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Added lap timing to task 1 code
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@mgupta27
mgupta27 committed May 3, 2024
1 parent 0506fe1 commit 82356d2
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Showing 2 changed files with 82 additions and 10 deletions.
20 changes: 18 additions & 2 deletions modules/mission_time_condition.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,13 +41,14 @@ def __init__(
assert class_private_create_key is MissionTimeCondition.__create_key
self.start_time = start_time
self.maximum_flight_time = maximum_flight_time
self.lap_time = 0

def evaluate_condition(self) -> bool:
"""
Evaluates whether the drone should land based on time remaining.
"""
current_time = time.time()
if current_time - self.start_time < self.maximum_flight_time:
if (current_time + self.lap_time) - self.start_time < self.maximum_flight_time:
return False

return True
Expand All @@ -59,11 +60,26 @@ def output_time_elapsed(self) -> None:
current_time = time.time()
print(f"Elapsed time (s): {current_time - self.start_time}")

def update_lap_time(self, lap_time: float) -> None:
"""
Updates the time taken to fly one lap.
"""
self.lap_time = lap_time

def message(self) -> None:
"""
Outputs status when the drone has exceeded the time limit.
"""
current_time = time.time()

print("\n###########################################################")
print("This mission has exceeded the maximum flight time limit.")
print(f"Specified maximum flight time limit: {self.maximum_flight_time}")
print(f"Mission start time: {self.start_time}")
print(f"Time when condition was met: {time.time()}")
print(f"Time when condition was met: {current_time}")
print(f"Total flight time: {current_time - self.start_time}")
print(f"Time of previous lap: {self.lap_time}")
print(
f"Total flight time + time to fly another lap: {(current_time - self.start_time) + self.lap_time}"
)
print("###########################################################\n")
72 changes: 64 additions & 8 deletions path_2024_task_1.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,12 +23,14 @@
CONNECTION_ADDRESS = "tcp:localhost:14550"
DELAY = 30 # seconds
MAXIMUM_FLIGHT_TIME = 1800 # in seconds
TAKEOFF_ALTITUDE = 10 # metres
TAKEOFF_ALTITUDE = 0 # metres
ALPHA_WAYPOINT_ALTITUDE = 100 # metres
LAP_WAYPOINT_ALTITUDE = 50 # metres
MISSION_WAIT_ALTITUDE_THRESHOLD = 5 # metres
LAP_WAYPOINT_ALTITUDE = 20 # metres
DRONE_TIMEOUT = 30.0 # seconds
MISSION_WAIT_TIMEOUT = 5.0 # seconds
LAP_START_SEQUENCE_NUMBER = 3
MAXIMUM_NUMBER_OF_LAPS = 2
MAXIMUM_NUMBER_OF_LAPS = 4


def main() -> int:
Expand Down Expand Up @@ -73,7 +75,6 @@ def main() -> int:
return -1

# Convert lap waypoint dictionary to list
# TODO: In progress
# pylint: disable-next=unused-variable
result, lap_waypoint_list = waypoints_dict_to_list.waypoints_dict_to_list(
lap_waypoint_dictionary,
Expand Down Expand Up @@ -124,6 +125,14 @@ def main() -> int:
print("ERROR: upload_commands")
return -1

print("Upload successful, waiting for takeoff ...")

# Wait for the drone to takeoff
location_info = drone.location
while location_info.global_relative_frame.alt < MISSION_WAIT_ALTITUDE_THRESHOLD:
location_info = drone.location
time.sleep(MISSION_WAIT_TIMEOUT)

start_time = time.time()
result, time_condition = mission_time_condition.MissionTimeCondition.create(
start_time, MAXIMUM_FLIGHT_TIME
Expand All @@ -134,16 +143,63 @@ def main() -> int:
return -1

return_to_launch_evaluator = condition_evaluator.ConditionEvaluator([time_condition])
should_return_to_launch = False
starting_lap = True
lap_start_time, lap_end_time = 0, 0
lap_counter = 0

while True:
# Send drone back to launch if exceeds time limit
# Time how long it takes for the drone to fly a lap and decide if there is enough time to fly another lap
if drone.commands.next == LAP_START_SEQUENCE_NUMBER:
if starting_lap:
if lap_start_time == 0:
# Record the start time when running a new lap
lap_start_time = time.time()
lap_counter += 1

# Log lap and time data
print("\n--------------------------------------------------------")
print(f"Starting lap {lap_counter}")
print("--------------------------------------------------------")
time_condition.output_time_elapsed()

# Disable flag since starting lap time is recorded
starting_lap = False
else:
# Calculate lap time
lap_end_time = time.time()
lap_time = lap_end_time - lap_start_time

# Log lap and time data
time_condition.output_time_elapsed()
print("--------------------------------------------------------")
print(f"Lap {lap_counter} start time (s): {lap_start_time}")
print(f"Lap {lap_counter} end time (s): {lap_end_time}")
print(f"Lap {lap_counter} time (s): {lap_time}")
print(f"Maximum flight time (s): {MAXIMUM_FLIGHT_TIME}")
print(
f"Estimated finish time of next lap (s): {(time.time() - start_time) + lap_time}"
)
print("--------------------------------------------------------")

# Update lap time and decided to continue or force early RTL
time_condition.update_lap_time(lap_time)
should_return_to_launch = return_to_launch_evaluator.evaluate_all_conditions()

# Reset lap start time and end time
lap_start_time, lap_end_time = 0, 0
else:
# Log time data
time_condition.output_time_elapsed()
else:
# Log time data
time_condition.output_time_elapsed()
# Enable flag so when lap start waypoint is reached again, lap time can be calculated
starting_lap = True

should_return_to_launch = return_to_launch_evaluator.evaluate_all_conditions()
if should_return_to_launch:
break

time_condition.output_time_elapsed()

time.sleep(DELAY)

# Force early RTL
Expand Down

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