def _plan_generator(self, new_ac):
yield from wait_for_mode_2
if self.waypoints:
yield from move_waypoints(
prepare_new_waypoint_locations(new_ac.flight_plan_waypoints,
self.waypoints))
# 3: WaypointLocation(lat=43.4659053, long=1.2700005, alt=300),
# 4: WaypointLocation(lat=43.4654170, long=1.2799074, alt=300),
yield from takeoff_and_launch
yield items.WaitForState(state_name_or_id='Standby')
prep_list = []
if 'circle' in self.prep_mode:
prep_list.append(items.WaitForCircles(n_circles=1))
if 'climb' in self.prep_mode:
prep_list.append(items.WaitClimb(tolerance=5))
yield items.WaitAll(*prep_list)
yield from self.load_plan(new_ac)
yield items.JumpToBlock('Land Right AF-TD')
yield items.WaitForState('land')
yield items.WaitForSeconds(length=5)
yield items.WaitClimb(tolerance=2)
yield items.JumpToBlock('final')
yield items.WaitForState('flare')
yield items.WaitAny(
items.WaitClimb(tolerance=1),
items.WaitForSpeed(target_speed=0),
items.WaitForSeconds(length=60),
)
yield items.StopTest()
def get_items(self, **kwargs):
plan = list()
i = kwargs.pop('i')
permutation = kwargs.pop('permutation', 0)
new_wp_locs = {
3: WaypointLocation(lat=43.4659053, long=1.27, alt=300.0),
4: WaypointLocation(lat=43.465417, long=1.2799074, alt=300.0),
}
if new_wp_locs:
plan += generation_helper.move_waypoints(new_wp_locs)
plan_blocks = [
lambda: [ # 0
items.JumpToBlock('Figure 8 around wp 1'),
items.WaitForState('Figure 8 around wp 1'),
items.WaitForSeconds(84),
],
lambda: [ # 1
items.JumpToBlock('Oval 1-2'),
items.WaitForState('Oval 1-2'),
items.WaitForSeconds(75),
],
lambda: [ # 2
items.JumpToBlock('MOB'),
items.WaitForState('MOB'),
items.WaitForSeconds(62),
],
lambda: [ # 3
items.JumpToBlock('Survey S1-S2'),
items.WaitForState('Survey S1-S2'),
items.WaitForSeconds(76),
],
lambda: [ # 4
items.JumpToBlock('Path 1,2,S1,S2,STDBY'),
items.WaitForState('Path 1,2,S1,S2,STDBY'),
items.WaitForSeconds(61),
],
][int(i)]()
permutation = int(permutation)
block_size = 3
max_permutations = 1
for n in range(len(plan_blocks) // block_size, 0, -1):
max_permutations *= n
if permutation >= max_permutations:
raise ValueError(
f'Max number of permutations for this scenario is {max_permutations}'
)
if permutation > 0:
blocks = []
for i in range(0, len(plan_blocks), block_size):
blocks.append(plan_blocks[i:i + block_size])
for i, perm in enumerate(itertools.permutations(blocks)):
if i == permutation:
plan_blocks = list(itertools.chain(*perm))
break
else:
raise ValueError('Invalid permutation')
plan += plan_blocks
return plan
def get_items(self, **kwargs):
if self.ac.name == 'Microjet':
plan = [
items.JumpToBlock('Survey S1-S2'),
items.WaitForCircles(n_circles=2),
]
elif self.ac.name == 'Bixler':
plan = [
items.JumpToBlock('Fly in Square'),
items.WaitForSeconds(length=15)
]
else:
plan = []
plan.append(items.StopTest())
return plan
