def run(self):
"""Executes the geo-fencing behaviour, returning a message either (halt, do_nothing)."""
if self.vehicle.mode.name != "BRAKE" and self.vehicle.mode.name != "ALT_HOLD" and self.vehicle.mode.name != "LAND" and self.vehicle.mode.name != "RTL":
gps_precision_in_decimal_degrees = Polygonal.centimetersToDecimalDegrees(self.vehicle.gps_0.eph)
probable_drone_locations = Polygonal.random_coordinates((self.vehicle.location.lat, self.vehicle.location.lon), gps_precision_in_decimal_degrees, self.precision)
# Adaptive fence, predicts the location of the drone according to its velocity, after 1 second
if self.adaptive_fence:
def add_velocity(x): return (x[0] + self.vehicle.velocity[0], x[1] + self.vehicle.velocity[1])
probable_drone_locations = map(add_velocity, probable_drone_locations)
if Polygonal.points_in_poly(probable_drone_locations, self.fence) is False:
print "Broke circular fence."
print self.vehicle.location
print gps_precision_in_decimal_degrees
return SafeBehaviour.SafeBehaviour.halt
if self.vehicle.location.alt >= self.maximum_altitude or self.vehicle.location.alt <= self.minimum_altitude:
print "Broke altitude geo-fence."
print self.vehicle.location
print gps_precision_in_decimal_degrees
return SafeBehaviour.SafeBehaviour.halt
return SafeBehaviour.SafeBehaviour.do_nothing
# class BrakeCommand:
# def __call__(self):
# self.vehicle.mode = VehicleMode("BRAKE")
# self.vehicle.flush()
#
#
# class NullCommand:
# def __call__(self):
# pass
def test_cm_to_dd_big1():
cm = 111.32
assert abs(0.00001 - Polygonal.centimetersToDecimalDegrees(cm)) < 0.0000001
