def new_waypoint_post_function():
if (request.form['latitude'] != '' and request.form['longitude'] != ''
and request.form['altitude'] != ''):
try:
temp_new_lat = float(request.form['latitude'])
temp_new_lng = float(request.form['longitude'])
temp_new_alt = float(request.form['altitude'])
new_lat, new_lng, new_alt = temp_home_lat, temp_home_lng, temp_new_alt
try:
mp_client = mp_coms.MissionPlannerClient(
config.MISSION_PLANNER_HOST,
config.GROUND_STATION2MISSION_PLANNER_PORT)
path = [(-1, -1, -1), (new_lat, new_lng, new_alt)]
path = np.asarray(np.reshape(path, (1, -1))[0],
dtype=np.float32).tolist()
mp_client.send_data(path)
mp_client.client_socket.close()
except Exception as e:
exc_type, exc_obj, exc_tb = sys.exc_info()
fname = os.path.split(exc_tb.tb_frame.f_code.co_filename)[1]
print(exc_type, fname, exc_tb.tb_lineno, e, file=sys.stderr)
except Exception as e:
print("Error processing new drop lat/lng args:{}".format(e),
file=sys.stderr)
return redirect(url_for('index'))
def payload_deployment_post_function():
print('=' * int(os.popen('stty size', 'r').read().split()[1]))
print("Payload Deployment Activated")
print('-' * int(os.popen('stty size', 'r').read().split()[1]))
global v_alt
drop_lat = 38.145842
drop_lng = -76.426375
# Easter egg
# drop_lat = 45.632661
# drop_lng = -122.651915
if not isinstance(v_alt, int):
drop_height = 300
else:
if (v_alt > 100 and v_alt < 400):
drop_height = v_alt
else:
drop_height = 300
if (request.form['latitude'] != '' and request.form['longitude'] != ''):
try:
temp_drop_lat = float(request.form['latitude'])
temp_drop_lng = float(request.form['longitude'])
drop_lat, drop_lng = temp_drop_lat, temp_drop_lng
except Exception as e:
print("Error processing new drop lat/lng args:{}".format(e),
file=sys.stderr)
print("Deployment Zone: {}:{}:{}".format(drop_lat, drop_lng, drop_height))
print('-' * int(os.popen('stty size', 'r').read().split()[1]))
try:
mp_client = mp_coms.MissionPlannerClient(
config.MISSION_PLANNER_HOST,
config.GROUND_STATION2MISSION_PLANNER_PORT)
path = [(0, 0, 0), (drop_lat, drop_lng, drop_height)]
path = np.asarray(np.reshape(path, (1, -1))[0],
dtype=np.float32).tolist()
mp_client.send_data(path)
print("Path sent to Mission Planner: {}".format(path))
print('=' * int(os.popen('stty size', 'r').read().split()[1]))
mp_client.client_socket.close()
except Exception as e:
exc_type, exc_obj, exc_tb = sys.exc_info()
fname = os.path.split(exc_tb.tb_frame.f_code.co_filename)[1]
print(exc_type, fname, exc_tb.tb_lineno, e, file=sys.stderr)
return redirect(url_for('index'))
def client_test():
mp_client = mp_coms.MissionPlannerClient(host, port)
while True:
try:
data = [1, 2, 3, 4, 5]
mp_client.send_data(data)
print('Data sent:{}'.format(data))
except Exception as e:
print(e)
print("Are you sure that the server is turned on?")
def main():
#gs2mp_client = osc_client.OSCClient('192.168.1.42',5005)
#gs2mp_client.init_client()
stealth = StealthMode()
obstacles = [(45.9616069, -121.2746859, 50)]
mission_waypoints = [(45.9626361, -121.2751794, 200)]
current_position = (45.960615, -121.274267, 0)
home_waypoint = Waypoint(1, current_position[0], current_position[1])
stealth.set_home_location(home_waypoint)
stealth.set_max_altitude(400)
stealth.set_min_altitude(100)
print(stealth.latlng2ft(mission_waypoints[0][0], mission_waypoints[0][1]))
boundary_points = [(45.9601301, -121.2709951), (45.9598616, -121.2774324),
(45.9643066, -121.2795138), (45.9647988, -121.2711239)]
boundary = FlyZone(boundary_points, 100, 400)
path = stealth.find_path(obstacles, mission_waypoints, current_position,
[boundary])
print('Path:', path)
while True:
mp_client = mp_coms.MissionPlannerClient(host, port)
#print("sending:{}\n{}".format(path,'-'*80))
#path = np.asarray(path)
#path = pickle.dumps(path)
#path = zlib.compress(path)
#path = [1,2,3,4,5]
path = np.asarray(np.reshape(path, (1, -1))[0],
dtype=np.float32).tolist()
#path = [1,2,3,4,5]
print(path)
mp_client.send_data(path)
# mp_client.client_socket.close()
#gs2mp_client.send_data(path,channel='path')
time.sleep(1)
mp_client.client_socket.close()
break
def client_test():
host = config.GROUND_STATION_HOST
port = config.MISSION_PLANNER2GROUND_STATION_PORT
while True:
try:
#start_time = time.time()
mp_client = mp_coms.MissionPlannerClient(host, port)
data = [cs.lat, cs.lng, cs.alt, cs.groundcourse, cs.airspeed]
data = list(map(float, data))
mp_client.send_data(data)
print('Data sent:{}'.format(data))
#time.sleep(1e-1)
mp_client.client_socket.close()
#print("Time elapsed:",start_time-time.time())
except Exception as e:
print(e)
print("Are you sure that the Ground Station server is turned on?")
def run_stealth_mode(self):
"""Run stealth mode: determine path, send path to Mission Planner"""
# Format the obstacles
obstacles = []
for n in self.stealth_mode.obstacles:
try:
obstacles.append((n[0], n[1], n[2]))
except:
obstacles.append((n[0], n[1], n[2]))
# print(obstacles)
print('-' * int(os.popen('stty size', 'r').read().split()[1]))
print("Finding path...")
stealth_mode = stealth.StealthMode()
drop_zone = (38.145842, -76.426375)
mission_waypoints = [(38.145314, -76.429119, 200),
(38.149222, -76.429483, 300),
(38.150133, -76.430856, 300),
(38.14895, -76.432286, 300),
(38.147011, -76.430642, 400),
(38.143783, -76.431994, 200)]
current_position = (38.14792, -76.427995, 0)
home_waypoint = Waypoint(1, current_position[0], current_position[1])
stealth_mode.set_home_location(home_waypoint)
stealth_mode.set_max_altitude(400)
stealth_mode.set_min_altitude(100)
boundary_points = [(38.146269, -76.428164), (38.151625, -76.428683),
(38.151889, -76.431467), (38.150594, -76.435361),
(38.147567, -76.432342), (38.144667, -76.432947),
(38.143256, -76.434767), (38.140464, -76.432636),
(38.140719, -76.426014), (38.143761, -76.421206),
(38.147347, -76.423211), (38.146131, -76.426653)]
boundary = FlyZone(boundary_points, 100, 410)
optimal_path = stealth_mode.find_path(obstacles, mission_waypoints,
current_position, [boundary])
'''
# Hard set mission variables
mission_waypoints = [
(38.145314,-76.429119,200),
(38.149222,-76.429483,300),
(38.150133,-76.430856,300),
(38.14895,-76.432286,300),
(38.147011,-76.430642,400),
(38.143783,-76.431994,200)
]
# Hard set boundary point variables
boundary_points = [
(38.146269,-76.428164),
(38.151625,-76.428683),
(38.151889,-76.431467),
(38.150594,-76.435361),
(38.147567,-76.432342),
(38.144667,-76.432947),
(38.143256,-76.434767),
(38.140464,-76.432636),
(38.140719,-76.426014),
(38.143761,-76.421206),
(38.147347,-76.423211),
(38.146131,-76.426653)
]
# Create a FlyZone object
boundary = FlyZone(boundary_points,100,410)
# Determine the optimal path
optimal_path = self.stealth_mode.find_path(obstacles,
mission_waypoints,
mission_waypoints[0],
[boundary])
# Version which takes in the data from Interop instead of being
# hard set from pregiven variables
"""
optimal_path = self.stealth_mode.find_path(obstacles,
self.stealth_mode.mission_waypoints,
self.stealth_mode. mission_waypoints[0],
self.stealth_mode.boundary_points)
"""
print("Path Variables:\n\tStarting Point:\t{}\n\n\tWaypoints:{}".format(
mission_waypoints[0],
mission_waypoints))
print("Optimal path selected: {}".format(optimal_path),file=sys.stderr)
print('-'*int(os.popen('stty size','r').read().split()[1]))
'''
try:
# Setup client to Mission Planner
mp_client = mp_coms.MissionPlannerClient(
config.MISSION_PLANNER_HOST,
config.GROUND_STATION2MISSION_PLANNER_PORT)
# Format the path into a one row list
path = np.asarray(np.reshape(optimal_path, (1, -1))[0],
dtype=np.float32).tolist()
print('-' * int(os.popen('stty size', 'r').read().split()[1]))
print("Sending data to Mission Planner...")
# Send the data to Mission Planner
mp_client.send_data(path)
print('-' * int(os.popen('stty size', 'r').read().split()[1]))
print("Path sent to Mission Planner")
print('=' * int(os.popen('stty size', 'r').read().split()[1]))
# Release the socket
mp_client.client_socket.close()
except Exception as e:
exc_type, exc_obj, exc_tb = sys.exc_info()
fname = os.path.split(exc_tb.tb_frame.f_code.co_filename)[1]
print(exc_type, fname, exc_tb.tb_lineno, e, file=sys.stderr)
