def setWayPtCoords(self, boxCoords): #sets the waypoints of the challenge
wayPtCoords = [] #order = top face, right face, bottom face, left face
wayPtCoords.append(standardcalc.returnMidPoint(boxCoords[0],boxCoords[1]))
wayPtCoords.append(standardcalc.returnMidPoint(boxCoords[1],boxCoords[2]))
wayPtCoords.append(standardcalc.returnMidPoint(boxCoords[2],boxCoords[3]))
wayPtCoords.append(standardcalc.returnMidPoint(boxCoords[3],boxCoords[0]))
return wayPtCoords
def run(self, wayList):
self.nav_log_timer = 0
buoyCoords = None
portStartInnerPoint = None
starboardStartInnerPoint = None
navMidpoint = None
gVars.kill_flagNav = 0
for waypoint in wayList:
if (waypoint.wtype == sVars.NAV_FIRST):
buoyCoords = waypoint.coordinate
elif (waypoint.wtype == sVars.NAV_START_PORT):
portStartInnerPoint = waypoint.coordinate
elif (waypoint.wtype == sVars.NAV_START_STARBOARD):
starboardStartInnerPoint = waypoint.coordinate
elif (waypoint.wtype == sVars.NAV_MIDPOINT):
navMidpoint = waypoint.coordinate
if not (buoyCoords and portStartInnerPoint
and starboardStartInnerPoint):
gVars.logger.error("Arguments Incorrect!")
self.interpolatedPoint = standardcalc.returnMidPoint(
portStartInnerPoint, starboardStartInnerPoint)
if not navMidpoint:
halfwayBackPoint = datatypes.GPSCoordinate(
(self.interpolatedPoint.lat + buoyCoords.lat) / 2,
(self.interpolatedPoint.long + buoyCoords.long) / 2)
gVars.logger.info("Using dynamically created midpoint.")
else:
halfwayBackPoint = navMidpoint
gVars.logger.info("Using user given midpoint")
gVars.logger.info("Rounding Buoy")
if (gVars.kill_flagNav == 0):
self.roundbuoy.run(buoyCoords)
gVars.logger.info("Heading for Midpoint ")
if (gVars.kill_flagNav == 0):
self.pointtopoint.run(halfwayBackPoint)
gVars.logger.info("Heading for Finish")
if (gVars.kill_flagNav == 0):
acceptDistance = 1
thread.start_new_thread(self.printNavigationLog, ())
self.pointtopoint.run(self.interpolatedPoint, acceptDistance)
if gVars.kill_flagNav == 1:
gVars.logger.info(
"Nav Kill Flag initialized. Nav has been stopped.")
else:
gVars.logger.info("Navigation challenge finished")
def run(self, wayList):
self.nav_log_timer=0
buoyCoords = None
portStartInnerPoint = None
starboardStartInnerPoint = None
navMidpoint = None
gVars.kill_flagNav = 0
for waypoint in wayList:
if(waypoint.wtype == sVars.NAV_FIRST):
buoyCoords = waypoint.coordinate
elif(waypoint.wtype == sVars.NAV_START_PORT):
portStartInnerPoint = waypoint.coordinate
elif(waypoint.wtype == sVars.NAV_START_STARBOARD):
starboardStartInnerPoint = waypoint.coordinate
elif(waypoint.wtype == sVars.NAV_MIDPOINT):
navMidpoint = waypoint.coordinate
if not (buoyCoords and portStartInnerPoint and starboardStartInnerPoint):
gVars.logger.error("Arguments Incorrect!")
self.interpolatedPoint = standardcalc.returnMidPoint(portStartInnerPoint,starboardStartInnerPoint)
if not navMidpoint:
halfwayBackPoint = datatypes.GPSCoordinate((self.interpolatedPoint.lat+buoyCoords.lat)/2,(self.interpolatedPoint.long+buoyCoords.long)/2)
gVars.logger.info("Using dynamically created midpoint.")
else:
halfwayBackPoint = navMidpoint
gVars.logger.info("Using user given midpoint")
gVars.logger.info("Rounding Buoy")
if(gVars.kill_flagNav == 0):
self.roundbuoy.run(buoyCoords)
gVars.logger.info("Heading for Midpoint ")
if(gVars.kill_flagNav == 0):
self.pointtopoint.run(halfwayBackPoint)
gVars.logger.info("Heading for Finish")
if(gVars.kill_flagNav == 0):
acceptDistance = 1
thread.start_new_thread(self.printNavigationLog, ())
self.pointtopoint.run(self.interpolatedPoint,acceptDistance)
if gVars.kill_flagNav == 1:
gVars.logger.info("Nav Kill Flag initialized. Nav has been stopped.")
else:
gVars.logger.info("Navigation challenge finished")