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PathManager.py
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PathManager.py
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import threading
import airsim
import PathGenerator
from DroneState import DroneState
class PathManager:
current_path = None
def __init__(self, drone_state: DroneState):
self.client = airsim.MultirotorClient()
self.grid_enable = False
self.drone_state = drone_state
self.event_listener_thread = threading.Thread(target=self.event_listener, daemon=True)
self.event_listener_thread.start()
self.drone_size = drone_state.get_drone_size()
def event_listener(self):
while True:
self.check_grid()
if self.client.simGetCollisionInfo().has_collided:
# print(self.client.simGetCollisionInfo().has_collided)
temp_collision = self.client.simGetCollisionInfo()
# print(temp_collision.object_name[0:2])
if temp_collision.object_name[0:2] == "ck":
# print(temp_collision.object_name[0:2])
if self.current_path.path_type == "crossing":
self.current_path.get_ck_dic()[temp_collision.object_name].destroy_mid()
self.current_path.update_ck_list_state(temp_collision.object_name, True)
# print(self.current_path.get_ck_state())
temp = {"time_stamp": temp_collision.time_stamp,
"position": temp_collision.position,
"event": str(self.current_path.get_ck_dic()[temp_collision.object_name].get_index())}
# print('log event')
self.drone_state.trigger_event(event=temp)
temp_bool = True
for i in self.current_path.ck_state_list:
if not self.current_path.ck_state_list[i]:
temp_bool = False
if temp_bool and not self.current_path.get_complete_state():
self.current_path.update_complete_state(True)
# print(self.current_path.get_complete_state())
def check_grid(self):
# generate grid with 1m x 1m and the range from the begin to the checker with width as 20m
if self.get_grid_state():
num_of_row = 10 + 1
left_most = -10
right_most = 10
num_of_column = 21
self.generate_grid_row(num_of_row, left_most, right_most)
self.generate_grid_column(num_of_column)
def generate_grid_row(self, num_of_row, left_most, right_most):
vector_list = []
for i in range(0, num_of_row):
vector_list.append(airsim.Vector3r(self.drone_state.distance_convertor(i),
self.drone_state.distance_convertor(left_most), 1))
vector_list.append(airsim.Vector3r(self.drone_state.distance_convertor(i),
self.drone_state.distance_convertor(right_most), 1))
self.client.simPlotLineList(vector_list, duration=0.1)
def generate_grid_column(self, num_of_column):
left_most = -num_of_column // 2
vector_list = []
for i in range(0, num_of_column):
vector_list.append(airsim.Vector3r(self.drone_state.distance_convertor(0),
self.drone_state.distance_convertor(left_most + i), 1))
vector_list.append(airsim.Vector3r(self.drone_state.distance_convertor(10),
self.drone_state.distance_convertor(left_most + i), 1))
self.client.simPlotLineList(vector_list, duration=0.1)
def create_crossing_path(self) -> bool:
if not self.current_path:
self.current_path = PathGenerator.CrossingPath(drone_size=self.drone_size)
self.current_path.create_path()
return True
if self.current_path.get_complete_state():
self.current_path.destroy_path()
self.current_path = PathGenerator.CrossingPath(drone_size=self.drone_size)
self.current_path.create_path()
return True
return False
def create_pointing_path(self) -> bool:
if not self.current_path:
self.current_path = PathGenerator.PointingPath(drone_size=self.drone_size)
self.current_path.create_path()
return True
if self.current_path.get_complete_state():
self.current_path.destroy_path()
self.current_path = PathGenerator.PointingPath(drone_size=self.drone_size)
self.current_path.create_path()
return True
return False
def get_grid_state(self):
return self.grid_enable
def set_grid_state(self, new_state):
self.grid_enable = new_state
if __name__ == '__main__':
drone = DroneState()
pm = PathManager()
pm.create_crossing_path()