def message_received(client, server, message):
# First position indicates message type
message_type = ast.literal_eval(message)[0]
if (message_type == 0):
""" adding new lines that user draw on map """
tasks = ast.literal_eval(message)[1]
lines = tasks['line']
polygons = []
lines = [[
dronekit.LocationGlobal(point["lat"], point["lng"], 20)
for point in line
] for line in lines]
line_task.extend(lines)
undistributed_tasks[0] = line_task
#Polytask
poly_tasks = []
for polygon in polygons:
polygon = [[
dronekit.LocationGlobal(point["lat"], point["lng"], 20)
for point in line
] for line in polygon]
closing_line = [polygon[len(polygon) - 1][1], polygon[0][0]]
polygon.append(closing_line)
poly_tasks.append(polygon)
polygon_task.extend(poly_tasks)
undistributed_tasks[1] = poly_tasks
#Search task
search_tasks = tasks['search']
search_tasks_temp = []
#Convert to DroneKit's Global Position Object
for task in search_tasks:
task_temp = []
for point in task:
point = dronekit.LocationGlobal(point[0], point[1], 20)
task_temp.append(point)
search_tasks_temp.append(task_temp)
search_tasks = search_tasks_temp
if len(search_tasks) > 0:
undistributed_tasks[2] = generate_search_coordinates(search_tasks)
# New Parameter recieved
if (message_type == 1):
""" Change Parameters """
vehicle_id = ast.literal_eval(message)[1]
vehicle = Drone_Services.find_vehicle_by_id(vehicles, vehicle_id)
new_max_speed = ast.literal_eval(message)[2]
vehicle.max_speed = float(new_max_speed)
vehicle.groundspeed = float(new_max_speed)
new_max_battery_time = ast.literal_eval(message)[3]
vehicle.max_battery_time = float(new_max_battery_time)
vehicle.current_battery = float(new_max_battery_time)
vehicle.start_up_time = time.time()
new_max_carry_weight = ast.literal_eval(message)[4]
vehicle.max_carry_weight = float(new_max_carry_weight)
# Reacharge battery
if (message_type == 2):
vehicle_id = ast.literal_eval(message)[1]
vehicle = Drone_Services.find_vehicle_by_id(vehicles, vehicle_id)
vehicle.current_battery = vehicle.max_battery_time
vehicle.start_up_time = time.time()
def message_received(client, server, message):
# First position indicates message type
message_type = ast.literal_eval(message)[0]
# Adding new tasks that user draw on map
if (message_type == 0):
# Line task
tasks = ast.literal_eval(message)[1]
lines = tasks['line']
lines = [[
dronekit.LocationGlobal(point["lat"], point["lng"], altitude)
for point in line
] for line in lines]
global u_tasks
u_tasks.extend(lines)
# Pickup task
pickup_tasks_temp = []
for pickup_task in tasks['pickup']:
line = pickup_task["line"]
weight = pickup_task["weight"]
line = [
dronekit.LocationGlobal(line[0]["lat"], line[0]["lng"],
altitude),
dronekit.LocationGlobal(line[1]["lat"], line[1]["lng"],
altitude), weight, "weight"
]
pickup_tasks_temp.append(line)
u_tasks.extend(pickup_tasks_temp)
# Search task
search_tasks = tasks['search']
search_tasks_temp = []
# Convert to DroneKit's Global Position Object
for task in search_tasks:
task_temp = []
for point in task:
point = dronekit.LocationGlobal(point[0], point[1], altitude)
task_temp.append(point)
search_tasks_temp.append(task_temp)
search_tasks = search_tasks_temp
if len(search_tasks) > 0:
search_tasks = Drone_Services.generate_search_coordinates(
search_tasks)
u_tasks.append(search_tasks)
# Obstacles
obstacles_from_client = tasks['obstacles']
obstacles_temp = []
for obstacle in obstacles_from_client:
point_temp = []
for point in obstacle:
point = dronekit.LocationGlobal(point[0], point[1], altitude)
point_temp.append(point)
obstacles_temp.append(point_temp)
global obstacles
obstacles.extend(obstacles_temp)
# New Parameter recieved
if (message_type == 1):
""" Change Parameters """
vehicle_id = ast.literal_eval(message)[1]
vehicle = Drone_Services.find_vehicle_by_id(vehicles, vehicle_id)
new_max_speed = ast.literal_eval(message)[2]
vehicle.max_speed = float(new_max_speed)
vehicle.groundspeed = float(new_max_speed)
new_max_battery_time = ast.literal_eval(message)[3]
vehicle.max_battery_time = float(new_max_battery_time)
vehicle.current_battery = float(new_max_battery_time)
vehicle.start_up_time = time.time()
new_max_carry_weight = ast.literal_eval(message)[4]
vehicle.max_carry_weight = float(new_max_carry_weight)
# Reacharge battery
if (message_type == 2):
vehicle_id = ast.literal_eval(message)[1]
vehicle = Drone_Services.find_vehicle_by_id(vehicles, vehicle_id)
vehicle.current_battery = vehicle.max_battery_time
vehicle.start_up_time = time.time()
# Open new cygwin terminal
if (message_type == 3):
subprocess.call('start cd C:\cygwin ^& cygwin', shell=True)
# Start new simulated drone
if (message_type == 4):
Drone_Services.start_new_simulated_drone(vehicles, UAV_BASE_PORT,
server)
# Delete mission and stop vehicles
if (message_type == 5):
for vehicle in vehicles:
vehicle.nextlocations = []
free_vehicles = []
obstacles = []
u_tasks = []
vehicle.simple_goto(
dronekit.LocationGlobal(vehicle.location.global_frame.lat,
vehicle.location.global_frame.lon,
altitude))