def create_runner():
r = Robot(SensorMap(sensor_map_master),
bluetooth=BluetoothMaster(MAC_ADDRESS, PORT))
mission_Mission = Mission([
BorderAction(priority=5),
ColorDetAction(colors=[ColorSensor.COLOR_RED], priority=4),
DontDrownAction(lakes=[
ColorSensor.COLOR_RED, ColorSensor.COLOR_YELLOW,
ColorSensor.COLOR_BLUE
],
priority=3),
UltrasoundAction(rotate_degrees=0.5, dodge_rocks=False, priority=2),
DriveAction(priority=1)
])
mission_Mission2 = Mission([
BorderAction(priority=5),
ColorDetAction(colors=[ColorSensor.COLOR_RED], priority=4),
DontDrownAction(
lakes=[ColorSensor.COLOR_RED, ColorSensor.COLOR_YELLOW],
priority=3),
UltrasoundAction(rotate_degrees=0.5, dodge_rocks=False, priority=2),
DriveAction(priority=1)
])
Runner(r, [mission_Mission, mission_Mission2]).run()
def remove_missions_with_redundancies(strategies):
final_possible_strategies = []
#chaque stratégie est un tuple de missions, c'est à dire une assignation spécifique d'une mission par groupe
while len(
strategies
) > 1: #on parcourt la liste des stratégies, et on elève celles qui ont des doublons
mission_tuple = strategies[-1]
strategies.pop()
#on reconverti cette assignation de missions sous forme d'une liste d'actions
actionList = convertStratToActions(mission_tuple)
# Et on vérifie qu'il n'y a pas de doublons dans les groupes visés par ces actions
target_list = []
duplicate_count = 0
for action in actionList:
if action.target_group not in target_list:
target_list.append(action.target_group)
else: #todo plutot que de l'effacer brutalement, implementer merge
duplicate_count += 1
if duplicate_count == 0:
newMission = Mission(actionList)
final_possible_strategies.append(newMission)
final_possible_strategies.append(
Mission(convertStratToActions(strategies[0]))
) #mais, quoi qu'il arrive, on rajoute toujours au moins une stratégie
return final_possible_strategies
def create_runner():
r = Robot(SensorMap(sensor_map_master),
bluetooth=BluetoothMaster(MAC_ADDRESS, PORT))
mission_Name24 = Mission([
BorderAction(rotate_degrees=0.3, priority=4),
ColorDetAction(colors=[ColorSensor.COLOR_RED], priority=3),
DontDrownAction(lakes=[
ColorSensor.COLOR_RED, ColorSensor.COLOR_YELLOW,
ColorSensor.COLOR_BLUE
],
priority=2),
DriveAction(speed=3, priority=1)
], SpeakCelebration('weeeeeeeeeeeeeeeeeee'))
mission_Name52 = Mission([
BorderAction(priority=4),
DontDrownAction(lakes=[
ColorSensor.COLOR_RED, ColorSensor.COLOR_YELLOW,
ColorSensor.COLOR_BLUE
],
priority=3),
PushRockAction(number_of_rocks=1, priority=2),
DriveAction(speed=3, priority=1)
], DanceCelebration())
Runner(r, [mission_Name24, mission_Name52]).run()
class TestMissionMethods(unittest.TestCase):
def setUp(self):
waypoint_dict = open('waypoints_test.json', 'rb')
waypoint_list = json.loads(waypoint_dict.read())
self.mission = Mission(waypoint_list["waypoints"], mission_type='regular_flight', takeoff_required=True)
def test_intermidate_waypoint_generation(self):
self.mission.generate_intermediate_waypoints()
self.assertEqual(10, len(self.mission.primary_route))
def test_take_off_command_added(self):
first_waypoint = self.mission.initial_waypoint_list[0]
self.mission.add_take_off_command()
self.assertEqual(self.mission.command_sequence[1], Command(0,0,0,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
0, 0, 0, 0, 0, 0,
first_waypoint["latitude"], first_waypoint["longitude"], first_waypoint["altitude"]))
def test_command_sequence_generation(self):
self.mission.generate_intermediate_waypoints()
self.mission.add_take_off_command()
self.mission.build_mission_command_sequence()
self.assertEqual(10, len(self.mission.command_sequence))
self.assertEqual(self.mission.command_sequence[9].x, 37.443188)
self.assertEqual(self.mission.command_sequence[9].y, -95.5827334)
self.assertEqual(self.mission.command_sequence[9].z, 25)
self.assertEqual(self.mission.command_sequence[9].command, 16)
def __update_db_missions(self, mission_tree):
"""
Postorder traversal of a list of MissionJson objects that converts them into
missions that are stored in the DB. Recursive.
"""
parent_dbm_list = []
for mission in mission_tree:
# recurse down to leaf nodes
child_dbm_list = self.__update_db_missions(mission.branches)
db_mission = None
try:
# update existing missions
db_mission = database.session.query(Mission).filter(
Mission._name == mission.name).one()
db_mission.update_data(mission)
except orm.exc.NoResultFound:
# add new mission
db_mission = Mission(mission)
database.session.add(db_mission)
db_mission._branches = child_dbm_list
parent_dbm_list.append(db_mission)
return parent_dbm_list
def refresh_missions(self):
results = self.web.get_started()
for mission in results['missions']:
if (mission['user_id'] != 2091):
logging.info('mission of id {} is not owned by 2091 - {}'.format(mission['id'], mission['user_id']))
continue
if str(mission['id']) not in self.missions:
self.missions[str(mission['id'])] = Mission(mission)
else:
self.missions[str(mission['id'])].update(mission)
if (str(mission['id']) not in self.mission_ids):
self.mission_ids.append(str(mission['id']))
for drive in results['drive']:
self.queue.put({
'type': 'unit_update',
'data': {
'id': drive['id'],
'fms_real': drive['fms_real'],
'mission_id': drive['mid']
}
})
for patient in results['combined_patients']:
self.queue.put({'type':'patientcombined_add','data':patient})
for patient in results['patients']:
self.queue.put({'type':'patient_add','data':patient})
def init_mission(self):
self.game.mission = Mission( len(self.game.missions) + 1 )
self.init_bomber()
# Get Target City and Target Type
targettable = MissionTargetTable()
target, targettype, targetzone = targettable.get_mission( self.game.mission.mission_number )
self.game.mission.target = target
self.game.mission.target_type = targettype
self.game.mission.target_zone = targetzone
print "Mission %d: %s [%s] Zone %d" % (self.game.mission.mission_number, target, targettype, targetzone)
self.pause()
# Get formation position
formationtable = FormationPositionTable()
self.game.mission.position_in_formation = formationtable.get_position()
self.game.mission.position_in_squadron = formationtable.get_squadron_position()
print "Formation Position: %s" % self.game.mission.position_in_formation
if self.game.mission.mission_number >= 6:
print "Squadron Position: %s" % self.game.mission.position_in_squadron
self.pause()
# Get fighter coverage
fightercoveragetable = FighterCoverageTable()
for zone in xrange( 2, targetzone + 1 ):
self.game.mission.fighter_coverage[ OUT ][ zone ] = fightercoveragetable.get_fighter_coverage( self.game.mission.mission_number )
self.game.mission.fighter_coverage[ BACK ][ zone ] = fightercoveragetable.get_fighter_coverage( self.game.mission.mission_number )
# Get fighter waves modifiers
flightlogtable = FlightLogGazeteer()
for zone in xrange( 2, targetzone + 1 ):
self.game.mission.fighter_waves_modifiers[ zone ] = flightlogtable.get_modifier( target, zone )
def test_complete_rover_missions_multi(self):
mission_str = '''
5 5
1 2 N
LMLMLMLMM
3 3 E
MMRMMRMRRM
'''
mission = Mission.from_str(mission_str)
r = mission.rovers[0]
self.assertEqual(r.current_position(), "x: 1, y: 2, heading: N")
r = mission.rovers[1]
self.assertEqual(r.current_position(), "x: 3, y: 3, heading: E")
mission.complete_rover_missions()
# 5 5
# 3 3 E
# MM RMM RM RRM
# MM -> 5,3 E
# RMM -> 5,1 S
# RM -> 4,1 W
# RRM -> 5,1 E
r = mission.rovers[0]
self.assertEqual(r.current_position(), "x: 1, y: 3, heading: N")
r = mission.rovers[1]
self.assertEqual(r.current_position(), "x: 5, y: 1, heading: E")
def round(self):
nPlayers = len(self.players)
voteCounter = 0
#set up the mission
plan=self.getPlan(self.missionCounter)
for player in self.players:
player.setState(self.gameState)
while voteCounter<5:
#maybe players communicate somehow
#leader proposes a mission
leader = self.getLeader()
team = leader.proposeTeam(plan,self.players)
#Display option:
#print "proposal #{}:".format(voteCounter+1), " ".join([player.name for player in team])
#every player votes
votes = [player.vote(team) for player in self.players]
nApprove = sum(1 for vote in votes if vote)
nReject = sum(1 for vote in votes if not(vote))
#leader counter increments
self.incrementLeaderCounter()
#if mission is approved
if nApprove>nReject:
# make a mission for the proposed team
thisMission = Mission(team,plan)
# run the mission
thisMission.run()
# add it to the game state's mission list
self.gameState.addMission(thisMission)
self.missionCounter+=1
return
else:
# increment voteCounter
voteCounter+=1
if voteCounter>=5:
# Missions fail after 5 tries
thisMission = Mission([],plan)
this.Mission.result='fail'
self.gameState.addMission(thisMission)
return
def generate_group_missions(groupes, state, species, max_split_rate):
nb_human_groups = len(state.getMembers(Species.human))
nb_enemy_groups = len(state.getMembers(species.inverse()))
nb_my_groups = len(groupes)
sub_missions_array = []
#on genere une liste de missions possibles par groupe (split et non split)
for groupMe in groupes:
possible_actions = enumerate_possible_actions(state, groupMe, species,
nb_my_groups,
max_split_rate)
possible_simple_actions = possible_actions[0]
possible_simple_rates = []
possible_split_actions = possible_actions[1]
possible_split_rates = []
group_missions = []
for action in possible_simple_actions:
#on calcule les notes des actions "simples": un groupe attaque un groupe d'humains
action.calc_mark(state)
possible_simple_rates.append(action.mark)
for actions in possible_split_actions:
#on calcule les notes des missions splittées
actions[0].calc_mark(state)
actions[1].calc_mark(state)
possible_split_rates.append(actions[0].mark + actions[1].mark)
#ensuite, on cree notre liste de missions possibles pour ce groupe
for action in possible_simple_actions:
group_missions.append(Mission([action]))
for split_couple in possible_split_actions:
group_missions.append(Mission([split_couple[0], split_couple[1]]))
merged_rates = possible_simple_rates + possible_split_rates
group_missions.sort(key=dict(zip(group_missions, merged_rates)).get,
reverse=True)
#on rajoute les missions possibles de ce groupe (déjà pré-tronquée) à la liste de sous-missions globales
sub_missions_array.append(group_missions[:(nb_human_groups +
nb_enemy_groups)])
return sub_missions_array
def save_model(self, request, obj, form, change):
ip = obj.host.ip
username = obj.host.username
password = obj.host.password
rule = obj.firewall_template.config_message
value = json.loads(obj.template_value)
command = rule.format(**value)
print command
# TODO:下发添加命令
Mission().create_firewall_rule(ip, username, password, command)
obj.save()
def __init__(self, config):
self.default_webserver_ip = config.ip
self.default_port = config.port
self.default_webserver_port = config.webport
self.id = config.id
self.ip = config.ip
self.home_location = LocationGlobalRelative(config.lat, config.lon,
config.alt)
self.sitl = config.sitl
# Follow instructions @ https://github.com/abearman/sparrow-dev/wiki/How-to-use-the-DroneKit-SITL-simulator
self.instance = self.id - 1
self.sitlInstance = SITL(instance=self.instance)
self.sitlInstance.download('copter', '3.3', verbose=True)
# system (e.g. "copter", "solo"), version (e.g. "3.3"), verbose
if self.sitl:
sitl_args = [
'--simin=127.0.0.1:4000', '--simout=127.0.0.1:4001', '--model',
'quad', '--home=' + str(self.home_location.lat) + "," +
str(self.home_location.lon) + "," +
str(self.home_location.alt) + ",360"
]
print(str(sitl_args))
self.sitlInstance.launch(sitl_args,
verbose=False,
await_ready=False,
restart=True)
self.connection_string = self.sitlInstance.connection_string()
else:
self.connection_string = '/dev/tty/ACM0'
self.formation = None
self.webserver = str(self.ip) + ":" + str(self.default_webserver_port)
print('\nConnecting to vehicle on: %s\n' % self.connection_string)
#print(site.USER_SITE)
self.vehicle = connect(self.connection_string)
print("Drone: " + str(self.id) + " connected!")
self.drone_data = self.get_drone_data()
# print(self.drone_data.__dict__.get(str(self.id)))
# self.print_drone_data()
self.mission = Mission(self.vehicle)
# logger config
self.logger = logging.getLogger("/logs/drone" + str(self.id) + "_log")
self.logger.setLevel(logging.DEBUG)
fh = logging.FileHandler("drone" + str(self.id) + "_log")
fh.setLevel(logging.DEBUG)
ch = logging.StreamHandler()
ch.setLevel(logging.DEBUG)
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
self.logger.addHandler(fh)
self.logger.addHandler(ch)
def __init__(self, building_height):
rospy.init_node('offb')
self.height = building_height
self.GPS_ready = False
# Wait for Offboard and drone to be ready
ready = rospy.wait_for_message('/gps_ready_from_offboard', Bool, timeout=rospy.Duration(60*5)) # Wait for offboard to get GPS fix for 5 minutes, because sometimes GPS locks take long to get when a board is booted up the first time
if ready:
nav = NavSatFix()
# And now put the node into a waiting loop to wait for GPS Lock from Offboard
nav = rospy.wait_for_message('mavros/global_position/global', NavSatFix)
self.coordinates = np.array([nav.latitude, nav.longitude])
else:
rospy.loginfo("Never got position confirmation from Offboard")
self.house_result_pub = rospy.Publisher('/house_results_from_overpass_local', BuildingPolygonResult, queue_size=5) # Information about the house
self.camera_stuff_pub = rospy.Publisher('/camera_and_distances', CameraStuff, queue_size=1)
self.impression_keyframes_pub = rospy.Publisher('/impression_poses_from_planner', PoseArray, queue_size=5) # Poses to take one image of each facade of the house
self.inspection_keyframes_pub = rospy.Publisher('/keyframes_poses_from_planner', PoseArray, queue_size=5)
#self.segmented_image_sub = rospy.Subscriber('segmented_image_from_cnn', cnnResult, self.segmented_image_callback, queue_size=5)
self.image_and_rois_sub = rospy.Subscriber('/segmented_image_from_cnn', ImageAndRois, callback=self.image_and_rois_callback)
self.get_tiles_ready = False
self.images_list = []
self.rois_list = []
self.s = Sun(self.coordinates[0], self.coordinates[1])
self.m = Mission(80, 80)
self.model_walls = []
self.model_windows = []
self.fig_thread = Thread(target=self.draw_thread, args=())
self.fig_thread.daemon = True
self.fig = []
self.ax = []
def get_missions():
connection = psycopg2.connect("dbname=mydb user=searcher password=allDatSQL")
myCursor = connection.cursor()
myCursor.execute("SELECT * FROM missions ORDER BY level;")
missions = []
results = myCursor.fetchall()
for miss in results:
pk = int(miss[0])
name = miss[1]
description = miss[2]
level = int(miss[3])
new_mission = Mission(pk, name, level, description)
missions.append(new_mission)
return missions
def save_missions(soup):
dprint('Extracting missions... ', end='')
sys.stdout.flush()
locations = []
rewardsTableNames = [
'missionRewards', 'keyRewards', 'transientRewards', 'sortieRewards'
]
for name in rewardsTableNames:
locations += next(
soup.find_all(id=name)[0].next_sibling.children).contents
missions = []
for element in locations:
if 'class' in element and element['class'] == 'blank-row':
continue
if element.contents[0].name == 'th' and len(element.contents) == 1:
if element.contents[0].string.split()[0] == 'Rotation':
rotation = element.string.split()[1]
else:
rotation = ''
current_element = element.string
elif len(element.contents
) == 2 and not element.contents[0].name == 'th':
event = False
mission = current_element.replace('Infested Salvage', 'Salvage')
if mission.split()[0] == "Event:":
event = True
mission = ' '.join(mission.split()[1:])
if re.match(r'^([\w -]+)/([\w -]+) \(([\w -]+)\)$', mission):
match = re.search(r'^([\w -]+)/([\w -]+) \(([\w -]+)\)$',
mission)
mission = Mission(match.group(1), match.group(2),
match.group(3), event)
elif mission.startswith('Orokin Derelict'):
mission_type = mission.split()[-1]
mission = Mission('Derelict', mission_type, mission_type,
False)
else:
mission = GenericDropLocation(mission)
missions.append(
MissionDrop(
mission, element.contents[0].string, rotation,
float(element.contents[1].string.split()[-1][1:-2])))
dprint('done.')
dprint('Writing to file... ', end='')
sys.stdout.flush()
if not os.path.exists('data/missions.db'):
open('data/missions.db', 'x').close()
open('data/missions.db', 'w').write(repr(missions))
dprint('done.')
def dp_wd():
dp_wd = Toplevel()
dp_wd.title('待办事项')
to_do_list = Frame(dp_wd)
to_do_list.pack(fill='x')
add_mission = Frame(dp_wd)
add_mission.pack(fill='x')
with open('data.json', 'r') as f:
data = load(f)
for i in range(len(data)):
locals()[data[i]['MID']] = Mission(data[i]['content'], 'Top')
locals()[data[i]['MID']].display(to_do_list)
new_mission_entry = Entry(add_mission, width=20)
new_mission_entry.pack(side=LEFT)
def add_mission_button():
locals()['MS' + strftime('%Y%m%d%H%M%S', localtime())] = Mission(
new_mission_entry.get(), 'Top')
locals()['MS' +
strftime('%Y%m%d%H%M%S', localtime())].display(to_do_list)
def is_MS(s):
if list(s)[0] == 'M' and list(s)[1] == 'S':
return s
new_list = list(filter(is_MS, list(locals())))
def ms2dict(ms):
return {'MID': 'MS' + ms.MID, 'content': ms.content}
for i in range(len(new_list)):
new_list[i] = ms2dict(locals()[new_list[i]])
with open('data.json', 'w') as f:
f.write(dumps(new_list))
Button(add_mission, text='添加',
command=add_mission_button).pack(side=RIGHT)
test_list = [{
'MID': 'MS002',
'content': 'Test suceed!'
}, {
'MID': 'MS003',
'content': 'Succed again!'
}]
def add_mission_button():
locals()['MS' + strftime('%Y%m%d%H%M%S', localtime())] = Mission(
new_mission_entry.get(), 'Top')
locals()['MS' +
strftime('%Y%m%d%H%M%S', localtime())].display(to_do_list)
def is_MS(s):
if list(s)[0] == 'M' and list(s)[1] == 'S':
return s
new_list = list(filter(is_MS, list(locals())))
def ms2dict(ms):
return {'MID': 'MS' + ms.MID, 'content': ms.content}
for i in range(len(new_list)):
new_list[i] = ms2dict(locals()[new_list[i]])
with open('data.json', 'w') as f:
f.write(dumps(new_list))
def __init__(self, config):
self.default_webserver_ip = config.ip
self.default_port = config.port
self.default_webserver_port = config.webport
self.id = config.id
self.ip = config.ip
self.sitl = config.sitl
self.sitlInstance = SITL('/home/dino/.dronekit/sitl/copter-3.3/apm')
if self.sitl:
sitl_args = [
'--instance ' + str(self.id - 1), '-I0', '--model', 'quad',
'--home=-35.363261,149.165230,584,353'
]
self.sitlInstance.launch(sitl_args,
verbose=False,
await_ready=False,
restart=True)
self.connection_string = self.sitlInstance.connection_string()
else:
self.connection_string = '/dev/tty/ACM0'
self.formation = None
self.webserver = str(self.ip) + ":" + str(self.default_webserver_port)
print('\nConnecting to vehicle on: %s\n' % self.connection_string)
self.vehicle = connect(self.connection_string)
print("Drone: " + str(self.id) + " connected!")
self.drone_data = self.get_drone_data()
self.print_drone_data()
self.mission = Mission(self.vehicle)
# logger config
self.logger = logging.getLogger("drone" + (str)(self.id) + "_log")
self.logger.setLevel(logging.DEBUG)
fh = logging.FileHandler("drone" + (str)(self.id) + "_log")
fh.setLevel(logging.DEBUG)
ch = logging.StreamHandler()
ch.setLevel(logging.DEBUG)
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
fh.setFormatter(formatter)
self.logger.addHandler(fh)
self.logger.addHandler(ch)
def build_mission(
map_file: str,
world_file: str,
start_x: float,
start_y: float,
end_x: float,
end_y: float,
base_launch_file: str = os.path.join(
os.path.dirname(__file__), 'robotest.launch'), # noqa: pycodestyle
distance_threshold: float = 0.3) -> Mission:
pos_start = (start_x, start_y)
pos_target = (end_x, end_y)
mission = Mission(map_position_initial=pos_start,
map_position_end=pos_target,
base_launch_file=base_launch_file,
map_to_world=map_to_world,
map_file=map_file,
world_file=world_file,
time_limit=90,
distance_threshold=distance_threshold)
return mission
def test_complete_rover_missions_single(self):
mission_str = '''
5 5
1 2 N
LMLMLMLMM
'''
mission = Mission.from_str(mission_str)
r = mission.rovers[0]
self.assertEqual(r.current_position(), "x: 1, y: 2, heading: N")
mission.complete_rover_missions()
# 5 5
# 1 2 N
# LM LM LM LMM
# LM -> 0,2 W
# LM -> 0,1 S
# LM -> 1,1 E
# LMM -> 1,3 N
r = mission.rovers[0]
self.assertEqual(r.current_position(), "x: 1, y: 3, heading: N")
def build_mission(start_x: float, start_y: float, end_x: float,
end_y: float) -> Mission:
pos_start = (start_x, start_y)
pos_target = (end_x, end_y)
# TODO: parameterise
dir_catkin = '/home/mars/catkin_ws'
dir_turtlebot_gazebo = os.path.join(
dir_catkin, 'src/turtlebot_simulator/turtlebot_gazebo')
map_file = os.path.join(dir_turtlebot_gazebo, 'maps/playground.yaml')
world_file = os.path.join(dir_turtlebot_gazebo, 'worlds/playground.world')
base_launch_file = os.path.join(os.path.dirname(__file__),
'robotest.launch')
mission = Mission(map_position_initial=pos_start,
map_position_end=pos_target,
base_launch_file=base_launch_file,
map_to_world=map_to_world,
map_file=map_file,
world_file=world_file,
time_limit=90)
return mission
def handle_mission(self, data):
if self.Title:
self.Title_Text = data
self.Title = False
position = self.Title_Text.find('(')
self.Missions.append(
Mission(self.Title_Text[:position - 1],
self.Title_Text[position:]))
elif self.Rotation:
self.Rotation = False
self.Rotation_Number = data
else:
if self.Loot == "":
self.Loot = data
else:
self.Loot_Rarity = self.parse_luck(data)
if self.Rotation_Number is not None:
self.Missions[-1].add_loot(self.Loot, self.Loot_Rarity,
self.Rotation_Number)
else:
self.Missions[-1].add_loot(self.Loot, self.Loot_Rarity)
self.Loot = ""
self.Loot_Rarity = ""
async def daily(self, ctx):
if ctx.invoked_subcommand is None:
sub_command = ctx.subcommand_passed
await ctx.send(embed=Mission(self, sub_command).embed_daily)
def yaml_parse(yaml_text, navigator, total_time):
my_missions = {}
mission_to_mission_dep = {}
count = 0
base_mission = None
missions_left = []
tree = []
for name in yaml_text.keys():
mission = yaml_text[name]
marker_dep = mission["marker_dep"]
mis_dep = mission["mission_dep"]
is_base = mission["is_base"]
min_time = mission["min_time"]
points = mission["points"]
looking_for = mission["looking_for"]
weight = mission["weight"]
if marker_dep != "None":
marker = yield navigator.database_query(marker_dep,
raise_exception=False)
if not marker.found:
fprint("NOT COMPLETING {}, NO MARKER FOUND".format(name),
msg_color="green")
continue
marker = marker.objects[0]
else:
marker = None
num_mission_deps = len(mis_dep)
if mis_dep == "None":
num_mission_deps = 0
if type(mis_dep) is not list:
num_mission_deps = 1
if "mission_script" in mission.keys():
mission_script = mission["mission_script"]
m = Mission(name,
marker,
min_time,
weight,
points,
looking_for,
num_mission_deps,
mission_script=mission_script)
else:
m = Mission(name, marker, min_time, weight, points, looking_for,
num_mission_deps)
my_missions[name] = m
if is_base:
base_mission = m
elif mis_dep == "None":
count += 1
missions_left.append(m)
tree.append(m)
else:
count += 1
missions_left.append(m)
mission_to_mission_dep[name] = mis_dep
# Go through the missions and give them all children dependencies
for mission_name in mission_to_mission_dep.keys():
parent_name = mission_to_mission_dep[mission_name]
if type(parent_name) is not list:
parent_names = []
parent_names.append(parent_name)
else:
parent_names = parent_name
for p in parent_names:
child_name = mission_name
parent_mission = my_missions[p]
child_mission = my_missions[child_name]
parent_mission.add_child(child_mission)
total_time -= count * 60
defer.returnValue((missions_left, base_mission, tree, total_time))
def test_mission_initialization(self): mission = Mission.from_str(MissionTest.mission_str) self.assertEqual(mission.terrain.latitude, 5) self.assertEqual(mission.terrain.longitude, 5) self.assertEqual(mission.rovers.__len__(), 1)
from arduino import Commands, Arduino
from time import sleep
from motors import Motors
from mission import Mission
board = Arduino()
board.connect()
move = Motors()
mission = Mission()
power_f = 100
power_t = 100
mission.startMission()
while True:
print("Forward")
move.forward(power_f)
sleep(4)
move.stop()
print("turn left")
move.leftMotor(power_f, 0)
move.rightMotor(power_f, 1)
sleep(1)
move.stop()
sleep(1)
print("turn right")
move.leftMotor(power_f, 1)
#Default Ka-1 Radar Location (Table mountain)
Ka1_location = [40.1451,-105.2408,1676]
#Default connection to aircraft (SITL)
ac_address = 'udp:localhost'
io_port = '14550'
gcs_port = '14551'
#stuff for Auto Mode
ottegoal = 1
auto = False
autostack = [2,1,2,1,2,1] #stack read from right to left because it's a pop stack
oldwpcount = 0
#Create mission instance (this will try to connect to the aircraft)
mission = Mission(Ka1_location, ac_address + ':' + io_port)
#Create ground control station thread (but don't start unless we are connected to aircraft)
gcs = ge_interface(ac_address + ':' + gcs_port,Ka1_location)
gcs.daemon = True
if mission.connected:
gcs.start()
user_input = 0
while True:
clear = lambda : os.system('tput reset')
clear()
print("Ka-1 Location: {0}").format(Ka1_location)
print("Aircraft address: {0} (IO: {1}, GCS: {2})").format(ac_address,io_port,gcs_port)
if mission.connected:
def setUp(self):
waypoint_dict = open('waypoints_test.json', 'rb')
waypoint_list = json.loads(waypoint_dict.read())
self.mission = Mission(waypoint_list["waypoints"], mission_type='regular_flight', takeoff_required=True)
def test_display_rover_missions(self):
mission = Mission.from_str(MissionTest.mission_str)
mission.display_rover_missions()
from logger import get_logger
parser = argparse.ArgumentParser()
parser.add_argument('filenames',
metavar='<str>',
type=str,
nargs=True,
help='Files to process.')
logger = get_logger(__name__)
if __name__ == '__main__':
logger.info('Starting...')
args = parser.parse_args()
for filename in args.filenames:
logger.info("Processing file, filename = {}".format(filename))
mission = Mission(filename)
return_code = mission.read()
if return_code != 0:
logger.info('Skipping...')
continue
mission.compute()
mission.write()
logger.info('Terminating...')
#!/usr/bin/env python3
from character import Character
from mission import Mission
bStats = {"hp": 100, "defense": 20, "dmg": 10, "catch_rate": 70}
gStats = {"hp": 130, "defense": 20, "dmg": 10, "catch_rate": 30}
jStats = {"hp": 100, "defense": 40, "dmg": 10, "catch_rate": 80}
uStats = {"hp": 120, "defense": 30, "dmg": 10, "catch_rate": 40}
batman = Character("batman", bStats)
greenLantern = Character("green lantern", bStats)
joker = Character("joker", jStats)
universe = Character("univers", uStats)
mission = Mission("Death squad", [joker, universe])
mission.heroes.append(batman)
mission.heroes.append(greenLantern)
mission.start_mission()
print("j hp: " + str(joker.hp))
print("u hp: " + str(universe.hp))
print("b hp: " + str(batman.hp))
print("g hp: " + str(greenLantern.hp))
def create_runner(): r = Robot(SensorMap(sensor_map_master), bluetooth=BluetoothMaster(MAC_ADDRESS, PORT)) mission_Mission = Mission([BorderAction(priority=2), ColorDetAction(colors=[ColorSensor.COLOR_RED], priority=0), DontDrownAction(lakes=[ColorSensor.COLOR_RED, ColorSensor.COLOR_YELLOW, ColorSensor.COLOR_BLUE], priority=1), DriveAction(priority=0)]) Runner(r, [mission_Mission]).run()
def load_missions(self):
for mission in Game.load_json_objects(self.PATH_MISSIONS):
self._missions.add(Mission.from_json(mission))
async def next(self, ctx, *, arg1=None):
sub_command = ctx.subcommand_passed
await ctx.send(embed=Mission(self, sub_command).embed_daily)
def configure(self):
#Add Components
compress = self.add('compress', CompressionSystem())
mission = self.add('mission', Mission())
pod = self.add('pod', Pod())
flow_limit = self.add('flow_limit', TubeLimitFlow())
tube_wall_temp = self.add('tube_wall_temp', TubeWallTemp())
#Boundary Input Connections
#Hyperloop -> Compress
self.connect('Mach_pod_max', 'compress.Mach_pod_max')
self.connect('Ps_tube', 'compress.Ps_tube')
self.connect('Mach_c1_in', 'compress.Mach_c1_in') #Design Variable
self.connect('c1_PR_des', 'compress.c1_PR_des') #Design Variable
#Hyperloop -> Mission
self.connect('tube_length', 'mission.tube_length')
self.connect('pwr_marg', 'mission.pwr_marg')
#Hyperloop -> Flow Limit
self.connect('Mach_pod_max', 'flow_limit.Mach_pod')
self.connect('Ps_tube', 'flow_limit.Ps_tube')
self.connect('pod.radius_inlet_back_outer', 'flow_limit.radius_inlet')
self.connect('Mach_bypass', 'flow_limit.Mach_bypass')
#Hyperloop -> Pod
self.connect('Ps_tube', 'pod.Ps_tube')
self.connect('hub_to_tip', 'pod.hub_to_tip')
self.connect('coef_drag', 'pod.coef_drag')
self.connect('n_rows', 'pod.n_rows')
self.connect('length_row', 'pod.length_row')
#Hyperloop -> TubeWallTemp
self.connect('solar_heating_factor',
'tube_wall_temp.nn_incidence_factor')
self.connect('tube_length', 'tube_wall_temp.length_tube')
#Inter-component Connections
#Compress -> Mission
self.connect('compress.speed_max', 'mission.speed_max')
self.connect('compress.pwr_req', 'mission.pwr_req')
#Compress -> Pod
self.connect('compress.area_c1_in', 'pod.area_inlet_out')
self.connect('compress.area_inlet_in', 'pod.area_inlet_in')
self.connect('compress.rho_air', 'pod.rho_air')
self.connect('compress.F_net', 'pod.F_net')
self.connect('compress.speed_max', 'pod.speed_max')
#Compress -> TubeWallTemp
self.connect('compress.nozzle_Fl_O', 'tube_wall_temp.nozzle_air')
self.connect('compress.bearing_Fl_O', 'tube_wall_temp.bearing_air')
#Mission -> Pod
self.connect('mission.time', 'pod.time_mission')
self.connect('mission.energy', 'pod.energy')
#Add Solver
solver = self.add('solver', BroydenSolver())
solver.itmax = 50 #max iterations
solver.tol = .001
#Add Parameters and Constraints
solver.add_parameter('compress.W_in', low=-1e15, high=1e15)
solver.add_parameter('compress.c2_PR_des', low=-1e15, high=1e15)
solver.add_parameter([
'compress.Ts_tube', 'flow_limit.Ts_tube',
'tube_wall_temp.temp_boundary'
],
low=-1e-15,
high=1e15)
solver.add_parameter(
['flow_limit.radius_tube', 'pod.radius_tube_inner'],
low=-1e15,
high=1e15)
solver.add_constraint('.01*(compress.W_in-flow_limit.W_excess) = 0')
solver.add_constraint('compress.Ps_bearing_residual=0')
solver.add_constraint('tube_wall_temp.ss_temp_residual=0')
solver.add_constraint(
'.01*(pod.area_compressor_bypass-compress.area_c1_out)=0')
driver = self.driver
driver.workflow.add('solver')
#driver.recorders = [CSVCaseRecorder(filename="hyperloop_data.csv")] #record only converged
#driver.printvars = ['Mach_bypass', 'Mach_pod_max', 'Mach_c1_in', 'c1_PR_des', 'pod.radius_inlet_back_outer',
# 'pod.inlet.radius_back_inner', 'flow_limit.radius_tube', 'compress.W_in', 'compress.c2_PR_des',
# 'pod.net_force', 'compress.F_net', 'compress.pwr_req', 'pod.energy', 'mission.time',
# 'compress.speed_max', 'tube_wall_temp.temp_boundary']
#Declare Solver Workflow
solver.workflow.add(
['compress', 'mission', 'pod', 'flow_limit', 'tube_wall_temp'])
from arduino import Commands, Arduino
from time import sleep
from motors import Motors
from mission import Mission
mission = Mission()
board = Arduino()
board.connect()
move = Motors()
print("ok")
move.stop()
sleep(2)
print("sampling")
location = mission.getLocation()
sample = mission.takeSample(location)
print(sample)
mission.endMission()
status = mission.get_status()
if (status != MissionStatus.UNSURE) and (
status != MissionStatus.UNDONE) and (status !=
MissionStatus.DONE):
print("Wrong mission status", status)
return False
self.__missions[status].remove(mission)
return True
def get_missions(self, status):
return self.__missions[status]
def get_mission(self, status, index):
return self.__missions[status][index]
# Test
if __name__ == "__main__":
p = Project("Adserver", "")
p.set_deadline("2017-12-31")
m1 = Mission("a mission", "details", MissionStatus.UNDONE)
m2 = Mission("b mission", "details", MissionStatus.UNDONE)
p.add_mission(m1)
p.add_mission(m2)
print("Project: %s" % p.get_name())
print("Dealine: %s" % p.get_deadline())
missions = p.get_missions(MissionStatus.UNDONE)
for m in missions:
print("-->%d: %s" % (m.id(), m.get_description()))
with open('./config.json') as data_file:
constants = json.load(data_file)
util.succLog("Successfully extracted config data")
except IOError:
util.errLog("WARNING: Config file not found!")
util.errLog("Aborting operation! Make sure config.json exists in the /src directory.")
sys.exit(0)
img_cli = IMGClient('0.0.0.0', '5001')
# Instantiate Mission module.
miss = Mission(
constants['auvsi']['host'],
constants['auvsi']['port'],
constants['auvsi']['username'],
constants['auvsi']['password']
)
target_list = img_cli.getTargets()
for tgt in target_list:
img_id = tgt['image']
print img_id
img_obj = img_cli.getImage(img_id)
path = img_obj['img_photo']
miss.postImage( lat=img_obj['lat'],
lon=img_obj['lon'],
from arduino import Commands, Arduino
#from arduino import Commands, Arduino
from ultrasound import Ultrasound
from time import sleep
from motors import Motors
from mission import Mission
import RPi.GPIO as GPIO
import picamera
RED_LED_GPIO = 26
GREEN_LED_GPIO = 29
BUTTON = 36
GPIO.setmode(GPIO.BOARD)
board = Arduino()
move = Motors()
mission = Mission()
#variables to be set up for the test
power_f = 90
power_t = 90
del1 = 5
del2 = 3
speed = 50
def buttonWait():
GPIO.output(GREEN_LED_GPIO,False)
GPIO.output(RED_LED_GPIO,True)
print("waiting for button...")
while GPIO.input(BUTTON) == False:
time.sleep(0.1)
# Start Telemetry module to load data into.
telemetry = {}
# initialize the constants instance so that we can update the WebAPI
util.log("Accessing HTTPConst singleton instance")
HTTPConst = HTTPConstants()
util.succLog(
"Setting up mavlink recieving protocol - Instantiating modules...")
# Instantiate a Mavlink module.
mavl = Mavlink(constants['mavl-incoming']['host'],
constants['mavl-incoming']['port'])
# Instantiate Mission module.
miss = Mission(constants['auvsi']['host'], constants['auvsi']['port'],
constants['auvsi']['username'], constants['auvsi']['password'])
# Grab mission/server data from the competition server.
missPacket = miss.getMissionComponents()
HTTPConst.setMission(missPacket)
packets_sent = 0
startTime = time.time()
# Starting front end components.
util.log("Initiating telemetry status console front end")
util.log("Ready to recieve Mavlink Packets...")
packets_sent = 0
def buildMissions(self):
"""
Build a list of current missions and remove completed
"""
print("Removing Completed")
#Check and remove completed missions
logger.debug("Removing completed missions")
oldMissions = self.missionList
compNum = 0
haveVehiclesAvailable = False
hrefs = []
url = BASE_URL
for oldMission in oldMissions:
browser.get(BASE_URL + "missions/" + oldMission.getID())
try:
compNum = compNum + 1
if browser.find_element_by_xpath(
"//div[contains(@class,'missionNotFound')]"):
logger.debug(
"%s wasn't found. Treating it as complete and removing.",
oldMission.getID())
print(Fore.GREEN + oldMission.getName() +
" was completed." + Style.RESET_ALL)
try:
self.missionList.remove(oldMission)
except Exception as e:
logger.debug("Caught .remove error, continuing.")
continue
for d in self.despatches:
if d.getID() == oldMission.getID():
for dv in d.getVehicles():
for v in self.vehicleList:
if dv == v.getID():
v.setStatus('1')
tempMissionSeen = self.missionsSeen
try:
for h in tempMissionSeen:
if oldMission.getID() in h:
self.missionsSeen.remove(h)
self.despatches.remove(oldMission)
except Exception as e:
logger.debug("Caught .remove error, continuing.")
continue
except NoSuchElementException:
continue
logger.debug("%s missions completed", compNum)
logger.debug("Building missions list")
print("Building New Missions")
logger.debug("Grabbing mission urls and hrefs")
browser.get(url)
links = browser.find_elements_by_xpath(
"//div[contains(@id,'missions')]/div/div[not(contains(@class,'mission_alliance_distance_hide') or contains(@class,'mission_deleted'))]/div/div/a[contains(@href,'missions')]"
)
checked = 0
currBatchNum = 0
for link in links:
hrefs.append(link.get_attribute('href'))
print(f"{str(len(links))} mission/s found")
logger.debug("Building info for %s missions", len(hrefs))
for v in self.vehicleList:
if v.despatchable():
haveVehiclesAvailable = True
break
if haveVehiclesAvailable:
for href in hrefs:
missionId = href.split("/")[4]
if href not in self.missionsSeen and currBatchNum < MISSION_BATCH_NUM:
currBatchNum += 1
self.missionsSeen.append(href)
try:
for mission in self.missionList:
if mission.getID() == missionId:
#since the mission is already in the list, we can continue it.
raise AlreadyExistsException()
browser.get(BASE_URL + "missions/" + missionId)
missionName = browser.find_element_by_id(
'missionH1').text
with open('../json/missions.json') as missions_json:
mdata = json.load(missions_json)
if missionName in mdata['missions']:
logger.debug("Mission exists in JSON file")
mission = mdata['missions'][missionName]
requirements = json.loads(
mission['requirements'])
currMission = Mission(missionId, missionName,
requirements)
else:
logger.debug(
"Mission does not exists in JSON file")
logger.debug(
"%i/%i missions checked against batch amount",
currBatchNum, MISSION_BATCH_NUM)
logger.debug("Getting vehicle info for %s",
missionId)
logger.debug("Mission name is %s", missionName)
logger.debug("Getting requirements for %s",
missionId)
requirements = getRequirements(missionId)
logger.debug("Mission requirements are %s",
requirements)
currMission = Mission(missionId, missionName,
requirements)
with open('../json/missions.json',
'w') as outfile:
logger.debug(
"Buidling mission JSON object")
mdata['missions'][missionName] = {}
mdata['missions'][missionName][
'requirements'] = json.dumps(
requirements, indent=4)
logger.debug("Adding mission to JSON file")
json.dump(mdata,
outfile,
sort_keys=True,
indent=4)
logger.debug("Mission info built, adding to list")
self.missionList.append(currMission)
# Show user how many missions it's checked compared to how many it needs to.
checked += 1
print(
Fore.GREEN +
f"{checked}/{MISSION_BATCH_NUM} missions checked!"
+ Fore.RESET)
except AlreadyExistsException:
continue
logger.debug("%s/%s missions built", checked, len(hrefs))
else:
logging.debug("No vehicles available, not checking missions")
