def getDrone(self, args, handlers):
"""
Start a simulation if requested by not specifying a connection string.
Then establish a connection to the drone using connection string.
:param args: Th parsed command line arguments
:param handlers: Handlers to pass to the Cyclone class
:return: an instance of the Cyclone class
"""
connection_string = args.connect
#sitl = None
if not connection_string: # start a sitl if connection string is not specified.
import dronekit_sitl
self.sitl = dronekit_sitl.start_default(
51.449, 5.492) # Start the sitl at specified coordinates.
#sitl = dronekit_sitl.SITL()
#sitl.download("copter", "3.3")
#sitl.launch(["--home=51.449,5.492,1,0 -- rate 30"], await_ready=True)
# sitl.block_until_ready(verbose=True)
connection_string = self.sitl.connection_string(
) # Retrieve the connection string.
return Cyclone(connection_string, configs, handlers=handlers
) # Return a Cyclone object connected to the drone.
def run_game():
pygame.init()
ai_settings = Settings()
screen = pygame.display.set_mode(
(ai_settings.screen_width, ai_settings.screen_height))
pygame.display.set_caption("yasuo is coming...")
yasuo = Yasuo(ai_settings, screen)
cyclone = Cyclone(ai_settings, screen, yasuo)
while True:
"监视键盘和鼠标事件3"
#gf.check_events(ai_settings, screen, yasuo)
gf.check_events(yasuo)
yasuo.update()
cyclone.update()
gf.update_screen(ai_settings, screen, yasuo, cyclone)
def find_all_cyclones(self):
self.pressures = np.arange(94000, 103000, 100)
cn = plt.contour(self.ncdata.psl, levels=self.pressures)
self.grid_coords_contours = get_contour_verts(cn)
pressures = self.pressures
grid_coords_contours = self.grid_coords_contours
pmins = self.ncdata.pmins
all_cyclones = []
for p, ploc in pmins:
# Note swapped x, y
all_cyclones.append(Cyclone(ploc[0], ploc[1], self.date))
# Create all isobars and add them to any cyclones centres they encompass,
# but only if it's the only cyclone centre.
for pressure, contour_set in zip(pressures, grid_coords_contours):
for grid_coord_contour in contour_set:
contour = np.zeros_like(grid_coord_contour)
contour[:, 0] = self.f_lon(grid_coord_contour[:, 0])
contour[:, 1] = self.f_lat(grid_coord_contour[:, 1])
isobar = Isobar(pressure, contour)
contained_cyclones = []
for cyclone in all_cyclones:
if isobar.contains(cyclone.cell_pos):
contained_cyclones.append(cyclone)
# Only one cyclone contained, simple.
if len(contained_cyclones) == 1:
contained_cyclones[0].isobars.append(isobar)
# More than one cyclone contained, see if centres are adjacent.
elif len(contained_cyclones) > 1:
is_found = True
for i in range(len(contained_cyclones)):
for j in range(i + 1, len(contained_cyclones)):
cp1 = contained_cyclones[i].cell_pos
cp2 = contained_cyclones[j].cell_pos
#p1 = self.psl[cp1[0], cp1[1]]
#p2 = self.psl[cp2[0], cp2[1]]
if abs(cp1[0] - cp2[0]) > 2 or abs(cp1[1] -
cp2[1]) > 2:
is_found = False
#if p1 != p2:
#is_found = False
#break
if is_found:
contained_cyclones[0].isobars.append(isobar)
self.all_cyclones = all_cyclones
description=
'Print out vehicle state information. Connects to SITL on local PC by default.'
)
parser.add_argument(
'--connect',
help=
"vehicle connection target string. If not specified, SITL automatically started and used."
)
args = parser.parse_args()
connection_string = args.connect
sitl = None
if not connection_string:
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
drone = Cyclone(connection_string, configs)
# drone.awake_script()
drone.arm_and_takeoff(5)
drone.set_airspeed(5)
print(drone.vehicle.location.local_frame)
# drone.goto_global_NED(0, 5, 0)
drone.goto_local_NED(5, 0, 0, mavutil.mavlink.MAV_FRAME_LOCAL_OFFSET_NED)
# drone.goto_local_NED(0, 5, -5, mavutil.mavlink.MAV_FRAME_LOCAL_NED)
# drone.set_position_target_local_NED(0, 5, -5, mavutil.mavlink.MAV_FRAME_LOCAL_NED)
# time.sleep(10)
print(drone.vehicle.location.local_frame)
del drone
parser.add_argument(
'--connect',
help=
"vehicle connection target string. If not specified, SITL automatically started and used."
)
args = parser.parse_args()
connection_string = args.connect
sitl = None
if not connection_string:
import dronekit_sitl
sitl = dronekit_sitl.SITL()
sitl.download("copter", "3.3")
sitl.launch(["--home=51.449,5.493,1,0 --rate 30"], await_ready=True)
connection_string = sitl.connection_string()
drone = Cyclone(connection_string, configs)
# drone.awake_script()
drone.arm_and_takeoff(5)
drone.set_airspeed(5)
for i in range(len(listWPs)):
print('Start Mission %d' % (i + 1))
drone.goto_wp_global(LocationGlobalRelative(*listWPs[i]))
# drone.mode_rtl()
del drone
if sitl:
sitl.stop()
parser = argparse.ArgumentParser(
description='Print out vehicle state information. Connects to SITL on local PC by default.')
parser.add_argument(
'--connect', help="vehicle connection target string. If not specified, SITL automatically started and used.")
args = parser.parse_args()
connection_string = args.connect
sitl = None
if not connection_string:
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
drone = Cyclone(connection_string, configs)
# Import compiled library of vision and pathplanning.
import ctypes
so = ctypes.cdll.LoadLibrary
lib = so("../Python-C++ interface/libcpp_py_vision.so")
path_planning = lib.output_to_py
path_planning.restype = ctypes.POINTER(ctypes.c_double)
# Tuples and lists for storing the trajectory information.
LocationTuples = []
# VelocityTuples = []
list_location = []
# list_velocity = []
# Flag for deciding whether to plan the path (if hoop is still in sight).
handlers = [streamHandler]
args = parser.parse_args()
connection_string = args.connect
simulate = False
if args.simulate:
simulate = True
sitl = None
if not connection_string:
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
drone = Cyclone(connection_string, configs, handlers=handlers)
# drone.awake_script()
drone.obtain_home_location()
if simulate:
groundHeight = drone.vehicle.location.global_relative_frame.alt
drone.arm_and_takeoff(groundHeight + 5)
drone.obtain_home_location()
else:
drone.wait_for_user()
drone.obtain_home_location()
#drone.set_home_location()
#print("Set home location. Waiting for 10 seconds")
#time.sleep(10)
drone.set_airspeed(5)
startPosition = drone.vehicle.location.local_frame
ang = drone.vehicle.attitude