def main():
db = Database(gps=True, lidar=False, cam=False, imu=True)
db.start()
path = Path_Planning(0, db)
Path.make_path()
p = Path.path
#db.path.generate_path = p
c = Control(db=db)
c.start()
while True:
if db.flag.system_stop:
break
else:
try:
time.sleep(0.1)
pass
except KeyboardInterrupt:
#cv2.destroyAllWindows()
print("Keyboard Interrupt detected!")
db.flag.system_stop = True
break
c.join()
db.join()
return 0
class Start(Thread):
avoidThread = None
detect = None
def __init__(self,
routePoints,
sensorsAlgorithms={'Vision': [VisionDetectSVM]},
avoidClass=FixAvoid,
comunication=AirSimCommunication,
fusionAlgorithm=FusionData_Mean,
configPath='config.yml',
startPoint=None):
Thread.__init__(self)
self.start_point = startPoint
self.status = 'start'
# vehicleComunication = comunication.getVehicle()
# Conectando ao simulador AirSim
self.vehicleComunication = AirSimCommunication()
self.control = Control(self.vehicleComunication, routePoints)
self.unrealControl = UnrealCommunication()
self.stop = False
with open(configPath, 'r') as file_config:
self.config = yaml.full_load(file_config)
if avoidClass is not None:
self.avoidThread = avoidClass(self, self.control)
if sensorsAlgorithms is not None:
self.detect = Detect(self,
self.vehicleComunication,
sensorsAlgorithms,
self.avoidThread,
fusionAlgorithm=fusionAlgorithm)
#self.start()
def start_run(self):
# Start drone
self.control.takeOff()
# got to start point
if self.start_point:
print("Start point", self.start_point)
self.vehicleComunication.moveToPoint(self.start_point[:3],
self.start_point[3], True)
# Start move path
self.control.start()
time.sleep(2)
# Start thread detect
if self.detect is not None:
self.detect.start()
def run(self):
self.start_run()
#Wating from time or collision
max_time = time.time() + self.config['algorithm']['time_max']
while not self.stop:
time.sleep(1)
if time.time() >= max_time:
print("Max time execution")
break
#Reset Plane
self.end_run()
def end_run(self):
#stop detect
self.detect.stop = True
if self.detect is not None:
#Wating detect
self.detect.join()
#stop control
if self.control is not None:
self.control.join()
#Reset Plane
self.unrealControl.reset_plane()
self.vehicleComunication.client.reset()
#Delete detect thread
del self.detect
def get_status(self):
return self.status
def set_status(
self,
status,
):
print("Voo status:", status)
self.status = status
if status == 'collision':
self.detect.stop = True
self.stop = True
