class Monitor(object):
"""
Mission monitor class.
Tracks sensors and mission actions in a stepwise fashion.
"""
def __init__(self, mission, environment):
self.mission = mission
self.environment = environment
arguments = self.environment.get_arguments()
self.settings = arguments.get_settings("mission_monitor")
# Seconds to wait before monitoring again
self.step_delay = self.settings.get("step_delay")
self.sensors = self.environment.get_distance_sensors()
self.rf_sensor = self.environment.get_rf_sensor()
self.colors = self.settings.get("plot_sensor_colors")
self.memory_map = None
self.plot = None
self._paused = False
def get_delay(self):
return self.step_delay
def use_viewer(self):
return self.settings.get("viewer")
def setup(self):
self.memory_map = self.mission.get_memory_map()
if self.settings.get("plot"):
# Setup memory map plot
from Plot import Plot
self.plot = Plot(self.environment, self.memory_map)
if self.rf_sensor is not None:
self.rf_sensor.activate()
def step(self, add_point=None):
"""
Perform one step of a monitoring loop.
`add_point` can be a callback function that accepts a Location object
for a detected point from the distance sensors.
Returns `False` if the loop should be halted.
"""
if self._paused:
return True
# Put our current location on the map for visualization. Of course,
# this location is also "safe" since we are flying there.
vehicle_idx = self.memory_map.get_index(self.environment.get_location())
try:
self.memory_map.set(vehicle_idx, -1)
except KeyError:
print("Warning: Outside of memory map")
self.mission.step()
i = 0
for sensor in self.sensors:
yaw = sensor.get_angle()
pitch = sensor.get_pitch()
sensor_distance = sensor.get_distance()
if self.mission.check_sensor_distance(sensor_distance, yaw, pitch):
location = self.memory_map.handle_sensor(sensor_distance, yaw)
if add_point is not None:
add_point(location)
if self.plot:
# Display the edge of the simulated object that is
# responsible for the measured distance, and consequently
# the point itself. This should be the closest "wall" in
# the angle's direction. This is again a "cheat" for
# checking if walls get visualized correctly.
sensor.draw_current_edge(self.plot.get_plot(), self.memory_map, self.colors[i % len(self.colors)])
print("=== [!] Distance to object: {} m (yaw {}, pitch {}) ===".format(sensor_distance, yaw, pitch))
i = i + 1
# Display the current memory map interactively.
if self.plot:
self.plot.plot_lines(self.mission.get_waypoints())
self.plot.display()
if not self.mission.check_waypoint():
return False
# Remove the vehicle from the current location. We set it to "safe"
# since there is no object here.
try:
self.memory_map.set(vehicle_idx, 0)
except KeyError:
pass
return True
def sleep(self):
time.sleep(self.step_delay)
def start(self):
self.mission.start()
if self.rf_sensor is not None:
self.rf_sensor.start()
def pause(self):
"""
Pause or unpause the mission.
If the mission is currently paused, then this restarts the mission in
the correct mode. Otherwise, the vehicle is paused and the RF sensor is
put in its passive mode.
"""
if self._paused:
self.start()
self._paused = False
else:
self.environment.get_vehicle().pause()
if self.rf_sensor is not None:
self.rf_sensor.stop()
self._paused = True
def stop(self):
self.mission.stop()
if self.rf_sensor is not None:
self.rf_sensor.stop()
if self.plot:
self.plot.close()
class Monitor(object):
"""
Mission monitor class.
Tracks sensors and mission actions in a stepwise fashion.
"""
def __init__(self, mission, environment):
self.mission = mission
self.environment = environment
arguments = self.environment.get_arguments()
self.settings = arguments.get_settings("mission_monitor")
# Seconds to wait before monitoring again
self.step_delay = self.settings.get("step_delay")
self.sensors = self.environment.get_distance_sensors()
self.rf_sensor = self.environment.get_rf_sensor()
self.colors = self.settings.get("plot_sensor_colors")
self.memory_map = None
self.plot = None
self._paused = False
def get_delay(self):
return self.step_delay
def use_viewer(self):
return self.settings.get("viewer")
def setup(self):
self.memory_map = self.mission.get_memory_map()
if self.settings.get("plot"):
# Setup memory map plot
from Plot import Plot
self.plot = Plot(self.environment, self.memory_map)
if self.rf_sensor is not None:
self.rf_sensor.activate()
def step(self, add_point=None):
"""
Perform one step of a monitoring loop.
`add_point` can be a callback function that accepts a Location object
for a detected point from the distance sensors.
Returns `False` if the loop should be halted.
"""
if self._paused:
return True
# Put our current location on the map for visualization. Of course,
# this location is also "safe" since we are flying there.
vehicle_idx = self.memory_map.get_index(
self.environment.get_location())
try:
self.memory_map.set(vehicle_idx, -1)
except KeyError:
print('Warning: Outside of memory map')
self.mission.step()
i = 0
for sensor in self.sensors:
yaw = sensor.get_angle()
pitch = sensor.get_pitch()
sensor_distance = sensor.get_distance()
if self.mission.check_sensor_distance(sensor_distance, yaw, pitch):
location = self.memory_map.handle_sensor(sensor_distance, yaw)
if add_point is not None:
add_point(location)
if self.plot:
# Display the edge of the simulated object that is
# responsible for the measured distance, and consequently
# the point itself. This should be the closest "wall" in
# the angle's direction. This is again a "cheat" for
# checking if walls get visualized correctly.
sensor.draw_current_edge(self.plot.get_plot(),
self.memory_map,
self.colors[i % len(self.colors)])
print(
"=== [!] Distance to object: {} m (yaw {}, pitch {}) ===".
format(sensor_distance, yaw, pitch))
i = i + 1
# Display the current memory map interactively.
if self.plot:
self.plot.plot_lines(self.mission.get_waypoints())
self.plot.display()
if not self.mission.check_waypoint():
return False
# Remove the vehicle from the current location. We set it to "safe"
# since there is no object here.
try:
self.memory_map.set(vehicle_idx, 0)
except KeyError:
pass
return True
def sleep(self):
time.sleep(self.step_delay)
def start(self):
self.mission.start()
if self.rf_sensor is not None:
self.rf_sensor.start()
def pause(self):
"""
Pause or unpause the mission.
If the mission is currently paused, then this restarts the mission in
the correct mode. Otherwise, the vehicle is paused and the RF sensor is
put in its passive mode.
"""
if self._paused:
self.start()
self._paused = False
else:
self.environment.get_vehicle().pause()
if self.rf_sensor is not None:
self.rf_sensor.stop()
self._paused = True
def stop(self):
self.mission.stop()
if self.rf_sensor is not None:
self.rf_sensor.stop()
if self.plot:
self.plot.close()
