def main():
logger()
logging.info('Started')
communicator = centralizedComm.uavComm()
communicator.start()
logging.info('Communicator initialized.')
plane = planeGenerator.generate_planes(
defaultValues.NUM_PLANES,
defaultValues.NUM_WAY_POINTS,
defaultValues.GRID_SIZE,
communicator
)
planeMover = list()
for i in range(0, defaultValues.NUM_PLANES):
planeMover.append(Thread(target=movementSimulator.move, args=(plane[i], communicator, 0)))
for i in range(0, defaultValues.NUM_PLANES):
planeMover[i].setDaemon(True)
planeMover[i].start()
while communicator.isAlive():
pass
logging.info('Communicator terminated.')
logging.info('Finished')
def main():
logger()
logging.info('Started')
communicator = centralizedComm.uavComm()
communicator.start()
logging.info('Communicator initialized.')
plane = planeGenerator.generate_planes(defaultValues.NUM_PLANES,
defaultValues.NUM_WAY_POINTS,
defaultValues.GRID_SIZE,
communicator)
planeMover = list()
for i in range(0, defaultValues.NUM_PLANES):
planeMover.append(
Thread(target=movementSimulator.move,
args=(plane[i], communicator, 0)))
for i in range(0, defaultValues.NUM_PLANES):
planeMover[i].setDaemon(True)
planeMover[i].start()
# Just randomly testing certain funcs.
while communicator.isAlive():
pass
logging.info('Communicator terminated.')
logging.info('Finished')
import standardFuncs
import defaultValues
import vMath
import logging
standardFuncs.logger()
# TODO: Adapt this to waypoints
def straightline (plane):
if plane.avoid:
target = plane.avoidanceWaypoint
logging.info ("UAV #3i is moving toward an avoidance waypoint" % plane.id)
else: target = plane.tLoc
speed = plane.speed # Get speed from plane
distanceTraveled = plane.speed * defaultValues.DELAY #Get frequency of updates.
plane.distanceTraveled += distanceTraveled #The total distance travelled.
# Calculate new position
position = vMath.vector(distanceTraveled, plane.cBearing, plane.cElevation)
new_lat = plane.cLoc.latitude + (position.x / standardFuncs.LATITUDE_TO_METERS)
new_lon = plane.cLoc.longitude + (position.y / standardFuncs.LONGITUDE_TO_METERS)
new_alt = plane.cLoc.altitude + position.z
