Add Altitude to Task 2 (#58)

* Created LocationGroundAndAltitude class

* Fixed indentation issues

* Fixed formatting issues

* Created module to read CSV with altitude and added test cases

* Fix format issues

* Created overloaded dict to list function

* Fixed formatting

* Renamed function in waypoint_dict_to_list

* Created waypoint to command function with LocationGroundAndAltitude

* Fixed formatting issues

* Added new modules to path_2024.py

* Fixed formatting issues

* Fixed formatting issues on CI

* Fixed formatting issues on CI - Part 2

* Addressed nits

* Fixed linter issues

2024/waypoints/competition_task_2.csv

@@ -1,11 +1,13 @@
-name,latitude,longitude
-1,48.509661,-71.645100
-2,48.509183,-71.643465
-3,48.507690,-71.644438
-4,48.507667,-71.646092
-5,48.507642,-71.646416
-6,48.507547,-71.646720
-7,48.507413,-71.646954
-8,48.507256,-71.647120
-9,48.507103,-71.647212
-10,48.506962,-71.647268
+name,latitude,longitude,altitude
+1,48.509661,-71.645100,106.68
+2,48.509183,-71.643465,106.68
+3,48.509183,-71.643465,76.2
+4,48.507690,-71.644438,76.2
+5,48.507690,-71.644438,60.96
+6,48.507667,-71.646092,60.96
+7,48.507642,-71.646416,60.96
+8,48.507547,-71.646720,60.96
+9,48.507413,-71.646954,60.96
+10,48.507256,-71.647120,60.96
+11,48.507103,-71.647212,60.96
+12,48.506962,-71.647268,30.48

2024/waypoints/wrestrc.csv

@@ -1,15 +1,15 @@
-name,latitude,longitude
-1,43.4338974,-80.5773193
-2,43.433985,-80.577853
-3,43.4341087,-80.5783774
-4,43.4342606,-80.5791324
-5,43.4343726,-80.5796206
-6,43.434322,-80.5797641
-7,43.4339802,-80.5799559
-8,43.4338399,-80.5799478
-9,43.4334163,-80.579115
-10,43.4332634,-80.5782366
-11,43.433314,-80.5780595
-12,43.4337425,-80.5778342
-13,43.4337805,-80.5776612
-14,43.4337367,-80.5773863
+name,latitude,longitude,altitude
+1,43.4338974,-80.5773193,50
+2,43.433985,-80.577853,50
+3,43.4341087,-80.5783774,50
+4,43.4342606,-80.5791324,50
+5,43.4343726,-80.5796206,50
+6,43.434322,-80.5797641,50
+7,43.4339802,-80.5799559,50
+8,43.4338399,-80.5799478,50
+9,43.4334163,-80.579115,50
+10,43.4332634,-80.5782366,50
+11,43.433314,-80.5780595,50
+12,43.4337425,-80.5778342,50
+13,43.4337805,-80.5776612,50
+14,43.4337367,-80.5773863,50

modules/load_waypoint_name_to_coordinates_map.py

@@ -4,6 +4,8 @@
 
 import pathlib
 
+from . import waypoint
+
 from .common.kml.modules import location_ground
 
 
@@ -33,3 +35,31 @@ def load_waypoint_name_to_coordinates_map(
         return True, name_to_coordinates_map
 
     return False, None
+
+
+def load_waypoint_name_to_coordinates_and_altitude_map(
+    waypoint_file_path: pathlib.Path,
+) -> "tuple[bool, dict[str, waypoint.Waypoint]]":
+    """
+    Creates a name to coordinate and altitude dictionary from the CSV file.
+    """
+    if not waypoint_file_path.exists():
+        return False, None
+
+    name_to_coordinates_and_altitude_map = {}
+    with open(waypoint_file_path, encoding="utf-8") as file:
+        for line in file:
+            # Skp header and empty lines
+            parts = line.split(",")
+            if line in "name,latitude,longitude,altitude\n" or len(parts) < 4:
+                continue
+
+            name, latitude, longitude, altitude = parts
+            name_to_coordinates_and_altitude_map[name] = waypoint.Waypoint(
+                name, float(latitude), float(longitude), float(altitude)
+            )
+
+    if len(name_to_coordinates_and_altitude_map) > 0:
+        return True, name_to_coordinates_and_altitude_map
+
+    return False, None

modules/waypoint.py

@@ -0,0 +1,54 @@
+"""
+Class to store LocationGround and corresponding altitude.
+"""
+
+from .common.kml.modules import location_ground
+
+
+class Waypoint:
+    """
+    LocationGroundAndAltitude represents a geographical ground location and an altitude
+    with a name, latitude, longitude, and altitude.
+
+    Attributes:
+        name (str): The name or label for the location.
+        latitude (float): The latitude coordinate in decimal degrees.
+        longitude (float): The longitude coordinate in decimal degrees.
+        altitude (float): The altitude coordinate in metres.
+
+    Methods:
+        __init__(name, latitude, longitude, altitude): Initializes a LocationGroundAndAltitude object.
+        __eq__(other): Checks if two LocationGroundAndAltitude objects are equal.
+        __repr__(): Returns a string representation of the LocationGroundAndAltitude object.
+    """
+
+    def __init__(self, name: str, latitude: float, longitude: float, altitude: float) -> None:
+        """
+        Constructor for the LocationGroundAndAltitude object.
+
+        Args:
+            name (str): The name or label for the location.
+            latitude (float): The latitude coordinate in decimal degrees.
+            longitude (float): The longitude coordinate in decimal degrees.
+            altitude (float): The altitude of the coordinate in metres.
+        """
+        self.location_ground = location_ground.LocationGround(name, latitude, longitude)
+        self.altitude = altitude
+
+    def __eq__(self, other: "Waypoint") -> bool:
+        """
+        Checks if two LocationGroundAndAltitude objects are equal.
+
+        Args:
+            other (LocationGroundAndAltitude): The other LocationGroundAndAltitude object to compare to.
+        """
+        if not isinstance(other, Waypoint):
+            return False
+
+        return self.location_ground == other.location_ground and self.altitude == other.altitude
+
+    def __repr__(self) -> str:
+        """
+        String representation
+        """
+        return f"LocationGroundAndAltitude: {repr(self.location_ground)}, altitude: {self.altitude}"

modules/waypoints_dict_to_list.py

@@ -2,6 +2,7 @@
 Module to convert waypoints dict to waypoints list.
 """
 
+from . import waypoint
 from .common.kml.modules import location_ground
 
 
@@ -29,3 +30,29 @@ def waypoints_dict_to_list(
     waypoints_list = list(waypoint_name_to_coordinates.values())
 
     return True, waypoints_list
+
+
+def waypoints_dict_with_altitude_to_list(
+    waypoint_name_to_coordinates_and_altitude: "dict[str, waypoint.Waypoint]",
+) -> "tuple[bool, list[waypoint.Waypoint]]":
+    """
+    Converts dictionary of waypoints into a list.
+
+    Parameters
+    ----------
+    waypoint_name_to_coordinates_and_altitude: dict[str, LocationGroundAndAltitude]
+        Waypoint mapping of name to (latitude, longitude, altitude).
+
+    Returns
+    -------
+    bool: Whether waypoint data conversion was a success.
+    list[Waypoint]: List of the waypoint coordinates and altitude.
+    """
+    # Check for empty input dictionary
+    if len(waypoint_name_to_coordinates_and_altitude) == 0:
+        return False, None
+
+    # Create list of all the values in the input dictionary, ie. the LocationGround
+    waypoints_list = list(waypoint_name_to_coordinates_and_altitude.values())
+
+    return True, waypoints_list

modules/waypoints_to_commands.py

@@ -4,7 +4,7 @@
 
 import dronekit
 
-from . import generate_command
+from . import generate_command, waypoint
 from .common.kml.modules import location_ground
 
 
@@ -20,7 +20,7 @@ def waypoints_to_commands(
     Parameters
     ----------
     waypoints: list[LocationGround]
-        list of locationGround objects containing names and coordinates in decimal degrees.
+        list of LocationGround objects containing names and coordinates in decimal degrees.
     altitude: float
         altitude in meters to command the drone to.
 
@@ -43,3 +43,39 @@ def waypoints_to_commands(
         dronekit_command_list.append(command)
 
     return True, dronekit_command_list
+
+
+def waypoints_with_altitude_to_commands(
+    waypoints: "list[waypoint.Waypoint]",
+) -> "tuple[bool, list[dronekit.Command] | None]":
+    """
+    Convert list of waypoints to dronekit commands.
+
+    Parameters
+    ----------
+    waypoints: list[LocationGroundAndAltitude]
+        list of LocationGroundAndAltitude objects containing names, coordinates in decimal degrees, and altitude in metres.
+
+    Returns
+    -------
+    tuple[bool, list[dronekit.Command] | None]:
+        (False, None) if empty waypoints list,
+        (True, dronekit commands that can be sent to the drone) otherwise.
+    """
+    if len(waypoints) == 0:
+        return False, None
+
+    dronekit_command_list = []
+
+    for point in waypoints:
+        command = generate_command.waypoint(
+            0.0,
+            ACCEPT_RADIUS,
+            point.location_ground.latitude,
+            point.location_ground.longitude,
+            point.altitude,
+        )
+
+        dronekit_command_list.append(command)
+
+    return True, dronekit_command_list

path_2024.py

@@ -41,32 +41,32 @@ def main() -> int:
     (
         result,
         waypoint_name_to_coordinates,
-    ) = load_waypoint_name_to_coordinates_map.load_waypoint_name_to_coordinates_map(
+    ) = load_waypoint_name_to_coordinates_map.load_waypoint_name_to_coordinates_and_altitude_map(
         WAYPOINT_FILE_PATH,
     )
     if not result:
         print("ERROR: load_waypoint_name_to_coordinates_map")
         return -1
 
-    result, waypoints_list = waypoints_dict_to_list.waypoints_dict_to_list(
+    result, waypoints_list = waypoints_dict_to_list.waypoints_dict_with_altitude_to_list(
         waypoint_name_to_coordinates
     )
     if not result:
         print("ERROR: Unable to convert waypoints from dict to list")
         return -1
 
+    location_ground_list = list(map(lambda waypoint: waypoint.location_ground, waypoints_list))
     result, _ = ground_locations_to_kml.ground_locations_to_kml(
-        waypoints_list,
+        location_ground_list,
         KML_FILE_PREFIX,
         LOG_DIRECTORY_PATH,
     )
     if not result:
         print("ERROR: Unable to generate KML file")
         return -1
 
-    result, waypoint_commands = waypoints_to_commands.waypoints_to_commands(
+    result, waypoint_commands = waypoints_to_commands.waypoints_with_altitude_to_commands(
         waypoints_list,
-        ALTITUDE,
     )
     if not result:
         print("Error: waypoints_to_commands")
@@ -76,7 +76,10 @@ def main() -> int:
     loiter_coordinate = waypoints_list[-1]
 
     result, takeoff_loiter_commands = add_takeoff_and_loiter_command.add_takeoff_and_loiter_command(
-        waypoint_commands, loiter_coordinate.latitude, loiter_coordinate.longitude, ALTITUDE
+        waypoint_commands,
+        loiter_coordinate.location_ground.latitude,
+        loiter_coordinate.location_ground.longitude,
+        loiter_coordinate.altitude,
     )
     if not result:
         print("Error: add_takeoff_and_loiter_command")

tests/test_csv/test_normal_csv_with_altitude.csv

@@ -0,0 +1,3 @@
+name,latitude,longitude,altitude
+WARG,43.47323264522664,-80.54011639872981,10.0
+University of Waterloo Station for 301 ION,43.4735247614021,-80.54144667502672,10.0

tests/unit/test_load_waypoint_name_to_coordinates_map.py

@@ -4,7 +4,7 @@
 
 import pathlib
 
-from modules import load_waypoint_name_to_coordinates_map
+from modules import load_waypoint_name_to_coordinates_map, waypoint
 from modules.common.kml.modules import location_ground
 
 
@@ -38,6 +38,37 @@ def test_normal_file() -> None:
     assert actual == expected
 
 
+def test_normal_file_with_altitude() -> None:
+    """
+    Normal CSV file with altitude.
+    """
+    # Setup
+    normal_csv_file_with_altitude_path = pathlib.Path(
+        "tests", "test_csv", "test_normal_csv_with_altitude.csv"
+    )
+    excepted = {
+        "WARG": waypoint.Waypoint("WARG", 43.47323264522664, -80.54011639872981, 10.0),
+        "University of Waterloo Station for 301 ION": waypoint.Waypoint(
+            "University of Waterloo Station for 301 ION",
+            43.4735247614021,
+            -80.54144667502672,
+            10.0,
+        ),
+    }
+
+    # Run
+    (
+        result,
+        actual,
+    ) = load_waypoint_name_to_coordinates_map.load_waypoint_name_to_coordinates_and_altitude_map(
+        normal_csv_file_with_altitude_path,
+    )
+
+    # Test
+    assert result
+    assert actual == excepted
+
+
 def test_empty_file() -> None:
     """
     Empty CSV file.
@@ -54,6 +85,18 @@ def test_empty_file() -> None:
     assert not result
     assert actual is None
 
+    # Run
+    (
+        result,
+        actual,
+    ) = load_waypoint_name_to_coordinates_map.load_waypoint_name_to_coordinates_and_altitude_map(
+        empty_csv_file_path,
+    )
+
+    # Test
+    assert not result
+    assert actual is None
+
 
 def test_nonexistent_file() -> None:
     """
@@ -70,3 +113,15 @@ def test_nonexistent_file() -> None:
     # Test
     assert not result
     assert actual is None
+
+    # Run
+    (
+        result,
+        actual,
+    ) = load_waypoint_name_to_coordinates_map.load_waypoint_name_to_coordinates_and_altitude_map(
+        nonexistent_file_path,
+    )
+
+    # Test
+    assert not result
+    assert actual is None