+            uid = self.uid,
+            callsign = self.callsign,
+        ));
+        xml.push_str("</__video>");
+        xml.push_str(&format!(
+            "<contact callsign=\"{}\"/>",
+            self.callsign
+        ));
+        xml.push_str("</detail>");
+        xml.push_str("</event>");
+        xml
+    }
+}
+
+// ---------------------------------------------------------------------------
+// b-m-p-s-p-loc  –  Sensor position (FOV cone + video link)
+// ---------------------------------------------------------------------------
+
+pub struct UasSensorCoTPayload {
+    /// UID for this sensor event — conventionally "<drone-uuid>-sensor".
+    pub uid: String,
+    /// The drone's ATAK UUID; must match the uid used in the b-i-v event so
+    /// the UAS Tool can link sensor data to the correct video stream.
+    pub video_uid: String,
+    /// Callsign shown in the UAS Tool sensor list.
+    pub callsign: String,
+    /// Drone latitude in decimal degrees (WGS-84).
+    pub point_lat: f64,
+    /// Drone longitude in decimal degrees (WGS-84).
+    pub point_lon: f64,
+    /// Drone height above ellipsoid in metres (WGS-84).
+    pub point_hae: f32,
+    /// Camera azimuth in degrees, clockwise from true North (0–359).
+    pub azimuth: i32,
+    /// Camera horizontal field of view in degrees.
+    pub fov: i32,
+    /// Estimated slant range from drone to ground point in metres.
+    /// A good approximation is the drone's AGL altitude.
+    pub range: i32,
+}
+
+impl FromArma for UasSensorCoTPayload {
+    fn from_arma(data: String) -> Result<UasSensorCoTPayload, FromArmaError> {
+        let (
+            uid,
+            video_uid,
+            callsign,
+            point_lat,
+            point_lon,
+            point_hae,
+            azimuth,
+            fov,
+            range,
+        ) = <(String, String, String, f64, f64, f32, i32, i32, i32)>::from_arma(
+            data,
+        )?;
+        Ok(Self {
+            uid,
+            video_uid,
+            callsign,
+            point_lat,
+            point_lon,
+            point_hae,
+            azimuth,
+            fov,
+            range,
+        })
+    }
+}
+
+impl UasSensorCoTPayload {
+    /// Build the complete XML string for the b-m-p-s-p-loc CoT event.
+    pub fn to_xml(&self) -> String {
+        let now =
+            Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
+        // 60-second stale: must be refreshed every router tick (1 s) to keep
+        // the FOV cone visible on the map.
+        let stale = (Utc::now() + Duration::seconds(60))
+            .to_rfc3339_opts(SecondsFormat::Millis, true);
+
+        let mut xml = String::new();
+        xml.push_str("<?xml version=\"1.0\" encoding=\"UTF-8\" ?>");
+        xml.push_str(&format!(
+            "<event type=\"b-m-p-s-p-loc\" version=\"2.0\" how=\"h-g-i-g-o\" \
+             uid=\"{uid}\" time=\"{now}\" start=\"{now}\" stale=\"{stale}\">",
+            uid = self.uid,
+            now = now,
+            stale = stale,
+        ));
+        xml.push_str(&format!(
+            "<point lat=\"{lat}\" lon=\"{lon}\" hae=\"{hae}\" \
+             ce=\"9999999.0\" le=\"9999999.0\"/>",
+            lat = self.point_lat,
+            lon = self.point_lon,
+            hae = self.point_hae,
+        ));
+        xml.push_str("<detail>");
+        // fovAlpha controls the transparency of the FOV cone fill (0–1).
+        // 0.537 ≈ 137/255, the value used by the real UAS Tool.
+        xml.push_str(&format!(
+            "<sensor \
+             fov=\"{fov}\" \
+             fovRed=\"1\" \
+             fovGreen=\"1\" \
+             fovBlue=\"1\" \
+             fovAlpha=\"0.5372549\" \
+             displayMagneticReference=\"0\" \
+             range=\"{range}\" \
+             azimuth=\"{az}\"/>",
+            fov = self.fov,
+            range = self.range,
+            az = self.azimuth,
+        ));
+        // Link this sensor event to the b-i-v video endpoint.
+        xml.push_str(&format!("<__video uid=\"{}\"/>", self.video_uid));
+        xml.push_str(&format!(
+            "<contact callsign=\"{}\"/>",
+            self.callsign
+        ));
+        xml.push_str("</detail>");
+        xml.push_str("</event>");
+        xml
+    }
+}

src/lib.rs

@@ -61,7 +61,10 @@ pub fn init() -> Extension {
                         .command("eud", tcp::cot::send_eud_cot)
                         .command("marker", tcp::cot::send_marker_cot)
                         .command("digital_pointer", tcp::cot::send_digital_pointer_cot)
-                        .command("chat", tcp::cot::send_message_cot),
+                        .command("chat", tcp::cot::send_message_cot)
+                        // UAS Tool integration
+                        .command("uas_video", tcp::cot::send_uas_video_cot)
+                        .command("uas_sensor", tcp::cot::send_uas_sensor_cot),
                 )
                 .group(
                     "draw",

src/tcp/cot.rs

@@ -39,3 +39,32 @@ pub fn send_message_cot(
 
     "Sending Message CoT to TCP server"
 }
+
+/// Send a b-i-v CoT that declares the RTSP video endpoint for a drone.
+/// Called by SQF via:  "armatak" callExtension ["tcp_socket:cot:uas_video", [payload]]
+///
+/// Returns early without sending if the RTSP URL in the payload cannot be parsed.
+pub fn send_uas_video_cot(
+    ctx: Context,
+    payload: cot::uas::UasVideoCoTPayload,
+) -> &'static str {
+    let xml = payload.to_xml();
+    if !xml.is_empty() {
+        send_payload(ctx, xml);
+    }
+
+    "Sending UAS Video (b-i-v) CoT to TCP server"
+}
+
+/// Send a b-m-p-s-p-loc CoT carrying the drone camera's azimuth, FOV, and
+/// slant-range so the UAS Tool can draw the FOV cone on the map.
+/// Called by SQF via:  "armatak" callExtension ["tcp_socket:cot:uas_sensor", [payload]]
+pub fn send_uas_sensor_cot(
+    ctx: Context,
+    payload: cot::uas::UasSensorCoTPayload,
+) -> &'static str {
+    let xml = payload.to_xml();
+    send_payload(ctx, xml);
+
+    "Sending UAS Sensor (b-m-p-s-p-loc) CoT to TCP server"
+}