indexMin = 1
else:
if(distance < minimum):
minimum = distance
indexMin = key
nextPoint = indexMin
print("Starting Point at #%d"%nextPoint)
#===============参数设置=================
delay = 0.3
freq = 1//delay
delay_counter = 0
#===============主程序运行===============
while ValidShip.manual_automatic == STATE_NORMALLY_RUNNING:
if ValidShip.dataProcessed==1:
time.sleep(delay)
if (Comm.Ship_Attitude_On_Screen(ValidShip)):
distance = AziFromPos.distanceFromCoordinate(ValidShip.longtitude,ValidShip.lattitude,Mapdata[nextPoint][0],Mapdata[nextPoint][1])
if distance >= 250:
distance = 250
angle = AziFromPos.angleFromCoordinate(ValidShip.longtitude,ValidShip.lattitude,Mapdata[nextPoint][0],Mapdata[nextPoint][1])
Route.yaw = round(angle)
Route.distance = round(distance)
delay_counter += 1
if(delay_counter > 2*freq):
delay_counter = 0
print("Distance to next location：%.2fMeter"%(Route.distance/100))
print("Current Progress:%.2f%%"%(nextPoint/len(Mapdata.keys())*100))
print("%d Degrees to next location"%Route.yaw)
if(distance > MaxDistance):
#如果超出范围
pass
