def find_best_vehicle_linetask(line_tasks):
# While there are free vehicles and undistributed tasks
v_best = None #vehicle
l_best = None #line
d_best = None
swap = None
# Find the shortes distance between a free vehicle and an undistributed task
for vehicle in free_vehicles:
for line in line_task:
d_s = Drone_Services.distance(vehicle.location.global_frame,
line[0])
d_e = Drone_Services.distance(vehicle.location.global_frame,
line[1])
d = min(d_e, d_s)
if (d_best == None) or (d < d_best):
d_best = d
v_best = vehicle
l_best = line
swap = (d_e < d_s)
if d_best == None:
raise RuntimeError(
"Unexpected Error in distribute tasks: if there are tasks then there should be an optimal one"
)
return ["line", v_best, l_best, d_best, swap]
def main():
Drone_Services.initialize(vehicles, UAV_BASE_PORT, server)
server.set_fn_message_received(message_received)
# Start web interface
with server:
while True:
free_vehicles.clear()
# For each vehicle
for vehicle in vehicles:
# If the vehicle does not have a next task, add it to free vehicles
if not vehicle.nextlocations:
free_vehicles.append(vehicle)
# Else if next task is reached remove it from the vehicles's task lis
elif Drone_Services.distance(
vehicle.nextlocations[0],
vehicle.location.global_frame) < 0.001:
vehicle.nextlocations.pop(0)
# If the vehicle has more tasks, start the next
if vehicle.nextlocations:
vehicle.simple_goto(vehicle.nextlocations[0])
# Else add it to free vehicles
else:
free_vehicles.append(vehicle)
# Distribute new tasks
distribute_tasks(free_vehicles)
time.sleep(1)
def best_vehicle_task(free_vehicles):
best_vehicle = None
best_task = None
best_distance = None
path = []
for vehicle in free_vehicles:
for task in u_tasks:
# If this is a pickup task, check that the vehicle is able to carry the weight
if (len(task) < 4 or task[3] != "weight"
or (task[3] == "weight"
and vehicle.max_carry_weight >= float(task[2]))):
distance, new_path = Drone_Services.calculate_distance_path(
task, vehicle.location.global_frame, obstacles)
if (best_distance == None) or (distance < best_distance):
best_vehicle = vehicle
best_task = task
best_distance = distance
path = new_path
if (best_task is not None):
# If this is a pickup task remove the parameters before appending task
if (len(best_task) > 3 and best_task[3] == "weight"):
best_task.pop()
best_task.pop()
best_vehicle.nextlocations.extend(path)
return best_task, best_vehicle
def distribute_taskssss(free_vehicles, line_task):
# While there are free vehicles and undistributed tasks
while free_vehicles and line_task:
v_best = None #vehicle
l_best = None #line
d_best = None
swap = None
# Find the shortes distance between a free vehicle and an undistributed task
for vehicle in free_vehicles:
for line in line_task:
d_s = Drone_Services.distance(vehicle.location.global_frame,
line[0])
d_e = Drone_Services.distance(vehicle.location.global_frame,
line[1])
d = min(d_e, d_s)
if (d_best == None) or (d < d_best):
d_best = d
v_best = vehicle
l_best = line
swap = (d_e < d_s)
if d_best == None:
raise RuntimeError(
"Unexpected Error in distribute tasks: if there are tasks then there should be an optimal one"
)
# Remove the vehicle from free vehicles and remove the task from undistributed tasks
free_vehicles.remove(v_best)
line_task.remove(l_best)
# Swap the line start and end position if the end position is closest
if swap:
l_best = reversed(l_best)
# Add task to the vehicle's task list and start the task
v_best.nextlocations.extend(l_best)
v_best.simple_goto(v_best.nextlocations[0])
def find_best_vehicle_polytask(poly_tasks):
v_best = None #vehicle
l_best = None #line
p_best = None #polygon
d_best = None
swap = None
for vehicle in free_vehicles:
for polygon in poly_tasks:
for line in polygon:
d_s = Drone_Services.distance(vehicle.location.global_frame,
line[0])
d_e = Drone_Services.distance(vehicle.location.global_frame,
line[1])
d = min(d_e, d_s)
if (d_best == None) or (d < d_best):
d_best = d
v_best = vehicle
p_best = polygon
l_best = line
swap = (d_e < d_s)
if swap:
l_best = reversed(l_best)
return ["poly", v_best, l_best, d_best, swap]
def message_received(client, server, message):
# First position indicates message type
message_type = ast.literal_eval(message)[0]
if (message_type == 0):
""" adding new lines that user draw on map """
tasks = ast.literal_eval(message)[1]
lines = tasks['line']
polygons = []
lines = [[
dronekit.LocationGlobal(point["lat"], point["lng"], 20)
for point in line
] for line in lines]
line_task.extend(lines)
undistributed_tasks[0] = line_task
#Polytask
poly_tasks = []
for polygon in polygons:
polygon = [[
dronekit.LocationGlobal(point["lat"], point["lng"], 20)
for point in line
] for line in polygon]
closing_line = [polygon[len(polygon) - 1][1], polygon[0][0]]
polygon.append(closing_line)
poly_tasks.append(polygon)
polygon_task.extend(poly_tasks)
undistributed_tasks[1] = poly_tasks
#Search task
search_tasks = tasks['search']
search_tasks_temp = []
#Convert to DroneKit's Global Position Object
for task in search_tasks:
task_temp = []
for point in task:
point = dronekit.LocationGlobal(point[0], point[1], 20)
task_temp.append(point)
search_tasks_temp.append(task_temp)
search_tasks = search_tasks_temp
if len(search_tasks) > 0:
undistributed_tasks[2] = generate_search_coordinates(search_tasks)
# New Parameter recieved
if (message_type == 1):
""" Change Parameters """
vehicle_id = ast.literal_eval(message)[1]
vehicle = Drone_Services.find_vehicle_by_id(vehicles, vehicle_id)
new_max_speed = ast.literal_eval(message)[2]
vehicle.max_speed = float(new_max_speed)
vehicle.groundspeed = float(new_max_speed)
new_max_battery_time = ast.literal_eval(message)[3]
vehicle.max_battery_time = float(new_max_battery_time)
vehicle.current_battery = float(new_max_battery_time)
vehicle.start_up_time = time.time()
new_max_carry_weight = ast.literal_eval(message)[4]
vehicle.max_carry_weight = float(new_max_carry_weight)
# Reacharge battery
if (message_type == 2):
vehicle_id = ast.literal_eval(message)[1]
vehicle = Drone_Services.find_vehicle_by_id(vehicles, vehicle_id)
vehicle.current_battery = vehicle.max_battery_time
vehicle.start_up_time = time.time()
def message_received(client, server, message):
# First position indicates message type
message_type = ast.literal_eval(message)[0]
# Adding new tasks that user draw on map
if (message_type == 0):
# Line task
tasks = ast.literal_eval(message)[1]
lines = tasks['line']
lines = [[
dronekit.LocationGlobal(point["lat"], point["lng"], altitude)
for point in line
] for line in lines]
global u_tasks
u_tasks.extend(lines)
# Pickup task
pickup_tasks_temp = []
for pickup_task in tasks['pickup']:
line = pickup_task["line"]
weight = pickup_task["weight"]
line = [
dronekit.LocationGlobal(line[0]["lat"], line[0]["lng"],
altitude),
dronekit.LocationGlobal(line[1]["lat"], line[1]["lng"],
altitude), weight, "weight"
]
pickup_tasks_temp.append(line)
u_tasks.extend(pickup_tasks_temp)
# Search task
search_tasks = tasks['search']
search_tasks_temp = []
# Convert to DroneKit's Global Position Object
for task in search_tasks:
task_temp = []
for point in task:
point = dronekit.LocationGlobal(point[0], point[1], altitude)
task_temp.append(point)
search_tasks_temp.append(task_temp)
search_tasks = search_tasks_temp
if len(search_tasks) > 0:
search_tasks = Drone_Services.generate_search_coordinates(
search_tasks)
u_tasks.append(search_tasks)
# Obstacles
obstacles_from_client = tasks['obstacles']
obstacles_temp = []
for obstacle in obstacles_from_client:
point_temp = []
for point in obstacle:
point = dronekit.LocationGlobal(point[0], point[1], altitude)
point_temp.append(point)
obstacles_temp.append(point_temp)
global obstacles
obstacles.extend(obstacles_temp)
# New Parameter recieved
if (message_type == 1):
""" Change Parameters """
vehicle_id = ast.literal_eval(message)[1]
vehicle = Drone_Services.find_vehicle_by_id(vehicles, vehicle_id)
new_max_speed = ast.literal_eval(message)[2]
vehicle.max_speed = float(new_max_speed)
vehicle.groundspeed = float(new_max_speed)
new_max_battery_time = ast.literal_eval(message)[3]
vehicle.max_battery_time = float(new_max_battery_time)
vehicle.current_battery = float(new_max_battery_time)
vehicle.start_up_time = time.time()
new_max_carry_weight = ast.literal_eval(message)[4]
vehicle.max_carry_weight = float(new_max_carry_weight)
# Reacharge battery
if (message_type == 2):
vehicle_id = ast.literal_eval(message)[1]
vehicle = Drone_Services.find_vehicle_by_id(vehicles, vehicle_id)
vehicle.current_battery = vehicle.max_battery_time
vehicle.start_up_time = time.time()
# Open new cygwin terminal
if (message_type == 3):
subprocess.call('start cd C:\cygwin ^& cygwin', shell=True)
# Start new simulated drone
if (message_type == 4):
Drone_Services.start_new_simulated_drone(vehicles, UAV_BASE_PORT,
server)
# Delete mission and stop vehicles
if (message_type == 5):
for vehicle in vehicles:
vehicle.nextlocations = []
free_vehicles = []
obstacles = []
u_tasks = []
vehicle.simple_goto(
dronekit.LocationGlobal(vehicle.location.global_frame.lat,
vehicle.location.global_frame.lon,
altitude))