def setup(self):
#global Drones
# Create a list of all drones
# If Tello mode is set then it creates Tello drones
if GC.TelloMode:
#self.Drones = [TD.TelloDrone(200,300), TD.TelloDrone(400,300,IP_Address="0.0.0.1")]
#self.Drones = [TD.TelloDrone(200,300,65*2), TD.TelloDrone(400,300,65*3), TD.TelloDrone(300,200)]
self.Drones = []
for i in range(GC.Drone_Number):
self.Drones.append(TD.TelloDrone(100 + 100*i, 300, MaxSpeed=GC.Uniform_Drones_Speed,
MaxYawSpeed=GC.Uniform_Yaw_Speed, IP_Address=f'0.0.0.{i}'))
# Otherwise it creates 3 drones with joystick, or 2 without joystick
else:
if pygame.joystick.get_count() == 0:
self.Drones = [Drone.Drone(200, 300, GC.FPS),
Drone.Drone(800, 300, GC.FPS, GC.Uniform_Drones_Speed, 0,
pygame.K_j, pygame.K_l,pygame.K_k, pygame.K_i)]
else:
self.Drones = [Drone.Drone(200, 300, GC.FPS),
Drone.Drone(800, 300, GC.FPS, GC.Uniform_Drones_Speed, 1,
Joystick_xAxis="Axis0", Joystick_yAxis="Axis1"),
Drone.Drone(500, 300, GC.FPS, GC.Uniform_Drones_Speed, 2,
"Button13", "Button14", "Button12", "Button11")]
# Creates collision array for colouring stuff red on collision
self.DronesCollided = []
for i in range(len(self.Drones)):
self.DronesCollided.append(False)
#self.Drones = [Drone.Drone(200,300), Drone.Drone(820,300), Drone.Drone(510, 100, 1, pygame.K_j, pygame.K_l, pygame.K_k, pygame.K_i),Drone.Drone(510, 500, 1, pygame.K_j, pygame.K_l, pygame.K_k, pygame.K_i)]
# Sets up the Tello communication object by providing the Tello drones
for i in self.Drones:
if i.__class__ == TD.TelloDrone:
if GC.TelloMode:
self.TC.Add_Drone(i)
else:
continue
def reinitialize(self):
#supplies available
#This can be stored in a database
#where values can be updated
self.supplies = {
"RBC" : 10,
"WBC" : 5,
"Blood plasma" : 9,
"Platelets" : 8,
"Anti venom" : 7
}
#These are the list of drones
#available with default values
#This can be stored in a database
#where values can be changed
#depending on the data sent
#by the drone
self.d1 = Drone.drone('1', 0, 50.0, 15.0, 15.0, '', 5.0, 0.0, 150.0, '')
self.d2 = Drone.drone('2', 0, 600.0, 13.0, 3.0, '', 60.0, 0.0, 100.0, '')
self.d3 = Drone.drone('3', 1, 300.0, 15.0, 8.0, '', 30.0, 5.0, 150.0, '')
self.d4 = Drone.drone('4', 1, 50.0, 13.0, 7.0, '', 5.0, 10.0, 100.0, '')
self.d5 = Drone.drone('5', 1, 1000.0, 14.0, 0.0, '', 100.0, 0.1, 150.0, '')
self.drones = [self.d1, self.d2, self.d3, self.d4, self.d5]
self.selected = None
def deliver_most_items_from_product(customer_id, product_id, maximum_load,
weights, order, warehouses, commands,
total_time, deadline, number_of_drones):
last_drone_id = 0
number_of_items_left = 1
drone = Drone.Drone(last_drone_id, maximum_load, warehouses[0].position)
warehouse_chosen = order.find_next_best_warehouse(drone, warehouses,
product_id)
if not warehouse_chosen:
pass
while number_of_items_left != 0 and warehouse_chosen:
next_drone_id = get_next_drone_number(last_drone_id, number_of_drones)
drone = Drone.Drone(next_drone_id, maximum_load,
warehouses[0].position)
loaded = load_product_from_warehouse_to_drone(product_id, weights,
number_of_items_left,
warehouse_chosen, drone,
order, warehouses,
total_time, commands, 1)
if not loaded:
break
number_of_items_loaded, total_time = loaded
total_time = deliver_product_to_location_with_drone(
customer_id, product_id, weights, number_of_items_loaded, drone,
order, order.position, total_time, commands, 1)
if total_time > deadline:
break
last_drone_id = drone.drone_id
number_of_items_left = 0
return total_time
def test_that_udpate_drones_deletes_items_in_drone_list():
drone_list = [
Drone(0, AppchannelCommunicate(1)),
Drone(1, AppchannelCommunicate(1))
]
expected_length = 0
updateDrones(drone_list)
actual_length = len(drone_list)
assert expected_length == actual_length
def sequential_build_deliveries(problem, parameters, sorted_savings,
client_pairs):
"""This function returns a list of instances of class Delivery calculated with the use of the sequential Clarke
and Wright algorithm. Single client deliveries are added at the end if necessary."""
deliveries_list = []
j = 0
# clients_restants = problem.clients_list
client_pairs_modifie = client_pairs
while j < len(client_pairs) + 1:
i = -1
a = 0
k = 0
while k < len(client_pairs_modifie):
pair = client_pairs_modifie[k]
if sorted_savings[k] >= 0:
if i < 0:
route_a = dro.Route([], problem.depot)
delivery_a = dro.Delivery(route_a, parameters)
else:
delivery_a = deliveries_list[-1]
route_b = dro.Route([pair[0], pair[1]], problem.depot)
delivery_b = dro.Delivery(route_b, parameters)
delivery_c = sequential_merge_if_possible(
delivery_a, delivery_b)
# if k == 3 and j == 1:
# print (4, delivery_a.clients_list, delivery_b.clients_list, delivery_c)
if delivery_c:
if i < 0:
deliveries_list.append(delivery_c)
i += 1
else:
deliveries_list[-1] = delivery_c
k = 0
# a = 0
if not delivery_c:
a += 1
k += 1
if a == len(client_pairs_modifie):
add_single_client_deliveries(deliveries_list, problem, parameters)
# for delivery in deliveries_list:
# delivery.print()
return deliveries_list
client_pairs_modifie = []
for k, pair in enumerate(client_pairs):
if (search_deliveries_for_client(pair[0], deliveries_list) is None) and \
(search_deliveries_for_client(pair[1], deliveries_list) is None):
client_pairs_modifie.append(pair)
# if j == 0:
# print(client_pairs_modifie)
# clients_restants = []
# for client in problem.clients_list:
# if search_deliveries_for_client(client, deliveries_list) is None:
# clients_restants.append(client)
j += 1
def test_that_udpate_drones_add_new_drones_to_the_list(mocker):
drone_list = [
Drone(0, AppchannelCommunicate(1)),
Drone(1, AppchannelCommunicate(1))
]
expected_list = ['2', '3']
mocker.patch('Appchannel.connectToDrone', return_value=[('2', ), ('3', )])
updateDrones(drone_list)
actual_list = [i.getId() for i in drone_list]
assert expected_list == actual_list
def test_that_udpate_drones_doesnt_add_already_included_drones(mocker):
drone_list = [
Drone(0, AppchannelCommunicate(1)),
Drone(1, AppchannelCommunicate(1))
]
expected_list = ["2", "3"]
mocker.patch('Appchannel.connectToDrone',
return_value=[("2", ), ("3", ), ("2", )])
updateDrones(drone_list)
actual_list = [i.getId() for i in drone_list]
assert expected_list == actual_list
def __init__(self):
self.initialize_variables()
self.initialize_pub_sub()
# self.uav = Drone(self.vehical_id,2*ID,0) # id, x, y
self.uav = Drone(self.vehical_id)
self.uav.desired_pose.pose.position.x = 1 * ID
self.uav.desired_pose.pose.position.y = 0
self.uav.desired_pose.pose.position.z = 3
self.uav.command_format = 0
# Postion
self.uav.set_offset(1 * ID, 0)
self.uav.start_controller = True # Starts giving the commands.
# rospy.Timer(rospy.Duration(0.025), self.controller)
# rospy.Timer(rospy.Duration(0.5), self.update_parameters)
rospy.Timer(rospy.Duration(0.001), self.get_sensor_data)
def __init__(self):
self.Aircraft = Drone(async=True)
self.aircraft_name = "FF " + input("Enter the Aircraft Name for this Drone")
self.pilot_name = input("Your Name:")
cmd.Cmd.__init__(self)
self.intro = "ArcherVMCashew/ArcherVMPeridot 3.4.3 Dronesseus Tarmac \n " + self.Aircraft.aircraft_name
self.prompt = self.name + ", You are clear for takeoff."
def getObjects():
trees = set()
sheep = set()
wolves = set()
drones = set()
for i in range(num_trees):
trees.add(Tree.Tree())
for i in range(num_drones):
drones.add(Drone.Drone(num_sheep))
for i in range(num_wolves):
if (i == num_wolves-1):
wolves.add(Wolf.Wolf(True))
else:
wolves.add(Wolf.Wolf(False))
for i in range(num_sheep):
if (i == num_sheep-1):
sheep.add(Sheep.Sheep(True))
else:
sheep.add(Sheep.Sheep(False))
return {"trees": trees, "sheep": sheep, "wolves": wolves, "drones": drones}
class DronesseusCockpit(cmd.Cmd):
def __init__(self):
self.Aircraft = Drone(async=True)
self.aircraft_name = "FF " + input("Enter the Aircraft Name for this Drone")
self.pilot_name = input("Your Name:")
cmd.Cmd.__init__(self)
self.intro = "ArcherVMCashew/ArcherVMPeridot 3.4.3 Dronesseus Tarmac \n " + self.Aircraft.aircraft_name
self.prompt = self.name + ", You are clear for takeoff."
def do_takeOff(self, arg):
if input("use arg?:") == "no":
self.Aircraft.takeoff(arg)
else:
self.aircraft.takeoff()
self.prompt = "ArcherVMPeridot/ArcherVMCashew Dronesseus - (" + self.Aircraft.get_location()["lng"] + " degrees longitude, " + self.Aircraft.get_location()["lat"] + " degrees latitude)"
def start():
#we create the environment
e = Environment()
e.loadEnvironment("test2.map")
#print(str(e))
# we create the map
m = DMap()
# initialize the pygame module
pygame.init()
# load and set the logo
logo = pygame.image.load("logo32x32.png")
pygame.display.set_icon(logo)
pygame.display.set_caption("drone exploration")
# we position the drone somewhere in the area
x = randint(0, 19)
y = randint(0, 19)
#cream drona
d = Drone(x, y)
# create a surface on screen that has the size of 800 x 480
screen = pygame.display.set_mode((800, 400))
screen.fill(WHITE)
screen.blit(e.image(), (0, 0))
# define a variable to control the main loop
running = True
stack.append((x, y))
# main loop
while running:
m.markDetectedWalls(e, d.x, d.y)
d.moveDSF(m)
screen.blit(m.image(d.x, d.y), (400, 0))
pygame.display.flip()
time.sleep(0.3)
if not stack:
running = False
pygame.quit()
def place_DRONE_relay(self, starting_position, linked_bs_id,
carrier_frequency, amplification_factor,
antenna_gain, feeder_loss):
new_bs = DRONEbs.DroneRelay(len(self.bs_list), linked_bs_id,
amplification_factor, antenna_gain,
feeder_loss, carrier_frequency,
starting_position, self)
self.bs_list.append(new_bs)
return new_bs.bs_id
def construct(self) :
if self.visualize :
base.cam.setPos(17,17,1)
base.cam.lookAt(0, 0, 0)
wp = WindowProperties()
wp.setSize(1200, 500)
base.win.requestProperties(wp)
# World
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
#skybox
skybox = loader.loadModel('../models/skybox.gltf')
skybox.setTexGen(TextureStage.getDefault(), TexGenAttrib.MWorldPosition)
skybox.setTexProjector(TextureStage.getDefault(), render, skybox)
skybox.setTexScale(TextureStage.getDefault(), 1)
skybox.setScale(100)
skybox.setHpr(0, -90, 0)
tex = loader.loadCubeMap('../textures/s_#.jpg')
skybox.setTexture(tex)
skybox.reparentTo(render)
render.setTwoSided(True)
#Light
plight = PointLight('plight')
plight.setColor((1.0, 1.0, 1.0, 1))
plnp = render.attachNewNode(plight)
plnp.setPos(0, 0, 0)
render.setLight(plnp)
# Create Ambient Light
ambientLight = AmbientLight('ambientLight')
ambientLight.setColor((0.15, 0.05, 0.05, 1))
ambientLightNP = render.attachNewNode(ambientLight)
render.setLight(ambientLightNP)
#multiple drone initialization
wrgDistance = True
positions = []
self.uavs = [Drone.uav() for i in range(self.actors)]
[self.world.attachRigidBody(uav.drone) for uav in self.uavs]
[uav.drone.setDeactivationEnabled(False) for uav in self.uavs]
#target object
self.targetObj = loader.loadModel("../models/target.gltf")
self.targetObj.reparentTo(render)
self.targetObj.setPos(Vec3(self.target[0], self.target[1], self.target[2]))
def __init__(self):
self.drone = Drone.Drone()
try:
self.settings = MultiwiiSettings.Settings()
self.serial = self.settings.serial_port
self.serial.open()
time.sleep(self.settings.wakeup)
except ValueError as err:
print('Serial port exception:' + str(err) + '\n')
def __init__(self, factor, visualize):
self.visualize = visualize
self.factor = factor
self.pos = np.zeros(3)
self.lastPos = np.zeros(3)
self.target = np.zeros(3)
self.ep_rew = 0
self.done = False
self.drone = Drone.uav(visualize)
def place_NR_base_station(self,
position,
carrier_frequency,
numerology,
antenna_power,
antenna_gain,
feeder_loss,
available_bandwidth,
total_bitrate,
drone=False):
#check if the bandwith is in line with the specified numerology and specified carrier frequency
fr = -1
if (carrier_frequency <= 6000): #below 6GHz
fr = 0
elif (carrier_frequency >= 24250
and carrier_frequency <= 52600): #between 24.25GHz and 52.6GHz
fr = 1
else:
raise Exception("NR frequency outside admissible ranges")
if available_bandwidth in NRbs.NRbandwidth_prb_lookup[numerology][fr]:
prb_size = 15 * (
2**numerology
) * 12 #15KHz*12subcarriers for numerology 0, 30KHz*12subcarriers for numerology 1, etc.
# NRbandwidth_prb_lookup defines the number of blocks of 180KHz available in the specified bandwidth with a certain numerology,
# so we have to multiply by the number of time slots (sub-frames in LTE terminology) in a time frame
if drone == False:
new_bs = NRbs.NRBaseStation(
len(self.bs_list), NRbs.NRbandwidth_prb_lookup[numerology]
[fr][available_bandwidth] * (10 * 2**numerology), prb_size,
12, numerology, antenna_power, antenna_gain, feeder_loss,
carrier_frequency, total_bitrate, position, self)
else:
new_bs = DRONEbs.DroneBaseStation(
len(self.bs_list),
DRONEbs.NRbandwidth_prb_lookup[numerology][fr]
[available_bandwidth] * (10 * 2**numerology), prb_size, 12,
numerology, antenna_power, antenna_gain, feeder_loss,
carrier_frequency, total_bitrate, position, self)
else:
raise Exception(
"The choosen bandwidth is not present in 5G NR standard with such numerology and frequency range"
)
self.bs_list.append(new_bs)
return new_bs.bs_id
def start(self):
# init drones
self.drones = [Drone(i) for i in range(Constants.num_drones)]
Constants.renderer = MapRenderer(Constants.grid_dimension.x, Constants.grid_dimension.y)
Constants.network = NetworkLayer(self.drones, self)
# First get blocks of image points and drones
self.blocks = Utility.getGridBlocks()
# Equally Distribute blocks in drones
self.allocations_list = Utility.get_grid_distribution(self.blocks)
# Reshuffle without considering relay time already alternated
self.allocations_list = Utility.shuffle_distribution(self.allocations_list, self.drones)
self.connected_drones = []
self.all_connected = False
self.all_connected_time = None
self.relay_points = []
self.near_blocks = []
self.empty_allocations = []
import Drone
import sys
import time
#here you should interact with the drone
print("booting")
drone1 = Drone.Drone('192.1.1.1', 8889)
#Diagnostics
drone1.printinfo()
drone1.connect()
drone1.battery()
#Action
#ideen er at dronen letter, vender 180grader for at få højdemåleren tættere på trinet.
#flyver 5 gange 26 cm bagud drejer 90 grader mod uret, flyver 5 gange 29cm
drone1.takeOff()
time.sleep(2)
drone1.cw(180)
time.sleep(2)
ymax1 = 0
class Simulator(tk.Tk):
def __init__(self, dt):
self.WIDTH = 1000.0
self.HEIGHT = 500.0
self.time = 0.0
self.dt = dt
tk.Tk.__init__( self )
self.drone = Drone(self.dt)
#self.drone2 = Drone(self.dt)
self.control = Control(self.drone)
#self.control2 = Control(self.drone2)
self.drone.setControl(self.control)
#self.drone2.setControl(self.control2)
screen = tk.Frame(self)
screen.pack()
self.canvas = tk.Canvas(screen, width=self.WIDTH, height=self.HEIGHT,borderwidth=10)
self.canvas.grid(column=1, row=1)
self.infos = InfoPanel(screen, self.drone)
self.infos.panel.grid(column=2, row=1)
#self.infos2 = InfoPanel(screen, self.drone2)
#self.infos2.panel.grid(column=3, row=1)
# to receive commands
screen.focus_set()
self.drone_ui = self.canvas.create_oval(40, self.HEIGHT, 50, self.HEIGHT-10, fill = "red")
#self.drone2_ui = self.canvas.create_oval(100, self.HEIGHT, 110, self.HEIGHT-10, fill = "blue")
def onBtnUpHand(e):
self.control.onBtnUp()
def onBtnDownHand(e):
self.control.onBtnDown()
def onBtnLeftHand(e):
self.control.onBtnLeft()
def onBtnRightHand(e):
self.control.onBtnRight()
def onBtnAHand(e):
if self.control.switch == 0:
self.control.setSwitch(1)
self.control.load(self.control.stay, self.drone.pos)
def onBtnRHand(e):
self.control.reset()
def onBtnGHand(e):
if self.control.switch == 0:
self.control.setSwitch(1)
self.control.load(self.control.goto, [Vector(0,50), Vector(30,100)])
def onBtnOHand(e):
self.control.resetControl()
screen.bind("<Up>", onBtnUpHand)
screen.bind("<Down>", onBtnDownHand)
screen.bind("<Left>", onBtnLeftHand)
screen.bind("<Right>", onBtnRightHand)
screen.bind("<a>", onBtnAHand)
screen.bind("<r>", onBtnRHand)
screen.bind("<g>", onBtnGHand)
screen.bind("<o>", onBtnOHand)
def simLoop(self):
self.drone.refreshPos()
#self.drone2.refreshHeight()
if self.control.switch == 1:
self.control.run()
#self.control2.load(self.control2.goto, [self.drone.height])
#self.control2.run()
self.canvas.coords(self.drone_ui, self.drone.pos.coords[0]+40, self.HEIGHT-self.drone.pos.coords[1], self.drone.pos.coords[0]+50, self.HEIGHT-10-self.drone.pos.coords[1])
#self.canvas.coords(self.drone2_ui, 100, self.HEIGHT-self.drone2.height, 110, self.HEIGHT-10-self.drone2.height)
self.infos.texts.setUiTexts()
#self.infos2.texts.setUiTexts()
self.after(int(1000*self.dt), self.simLoop)
[0.6453539547210074, 1.3817991909818224, 0.08597045123404019] <- eddigi legjobb
[1.2265485343557876, 1.9855714793925145, 0.120788504112233]
#################################
[16.095992229752056, [1.9969525844055631, 1.8381537599239324, 0.14317915448451723]]
[4.381782581030109, [2.007821556163127, 0.27615086577017367, 0.44609716664311955]]
[0, [1.2265485343557876, 1.9855714793925145, 0.033788504112233]]
"""
from Vector import *
from Drone import *
from Control import *
drone = Drone(0.05)
control = Control(drone)
control.load(control.stay, Vector( 0,50))
control.run()
drone.refreshPos()
control.setP([1.2265485343557876, 1.9855714793925145, 0.120788504112233])
droneRoute = []
time = 0
while (abs(control.error.len()) > 1 or abs(control.derror.len()) > 1 or abs(drone.speed.len()) > 1) and time < 2000:
"""while program is not empty -> convergence"""
droneRoute.append(drone.pos.get())
control.run()
drone.refreshPos()
time += 1
def main():
print 'Start'
random.seed(1)
mapX=300
mapY=300
numStreets=50
numTargets=10
numDrones=3
heuristic=1
seedNum=1
Nuisance=0.8
print '---Generate Map---'
Map = GenMap(mapX,mapY)
Map.map(numStreets,Nuisance)
randNodes=[]
for i in range(numTargets):
randNodes.append(Map.RandNode())
print '---Generate HMINT, CAOC, IMINT---'
hmint = HMINT(numTargets, randNodes)
hmintInQ = LPInputQueue()
caoc=CAOC(numDrones,heuristic)
caocInQ = LPInputQueue()
imint=IMINT(heuristic,numTargets)
imintInQ = LPInputQueue()
print 'IMINT total value: ' + str(imint.totalValue)
drone=Drone(0,0,1)
droneInQ=LPInputQueue()
lp=[hmint,caoc,imint]
print '---Generate Messages---'
m2Data=[0,80,80,'Vehicle',1,1,randNodes[0],30,0,0]
m2=Message(2,m2Data,'CAOC','IMINT',0)
m3Data=[0,'Idle',randNodes[1]]
m3=Message(3,m3Data,'IMINT','CAOC',1)
print '---Save and Restore State---'
for i in lp:
i.localTime=0
drone.LocalSimTime=0
i.saveState()
i.localTime=3
drone.LocalSimTime=3
i.saveState()
i.localTime=7
drone.LocalSimTime=7
i.saveState()
i.localTime=12
drone.LocalSimTime=12
i.saveState()
print str(i.LPID) + ' state queue: ' + str(i.stateQueue)
print str(i.LPID) + ' state queue length: ' + str(len(i.stateQueue))
#for i in drone.stateQueue:
#print 'Drone LocalSimTime: ' + str(i.LocalSimTime)
hmint.restoreState(6)
caoc.restoreState(6)
imint.restoreState(6)
drone.restoreState(6)
for i in lp:
print str(i.LPID) + ' state queue: ' + str(i.stateQueue)
print str(i.LPID) + ' local time: ' + str(i.localTime)
print 'Drone actual local time: ' + str(drone.LocalSimTime)
i.localTime=13
i.saveState()
print str(i.LPID) + ' state queue: ' + str(i.stateQueue)
print 'End'
def __init__(self, dt):
self.WIDTH = 1000.0
self.HEIGHT = 500.0
self.time = 0.0
self.dt = dt
tk.Tk.__init__( self )
self.drone = Drone(self.dt)
#self.drone2 = Drone(self.dt)
self.control = Control(self.drone)
#self.control2 = Control(self.drone2)
self.drone.setControl(self.control)
#self.drone2.setControl(self.control2)
screen = tk.Frame(self)
screen.pack()
self.canvas = tk.Canvas(screen, width=self.WIDTH, height=self.HEIGHT,borderwidth=10)
self.canvas.grid(column=1, row=1)
self.infos = InfoPanel(screen, self.drone)
self.infos.panel.grid(column=2, row=1)
#self.infos2 = InfoPanel(screen, self.drone2)
#self.infos2.panel.grid(column=3, row=1)
# to receive commands
screen.focus_set()
self.drone_ui = self.canvas.create_oval(40, self.HEIGHT, 50, self.HEIGHT-10, fill = "red")
#self.drone2_ui = self.canvas.create_oval(100, self.HEIGHT, 110, self.HEIGHT-10, fill = "blue")
def onBtnUpHand(e):
self.control.onBtnUp()
def onBtnDownHand(e):
self.control.onBtnDown()
def onBtnLeftHand(e):
self.control.onBtnLeft()
def onBtnRightHand(e):
self.control.onBtnRight()
def onBtnAHand(e):
if self.control.switch == 0:
self.control.setSwitch(1)
self.control.load(self.control.stay, self.drone.pos)
def onBtnRHand(e):
self.control.reset()
def onBtnGHand(e):
if self.control.switch == 0:
self.control.setSwitch(1)
self.control.load(self.control.goto, [Vector(0,50), Vector(30,100)])
def onBtnOHand(e):
self.control.resetControl()
screen.bind("<Up>", onBtnUpHand)
screen.bind("<Down>", onBtnDownHand)
screen.bind("<Left>", onBtnLeftHand)
screen.bind("<Right>", onBtnRightHand)
screen.bind("<a>", onBtnAHand)
screen.bind("<r>", onBtnRHand)
screen.bind("<g>", onBtnGHand)
screen.bind("<o>", onBtnOHand)
next_mission = sql.getNextMission(db, str(int(Id) - 1)) #fianl mission
while True:
sql.closeDatabase(db)
db = MySQLdb.connect(host="120.126.145.102",
user="******",
passwd="dronemysql",
db="106project")
if sql.findResultMaxId(db) < sql.findMissionMaxId(db):
sql.printTask(db, sql.findResultMaxId(db))
#doing mission
check = raw_input("you want to fly?(Y/n)")
if check is 'Y':
next_mission = sql.getNextMission(db, next_mission.mission_id)
#print "doing things"
Drone.arm_and_takeoff(vehicle, 7)
print("set groundspeed to 5m/s.")
vehicle.airspeed = 5
Drone.goto_gps(vehicle, next_mission.mission_latitude,
next_mission.mission_longitude, 7, logFile)
time.sleep(5)
next_mission.setPM25(random.randint(1, 100))
sql.TaskDone(db, next_mission, False)
print "Setting RTL mode..."
vehicle.mode = VehicleMode("RTL")
elif check is 'n':
next_mission = sql.getNextMission(db, next_mission.mission_id)
sql.TaskDone(db, next_mission, True)
print "Last Task is %s" % sql.findResultMaxId(db)
print ""
print "All Task Done !"
import Drone
import sys
import time
# Live drone
#drone_1 = drone.Drone("128.1.1.1", 8889)
# Test drone
# drone start up
drone_1 = Drone.Drone('192.168.10.1', 8889)
drone_1.printInfo(1)
drone_1.connect(1)
#region old
# # Print out start information
# print(drone_1.battery(0.1))
# print(drone_1.time(0.1))
# print(drone_1.sdk(0.1))
# print(drone_1.sn(0.1))
# # Drone flightplan
# drone_1.takeOff(1)
# drone_1.cw("90", 1)
# drone_1.ccw("360", 1)
# drone_1.cw("180", 1)
# drone_1.up("60", 1)
# #drone_1.flip("b", 1)
# drone_1.down("30", 1)
# drone_1.left("20", 1)
# drone_1.right("20", 1)
square_count = 1
pm25_sensor = int(waypoint_mission.pm25_sensor)
video_sensor = int(waypoint_mission.video_sensor)
photo_sensor = int(waypoint_mission.photo_sensor)
point_stay = int(waypoint_mission.mission_staytime)
point_height = int(waypoint_mission.mission_height)
waypoint_mission.set_point_num(waypoint_counter + 1)
logFile.write("Points " + str(waypoint_counter + 1) +
":" + "\n")
print "Sensor:"
print "pm2.5:%d video:%d photo:%d" % (
pm25_sensor, video_sensor, photo_sensor)
if waypoint_counter == 0:
Drone.arm_and_takeoff(vehicle, point_height)
print "set groundspeed to 5m/s."
vehicle.airspeed = 5
Drone.goto_gps(vehicle, waypoint_mission.mission_latitude,
waypoint_mission.mission_longitude,
point_height, logFile)
pmdata = air.gsleep(air, point_stay)
waypoint_mission.set_pm25_data(pmdata)
if photo_sensor == 1:
Success = True
try:
Drone.condition_yaw(vehicle, 0)
loc = cc.capture(
camera, str(Mission_number),
str(waypoint_counter + 1) + "_" +
__author__ = 'Francisco J. H. Heras'
T = 300 #ms
dt = 0.05 #ms
time_array = arange(0, T + dt, dt)
I = zeros_like(time_array)
fig1 = plt.figure(1)
ax = fig1.add_subplot(211)
ax_t = fig1.add_subplot(212)
fig2 = plt.figure(2)
ax_curr = fig2.add_subplot(211)
V_membrane = -38 #mV
photoreceptor = Drone.Vallet92()
DepolarisePhotoreceptor.WithLight(photoreceptor, V=V_membrane)
fig1.text(0.06,
0.5,
'Membrane potential deflection (mV)',
ha='center',
va='center',
rotation='vertical')
for ii in range(5):
for i, t in enumerate(time_array):
if 10 <= t <= 110: I[i] = 1e-3 * (-0.02 + 0.01 * ii) # nA->uA
DepolarisePhotoreceptor.WithLight(photoreceptor, V=V_membrane)
V_array, g_Ch = Experiment.inject_current(photoreceptor, I, dt)
import time
import math
from droneapi.lib import Location
import argparse
import Mission
import random
import Get_uwb_position
parser = argparse.ArgumentParser()
parser.add_argument('--connect', default='/dev/serial0')
args = parser.parse_args()
vehicle = connect(args.connect, baud=57600, wait_ready=True)
logFile=open("log_velocity.txt","a+")
Drone.arm_and_takeoff(vehicle, 5)
NORTH = 0.3
SOUTH = -0.3
EAST = 0.3
WEST = -0.3
UP = -0.5
DOWN = 0.5
DURATION = 10
msg = Drone.return_send_ned_velocity_mavlink_msg(vehicle,SOUTH,0,0)
msg2 = Drone.return_send_ned_velocity_mavlink_msg(vehicle,NORTH,0,0)
import Drone import time drone = Drone.Tello() drone.AIRSIM_ENABLED = False drone.TELLO_ENABLED = True drone.connect() drone.get_battery_status() drone.get_speed() drone.takeoff() drone.forward(50) drone.left(50) drone.rotate(90) drone.forward(50) drone.rotate(90) drone.forward(50) drone.rotate(90) drone.forward(50)
import pytest
import sys
import cflib
sys.path.append("..")
from DroneDTO import *
from Appchannel import AppchannelCommunicate
from Drone import *
from Dronesim import *
drone = Drone(0, AppchannelCommunicate(0))
drone.getChannel().setBattery(90.0)
drone.getChannel().setSpeed(10.0)
drone.getChannel().setState(1)
droneSim = Dronesim(0, 1)
droneSim.setBattery("0.90")
droneSim.setSpeed("10.0")
droneSim.setState("1")
def test_init_sim_in_mission():
global droneSim
expected_attributes = [0, 90.0, 10.0, "In mission"]
actual_attributes = []
droneDTO = DroneDTO(True, droneSim)
actual_attributes.append(droneDTO.droneId)
actual_attributes.append(droneDTO.battery)
actual_attributes.append(droneDTO.speed)
ftransfer.making_direc(str(Mission_number))
for waypoint_mission in next_multi_mission:
square_count = 1
pm25_sensor = int(waypoint_mission.pm25_sensor)
video_sensor = int(waypoint_mission.video_sensor)
photo_sensor = int(waypoint_mission.photo_sensor)
waypoint_mission.set_point_num(waypoint_counter+1)
logFile.write("Points "+str(waypoint_counter+1)+":"+"\n")
print "Sensor:"
print "pm2.5:%d video:%d photo:%d" % (pm25_sensor,video_sensor,photo_sensor)
if waypoint_counter == 0:
home_location.append(vehicle.location.global_relative_frame.latitude
home_location.append(vehicle.location.global_relative_frame.longitude)
Drone.arm_and_takeoff(vehicle, 7)
print "set groundspeed to 5m/s."
vehicle.airspeed = 5
Drone.goto_gps(vehicle,waypoint_mission.mission_latitude, waypoint_mission.mission_longitude, 7, logFile)
pmdata = air.gsleep(air,5)
waypoint_mission.set_pm25_data(pmdata)
if photo_sensor == 1:
Success = True
try:
loc = cc.capture(camera,str(Mission_number),str(waypoint_counter+1)+"_"+str(square_count))
sql.passPhoto(db,waypoint_mission,loc)
print "degree 0 , success"
except:
print "except : degree 0"
Success = False
def createNewDrone(uid, droneType,heuristic,Legs):
print('Creating new drone of type ' + droneType)
droneref = Drone(uid, droneType,heuristic,Legs)
droneref.setConnectionParams(PYRO_HOST, PYRO_PORT)
return droneref
def workDone(self, obj, source_name, dest_name, supplies, order_dist,
order_mass, weather):
self.work_done_cost = 0
"""calculating work_done_cost
based on geographical location
and weather conditions"""
#Number 1 -> Height difference
l = Location.location(0, 0)
d = Drone.drone(0, 0, 1, 0, 0, 0, 0, 0, 0, (0, 0, 0, 0))
source = l.getLatLong(source_name)
dest = l.getLatLong(dest_name)
lat1 = math.radians(source[0])
lat2 = math.radians(dest[0])
diffLong = math.radians(dest[1] - source[1])
x = math.sin(diffLong) * math.cos(lat2)
y = math.cos(lat1) * math.sin(lat2) - (
math.sin(lat1) * math.cos(lat2) * math.cos(diffLong))
initial_bearing = math.atan2(x, y)
initial_bearing = math.degrees(initial_bearing)
#This is the angle that
#source makes wrt destination
compass_bearing = (initial_bearing + 360) % 360
#Using the formula
#tanA = height/base
#so, height = tanA * base
self.height = d.getDistance(
source_name, l.getLatLong(dest_name)) * math.tan(compass_bearing)
#If difference between source and
#destination altitude is >=
#70, then we add additional cost
#Assuming the additional cost
#per unit of height to be 0.5
#Replaceable value
if self.height >= 50:
self.work_done_cost = self.height * 0.5
#Number 2 -> weather conditions
self.wind_speed = weather['Wind_speed']
self.clouds = weather['Clouds']
#Assuming 0.5 unit of extra work done
#for every unit of wind speed, if wind
#speed >=8 as it will resist the drone
#Replaceable value
if self.wind_speed >= 8:
self.work_done_cost = self.wind_speed * 0.5
#Assuming 0.5 unit of extra work done
#for per unit of clouds, if >= 5
#as it will cause visibility issue
#Replaceable value
if self.clouds >= 5:
self.work_done_cost = self.clouds * 0.5
#Assuming 1 unit of battery expenditure
#per unit of distance
#Replaceable value
obj.battery = order_dist * 1
self.cost = self.costCalculation(self.work_done_cost, obj.battery)
return self.cost
import CostFunction as pro
import Drone as pre
import Visualize as post
import matplotlib.pyplot as plt
import numpy as np
drone1 = pre.Drone(70, 7.7, 0.009)
drone2 = pre.Drone(200, 10.5, 0.012)
drone3 = pre.Drone(450, 13.2, 0.018)
wind1 = pre.Wind(np.random.uniform(2.0, 3.5), 0)
# this time, we consider that wind goes from west to east, and its magnitude goes from 2.0 m/s to 3.5 m/s
depot1 = pre.Depot("Chatenay-Malabry", 0, 0)
param1 = pre.DeliveryParameters(drone1, wind1, pro.cost_b)
total_cost = 0
total_savings = 0
for i in range(500):
print(i)
problem_i = pre.Problem(depot1)
problem_i.generate_random_clients(amount=np.random.randint(50, 60),
x=(-6000, 6000),
y=(-3500, 3500),
demand=(5, 60))
pro.clarke_and_wright(problem_i, param1, version="sequential")
solution_i = problem_i.solutions_list[0]
total_cost += solution_i.cost_and_savings()[0]
total_savings += solution_i.cost_and_savings()[1]
average = total_savings / (total_savings + total_cost)
connection_string = args.connect
sitl = None
#Start SITL if no connection string specified
if not connection_string:
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
# Connect to the Vehicle
print 'Connecting to vehicle on: %s' % connection_string
vehicle = connect(connection_string, wait_ready=True)
logFile = open("log_velocity.txt", "a+")
Drone.arm_and_takeoff(vehicle, 5)
NORTH = 0.5
SOUTH = -0.5
EAST = 0.5
WEST = -0.5
UP = -0.5
DOWN = 0.5
DURATION = 2
print vehicle.location.global_relative_frame
Drone.send_ned_velocity(vehicle, NORTH, 0, 0, DURATION)
Drone.send_ned_velocity(vehicle, 0, 0, 0, 1)
import pyrealsense2 as rs import cv2 as cv import math import pcl import sys import pcl.pcl_visualization import numpy as np import pygame pygame.init() Path_Planner = Planner.Planner() #planner object created Controller = Controller.Controller() FlyBy = Drone.Drone() #pcl visualizer viewer = pcl.pcl_visualization.PCLVisualizering() #initialize the realsense pipeline for the rgb and depth frames pipeline = rs.pipeline() config = rs.config() config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30) config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8,30) # Start streaming pipeline.start(config) # Processing blocks pc = rs.pointcloud()
#!/usr/env/ python
from Map import *
from Drone import *
from Target import *
a=GenMap(480,480)
a.map(50,.8)
ger=LogicalProcess()
drone=Drone(3,ger,1)
drone.setJokerBingo()
drone.setEntry(a.MapEntryPt)
moo=a.RandNode()
drone.target=Target(moo)
#drone.saveState()
#drone.updateTime(800)
#drone.saveState()
#drone.restoreState(0)
#drone.setEntry(mapObj) #MUST PASS THE ENTRY NODE!!! (map.MapEntryPt)
drone.currentNode=a.MapEntryPt #the only time we directly set the current node.
drone.LocalSimTime=drone.localTime
drone.setJokerBingo()
drone.flyTotgt(drone.target.node.xpos,drone.target.node.ypos)
start_time = time.time()
targetcount=0
targetnum=5000
while(targetcount<targetnum):
if(drone.Bingo<0):
def run(self):
curr_dir = os.path.dirname(os.path.abspath(__file__))
img_path = os.path.join(curr_dir, "drone.png")
drone_img = pygame.image.load(img_path)
drone = Drone.Model(0, 0)
ppu = 32
while not self.exit:
dt = self.clock.get_time() / 1000
for event in pygame.event.get(): # our event que.
if event.type == pygame.QUIT:
self.exit = True
# getting user input
key_stroke = pygame.key.get_pressed()
if key_stroke[pygame.K_UP]: # the up key
if drone.velocity.x < 0:
drone.acceleration = Drone.BRAKE_DEACCELERATION
drone.acceleration += 1 * dt
elif key_stroke[pygame.K_DOWN]:
if drone.velocity.x > 0:
drone.acceleration = -Drone.BRAKE_DEACCELERATION
elif key_stroke[pygame.K_SPACE]:
if abs(drone.velocity.x) > dt * Drone.BRAKE_DEACCELERATION:
drone.acceleration = -copysign(
Drone.BRAKE_DEACCELERATION, drone.velocity.x)
else:
drone.acceleration = -drone.velocity.x / dt
else:
if abs(drone.velocity.x) > dt * Drone.FREE_DEACCELERATION:
drone.acceleration = -copysign(
Drone.FREE_DEACCELERATION, drone.velocity.x)
else:
if dt != 0:
drone.acceleration = -drone.velocity.x / dt
drone.acceleration = max(
-Drone.MAX_VELOCITY,
min(drone.acceleration, Drone.MAX_VELOCITY))
if key_stroke[pygame.K_RIGHT]:
drone.steering -= 30 * dt
elif key_stroke[pygame.K_LEFT]:
drone.steering += 30 * dt
else:
drone.steering = 0
drone.steering = max(
-Drone.MAX_STEERING_ANGLE,
min(drone.steering, Drone.MAX_STEERING_ANGLE))
drone.update(dt)
# Drawing
self.screen.fill((0, 0, 0))
map_img = pygame.image.load(
r'C:\Users\97254\PyCharmProjects\DroneSim\.maps\sim_20.png'
) # map location
# self.screen.blit(map_img, (0, 0))
rotated = pygame.transform.rotate(drone_img, drone.angle)
rect = rotated.get_rect()
self.screen.blit(
rotated,
drone.position * ppu - (rect.width / 2, rect.height / 2))
pygame.display.flip()
self.clock.tick(self.ticks)
pygame.quit()
