def init(self, params):
self._id = int(params['id'])
self._target_id = -1
self._target_range = np.inf # added to keep track of current target range
self._wp = np.array([0, 0, 0])
self._weapons_range = enums.MAX_RANGE_DEF
self._fov_width = enums.HFOV_DEF
self._fov_height = enums.VFOV_DEF
self._bboxes = enums.get_battleboxes()
self._own_pose = apbrg.Geodometry()
self._blues = dict()
self._reds = dict()
self._shot = set()
self._taken = set(
) # this is the set that this UAV will use to keep track of "taken" enemy
self._t_id = list() # sets up lists of found enemy
self._t_range = list()
self._safe_waypoint = np.array([0, 0, 0])
self._action = ["None", 0]
self._name = 'USMAQuadMsg'
self._bearing_adj = 0
# This is the new messaging logic (from the documentation)
self.pubs['taken'] = self.createPublisher('taken', apmsg.MsgStat, 1)
self.subs['taken'] = self.createSubscriber('taken', apmsg.MsgStat,
self.receive_msg_stat)
def init(self, params):
self._id = int(params['id'])
self._target_id = -1
self._wp = np.array([0, 0, 0])
self._weapons_range = enums.MAX_RANGE_DEF
self._tracking_range = self._weapons_range * 1.5
self._fov_width = enums.HFOV_DEF
self._fov_height = enums.VFOV_DEF
self._bboxes = enums.get_battleboxes()
self._own_pose = apbrg.Geodometry()
self._blues = dict()
self._reds = dict()
self._shot = set()
self._safe_waypoint = np.array([0, 0, 0])
self._action = ["None", 0]
self._name = 'Pincer'
self._state = States.new_start
try:
self._vehicle_type = int(params['vehicle_type'])
except KeyError:
self._vehicle_type = enums.AC_UNKNOWN
self.box_center = self.interpolate(self._bboxes[1][0][0],
self._bboxes[1][0][1],
self._bboxes[1][1][0],
self._bboxes[1][1][1], 0.5)
self._safe_corners = self.set_safe_corners()
def init(self, params):
self._id = int(params['id'])
self._target_id = -1
self._wp = np.array([0, 0, 0])
self._weapons_range = enums.MAX_RANGE_DEF
self._fov_width = enums.HFOV_DEF
self._fov_height = enums.VFOV_DEF
self._bboxes = enums.get_battleboxes()
self._own_pose = apbrg.Geodometry()
self._blues = dict()
self._reds = dict()
self._shot = set()
self._safe_waypoint = np.array([0, 0, 0])
self._action = ["None", 0]
self._name = 'Vortex'
def __init__(self, sc_state):
super(SC_QtGUIModule, self).__init__(sc_state, "qt_gui",
"qt_gui module")
self.__app = QApplication([])
self.mapWidget = MapWidget()
self.mapWidget.show()
self.__dashboardDialog = DashboardDialog(self.sc_state, self.mapWidget)
self.__dashboardDialog.show()
#periodic updates...
self.__updater = QTimer()
self.__updater.setInterval(500)
self.__updater.timeout.connect(self.time_to_update)
self.__updater.start()
#more frequent updates...
self.__updaterFrequent = QTimer()
self.__updaterFrequent.setInterval(40)
self.__updaterFrequent.timeout.connect(self.time_to_update_frequent)
self.__updaterFrequent.start()
#zoom to default location:
if SITL_LOCATION == 4:
self.mapWidget.zoomTo(16, 33.274562, -81.577593)
elif SITL_LOCATION == 3:
self.mapWidget.zoomTo(16, 43.872280, -112.726646)
elif SITL_LOCATION == 2:
self.mapWidget.zoomTo(16, 41.390717, -73.953278)
elif SITL_LOCATION == 1:
self.mapWidget.zoomTo(16, 41.360461, -74.032838)
else:
self.mapWidget.zoomTo(16, 35.716888, -120.7646408)
#add game-related icons and boxes
(bbox, cline, _, bluestage, _, redstage) = \
enums.get_battleboxes()
self.mapWidget.addGoalIcons(enums.GOAL_POSITS["blue"], \
enums.GOAL_POSITS["red"])
self.mapWidget.drawBattleBox(bluestage.get_corners(),
color=(125, 125, 255))
self.mapWidget.drawBattleBox(redstage.get_corners(),
color=(255, 125, 125))
self.mapWidget.drawBattleBox(bbox.get_corners(), cline)
#slots
self.mapWidget.getView().just_selected_uav.connect(self.on_uav_select)
def init(self, params):
self._id = int(params['id'])
self._target_count = 0
self._wp = np.array([0, 0, 0])
self._max_range = enums.MAX_RANGE_DEF
self._fov_width = enums.HFOV_DEF
self._fov_height = enums.VFOV_DEF
self._own_pose = apbrg.Geodometry()
self._blues = dict()
self._reds = dict()
self._shot = set()
self._safe_waypoint = np.array([0, 0, 0])
self._action = ["None", 0]
self._name = 'EvadeOrAttack'
self._fov_width_radians = math.radians(enums.HFOV_DEF)
self._bboxes = enums.get_battleboxes() # added 4/22/17 for live-fly