def __init__(self):
super(Environment, self).__init__()
self.frame_of_reference = None
self.origin = None
self.__droneManager = DroneManager()
self.drones = []
self.tasks = []
class Environment(object):
#Private variables
__droneManager = None
"""
"""
def __init__(self):
super(Environment, self).__init__()
self.frame_of_reference = None
self.origin = None
self.__droneManager = DroneManager()
self.drones = []
self.tasks = []
def addTask(self, task):
task.environment = self
self.tasks.append(task)
def setFrameOfReference(self, frameOfReference):
self.frame_of_reference = frameOfReference
def setOrigin(self, origin):
self.origin = origin
def addDrone(self, drone):
drone.setEnvironment(self)
drone.initialize()
drone.startControlLoop()
self.__droneManager.addDrone(drone)
def stopAllDrones(self):
self.__droneManager.stopAllDrones()
#def start(self, timeout=300):
# for drone in self.drones:
# drone.setEnvironment(self)
# drone.initialize()
def replaceDroneIfNeeded(self, drone, required_capabilities):
if drone is None or drone.isBatteryLow():
# dequeue a new drone
drone = self.__droneManager.getDrone(required_capabilities)
return drone
def resetTaskTree(self, taskRoot):
for subtask in taskRoot.subtasks:
subtask.state = TaskState.READY
self.resetTasktree(subtask)
taskRoot.state = TaskState.READY
def deleteTaskTree(self, taskRoot):
self.tasks.remove(taskRoot)
def getAllDrones(self):
return self.__droneManager.getAllDrones()
