def main():
# Assumed order: waypts, search
filename = 'data.csv'
#(op_area, search_area, waypoints_list) = read_file(filename)
# given a takeoff point
# generate path to go over waypts
# generate search path within search_area
pt1 = coordinate.GeoCoord(38.145278, -76.428889)
pi = math.pi
pt2 = search_path.coord_with_dist_from_pt(pt1, 10.0, pi / 4.0)
print('----------')
pt1 = coordinate.GeoCoord(38.145278, -76.428889, 20)
pt2 = coordinate.GeoCoord(38.145278, -76.428850, 20)
pt3 = coordinate.GeoCoord(38.145278, -76.428820, 20)
pt4 = coordinate.GeoCoord(38.145278, -76.428800, 20)
pt5 = coordinate.GeoCoord(38.145278, -76.428780, 20)
test = mission.Mission()
item1 = mission.MissionItem(pt1, 22)
test.add_mission_item(item1)
item2 = mission.MissionItem(pt2, 16)
test.add_mission_item(item2)
item3 = mission.MissionItem(pt3, 16)
test.add_mission_item(item3)
item4 = mission.MissionItem(pt4, 16)
test.add_mission_item(item4)
item5 = mission.MissionItem(pt5, 21)
test.add_mission_item(item5)
f = open('output.txt', 'w')
f.write(str(test))
f.close()
def __init__(self, mission_name, video_name, start, length, cropping_rect,
gui):
self.mission = mission.Mission(mission_name)
self.video_name = video_name
self.gui = gui
self.start = start
self.length = length
self.cropping_rect = cropping_rect
self.work()
def main():
# Read the File
filename = 'data.csv'
(op_area, search_area, waypoints_list) = file_parser.read_file(filename)
m1 = mission.Mission()
f1 = mission.Fence()
# Given a takeoff point
takeoff_pt = coordinate.GeoCoord(38.145495, -76.428166, 200)
item1 = mission.MissionItem(takeoff_pt, 22)
m1.add_mission_item(item1)
# Generate path to go over waypts
waypt_path = path.generate_waypt_path(path_info, takeoff_pt,
waypoints_list, op_area)
for pt in waypt_path:
item1 = mission.MissionItem(pt, 16)
m1.add_mission_item(item1)
# Generate search path within search_area
search_area_path = []
#search_area_path = path.generate_search_path(path_info, waypt_path[-1], search_area, op_area, 30)
search_area_path = path.generate_search_path_spiral(
path_info, waypt_path[-1], search_area, op_area, 30)
for pt in search_area_path:
item1 = mission.MissionItem(pt, 16)
m1.add_mission_item(item1)
# Add Landing point, assume to be takeoff point as well
item1 = mission.MissionItem(takeoff_pt, 21)
m1.add_mission_item(item1)
# Generate Fence from the operational area
for pt in op_area:
f1.add_boundary_point(pt)
# Output the mission into file
f = open('output.mission', 'w')
f.write(str(m1))
f.close()
# Output the fence into file
f = open('output.fence', 'w')
f.write(str(f1))
f.close()
def __init__(self):
url = "https://everydayastronaut.com/prelaunch-previews/"
page = requests.get(url)
page_content = html.fromstring(page.content)
tale_rows = page_content.xpath('//tr')
i = 0
for row in tale_rows:
string = row.text_content()
if len(string) > 200:
data = string.split("|")
mission_name = data[0] + "|" + data[1]
mission_name = mission_name.split()
mission_name = " ".join(
sorted(set(mission_name), key=mission_name.index))
location = re.findall("Location(.*)LSP", string)[0].strip()
lsp = re.findall("LSP(.*)Rocket", string)[0].strip()
rocket = mission_name.split("|")[0].strip()
window_start = re.findall("Window start(.*)UTCWindow",
string)[0].strip()
window_end = re.findall("Window end(.*)UTC", string)[0].strip()
start_date = re.findall(
"[0-9][0-9][0-9][0-9]-[0-9][0-9]-[0-9][0-9]",
window_start)[0]
start_time = re.findall("[0-9][0-9]:[0-9][0-9]:[0-9][0-9]",
window_start)[0]
end_time = re.findall("[0-9][0-9]:[0-9][0-9]:[0-9][0-9]",
window_end)[0]
mission = ms.Mission(mission_name, location, lsp, rocket,
start_date, start_time, end_time)
self.missions.append(mission)
elif string.strip() == "Mission NameDate and Time" and i > 1:
break
i += 1
def main():
fullscreen = False
width, height = 960, 600
level_path = None
i = 1
while i < len(sys.argv):
if sys.argv[i] == '--fullscreen':
fullscreen = True
elif sys.argv[i] == '--window':
try:
width, height = map(int, sys.argv[i + 1].split('x'))
except:
Usage()
i += 1
elif level_path:
Usage()
else:
level_path = sys.argv[i]
i += 1
pygame.init()
flags = pygame.OPENGL | pygame.DOUBLEBUF | pygame.HWSURFACE
if fullscreen:
width, height = 0, 0
flags |= pygame.FULLSCREEN
pygame.display.set_caption('Moon')
screen = pygame.display.set_mode((width, height), flags)
render = renderer.Render(screen)
snds = sounds.Sounds()
if level_path:
print 'Debugging map %s.' % level_path
m = mission.Mission(level_path)
g = game.Game(render, snds, m)
result = g.Run()
print 'Result: %i, took %0.1f seconds' % (result, g.play_time)
else:
levels = ('data/c0_m0.txt', 'data/c1_m0.txt', 'data/c1_m1.txt',
'data/c1_m2.txt')
par_times = (72.5, 29.2, 89.6, 88.4)
play_times = [None] * len(levels)
i = 0
while i < len(levels):
level_path = levels[i]
m = mission.Mission(level_path)
g = game.Game(render, snds, m)
result = g.Run()
if result == game.Game.ABORTED:
break
if result == game.Game.VICTORY:
play_times[i] = g.play_time
i += 1
if i > 0:
print 'Your times:'
for i, (play_time,
par_time) in enumerate(zip(play_times, par_times)):
if play_time is None:
continue
print('Mission %i: %5.1fs Par time: %5.1fs' %
(i + 1, play_time, par_time))
def __init__(self):
# Set up the user interface from Designer.
super(mywindow, self).__init__()
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
# Modifications to interface
""" add vlc interfaces for ip cameras"""
# Create all required objects
self.drone = drone.Drone()
self.map = map.Map()
self.mission = mission.Mission()
# TODO add mission_planner_map_image initialisations here
self.ui.mission_planner_map_image.setContentsMargins(0, 0, 0, 0)
# TODO load default values here
self.load_default_values()
self.map_image.mousePressEvent = self.get_mouse_click_pos
self.camera_1 = camera.Camera()
self.camera_1.update_ip_address("192.168.1.1")
self.camera_2 = camera.Camera()
self.camera_2.update_ip_address("192.168.1.1")
self.camera_3 = camera.Camera()
self.camera_3.update_ip_address("192.168.1.1")
self.camera_4 = camera.Camera()
self.camera_4.update_ip_address("192.168.1.1")
# set up video feeds
self.media_player_1 = QtMultimedia.QMediaPlayer(self)
self.media_player_1.setVideoOutput(
self.ui.launchpad_monitoring_videofeed_1)
# fileName = "/path/of/your/local_file"
# url = QtCore.QUrl.fromLocalFile(fileName)
url_1 = QtCore.QUrl(
"http://devimages.apple.com/iphone/samples/bipbop/gear4/prog_index.m3u8"
)
self.media_player_1.setMedia(QtMultimedia.QMediaContent(url_1))
self.media_player_1.play()
self.media_player_2 = QtMultimedia.QMediaPlayer(self)
self.media_player_2.setVideoOutput(
self.ui.launchpad_monitoring_videofeed_2)
# fileName = "/path/of/your/local_file"
# url = QtCore.QUrl.fromLocalFile(fileName)
url_2 = QtCore.QUrl(
"http://devimages.apple.com/iphone/samples/bipbop/gear4/prog_index.m3u8"
)
self.media_player_2.setMedia(QtMultimedia.QMediaContent(url_2))
self.media_player_2.play()
self.media_player_3 = QtMultimedia.QMediaPlayer(self)
self.media_player_3.setVideoOutput(
self.ui.launchpad_monitoring_videofeed_3)
# fileName = "/path/of/your/local_file"
# url = QtCore.QUrl.fromLocalFile(fileName)
url_3 = QtCore.QUrl(
"http://devimages.apple.com/iphone/samples/bipbop/gear4/prog_index.m3u8"
)
self.media_player_3.setMedia(QtMultimedia.QMediaContent(url_3))
self.media_player_3.play()
self.media_player_4 = QtMultimedia.QMediaPlayer(self)
self.media_player_4.setVideoOutput(
self.ui.launchpad_monitoring_videofeed_4)
# fileName = "/path/of/your/local_file"
# url = QtCore.QUrl.fromLocalFile(fileName)
url_4 = QtCore.QUrl(
"http://devimages.apple.com/iphone/samples/bipbop/gear4/prog_index.m3u8"
)
self.media_player_4.setMedia(QtMultimedia.QMediaContent(url_4))
self.media_player_4.play()
# CONNECT BUTTONS
#configuration buttons
self.ui.remove_waypoint_btn.clicked.connect(
self.mission.remove_waypoint)
self.ui.config_camera_update_btn.clicked.connect(
self.config_update_camera_parameters)
self.ui.map_select_file_btn.clicked.connect(self.select_map_file)
self.ui.config_map_update_btn.clicked.connect(
self.config_update_map_parameters)
self.ui.config_launchpad_update_btn.clicked.connect(
self.config_update_launchpad_parameters)
self.ui.config_uas_update_btn.clicked.connect(
self.config_update_uas_parameters)
# TODO TEST CODE
# self.load_default_values()
# TODO introduce queue processing here
self.station_connection = connection.Connection('localhost', 100)
pos_target = (target_x, target_y)
def map_to_world(pos: helper.Position2D) -> helper.Position2D:
map_x, map_y = pos
world_x = map_x - 40.0
world_y = map_y + 26.5
return (world_x, world_y)
# build the mission
# 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.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=60)
# execute!
print(mission.execute())
def generate_context(file):
with mission.Mission(file):
pass