backyard_flyer.py

import argparse
import time
from enum import Enum

import numpy as np

from udacidrone import Drone
from udacidrone.connection import MavlinkConnection, WebSocketConnection  # noqa: F401
from udacidrone.messaging import MsgID


class States(Enum):
    MANUAL = 0
    ARMING = 1
    TAKEOFF = 2
    WAYPOINT = 3
    LANDING = 4
    DISARMING = 5


class BackyardFlyer(Drone):

    def __init__(self, connection):
        super().__init__(connection)
        self.target_position = np.array([0.0, 0.0, 0.0])
        self.all_waypoints = []
        self.in_mission = True
        self.check_state = {}

        # initial state
        self.flight_state = States.MANUAL

        # TODO: Register all your callbacks here
        self.register_callback(MsgID.LOCAL_POSITION, self.local_position_callback)
        self.register_callback(MsgID.LOCAL_VELOCITY, self.velocity_callback)
        self.register_callback(MsgID.STATE, self.state_callback)

    def local_position_callback(self):
        """
        TODO: Implement this method

        This triggers when `MsgID.LOCAL_POSITION` is received and self.local_position contains new data
        """
        if self.flight_state == States.TAKEOFF:

            # coordinate conversion 
            altitude = -1.0 * self.local_position[2]

            # check if altitude is within 95% of target, set waypoints to those defined in function and initialise waypoint transition state
            if (altitude > 0.95 * self.target_position[2]):
                self.all_waypoints = self.calculate_box()
                self.waypoint_transition()
        # check for distance between drone and waypoint-target, if close, move to next waypoint. if all points visited and velocity low, initialise landing state
        elif self.flight_state == States.WAYPOINT:
            if np.linalg.norm(self.target_position[0:2] - self.local_position[0:2]) < 1.0:
                if len(self.all_waypoints) > 0:
                    self.waypoint_transition()
                else:
                    if np.linalg.norm(self.local_velocity[0:2]) < 1.0:
                        self.landing_transition()

    def velocity_callback(self):
        """
        TODO: Implement this method

        This triggers when `MsgID.LOCAL_VELOCITY` is received and self.local_velocity contains new data
        """
        # check if in landing state; if distance between current position and home position less than 0.1, initialise disarming state
        if self.flight_state == States.LANDING:
            if ((self.global_position[2] - self.global_home[2] < 0.1) and abs(self.local_position[2]) < 0.01) and ((self.global_position[1]-self.global_home[1] < 0.1) and abs(self.local_position[1]) < 0.01) and ((self.global_position[0] - self.global_home[0] < 0.1) and abs(self.local_position[0]) < 0.01):
                self.disarming_transition()
        

    def state_callback(self):
        """
        TODO: Implement this method

        This triggers when `MsgID.STATE` is received and self.armed and self.guided contain new data
        """
        #Assigns Function to each state
        if not self.in_mission:
            return
        if self.flight_state == States.MANUAL:
            self.arming_transition()
        elif self.flight_state == States.ARMING:
            self.takeoff_transition()
        elif self.flight_state == States.DISARMING:
            self.manual_transition()
        

    def calculate_box(self):
        """TODO: Fill out this method
        
        1. Return waypoints to fly a box
        """
        #Set Target points ( Square-Shape )
        print('Setting Waypoints')
        waypoints = [[10,0,3], [10,10,3], [0,10,3], [0,0,3]]
        return waypoints
        

    def arming_transition(self):
        """TODO: Fill out this method
        
        1. Take control of the drone
        2. Pass an arming command
        3. Set the home location to current position
        4. Transition to the ARMING state
        """
        print("arming transition")
        self.take_control()
        self.arm()

        # set the current location to be the home position
        self.set_home_position(self.global_position[0],
                               self.global_position[1],
                               self.global_position[2])

        self.flight_state = States.ARMING
        print("arming transition")

    def takeoff_transition(self):
        """TODO: Fill out this method
        
        1. Set target_position altitude to 3.0m
        2. Command a takeoff to 3.0m
        3. Transition to the TAKEOFF state
        """
        print("takeoff transition")
        target_altitude = 3.0
        self.target_position[2] = target_altitude
        self.takeoff(target_altitude)
        self.flight_state = States.TAKEOFF

        print("takeoff transition")

    def waypoint_transition(self):
        """TODO: Fill out this method
    
        1. Command the next waypoint position
        2. Transition to WAYPOINT state
        """
        print("waypoint transition")
        self.target_position = self.all_waypoints.pop(0)
        print('target position', self.target_position)
        self.cmd_position(self.target_position[0], self.target_position[1], self.target_position[2], 0)
        self.flight_state = States.WAYPOINT

    def landing_transition(self):
        """TODO: Fill out this method
        
        1. Command the drone to land
        2. Transition to the LANDING state
        """
        
        print("landing transition")
        self.land()
        self.flight_state = States.LANDING

    def disarming_transition(self):
        """TODO: Fill out this method
        
        1. Command the drone to disarm
        2. Transition to the DISARMING state
        """
        print("disarm transition")
        self.disarm()
        self.flight_state = States.DISARMING

    def manual_transition(self):
        """This method is provided
        
        1. Release control of the drone
        2. Stop the connection (and telemetry log)
        3. End the mission
        4. Transition to the MANUAL state
        """
        print("manual transition")

        self.release_control()
        self.stop()
        self.in_mission = False
        self.flight_state = States.MANUAL

    def start(self):
        """This method is provided
        
        1. Open a log file
        2. Start the drone connection
        3. Close the log file
        """
        print("Creating log file")
        self.start_log("Logs", "NavLog.txt")
        print("starting connection")
        self.connection.start()
        print("Closing log file")
        self.stop_log()


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument('--port', type=int, default=5760, help='Port number')
    parser.add_argument('--host', type=str, default='127.0.0.1', help="host address, i.e. '127.0.0.1'")
    args = parser.parse_args()

    conn = MavlinkConnection('tcp:{0}:{1}'.format(args.host, args.port), threaded=False, PX4=False)
    #conn = WebSocketConnection('ws://{0}:{1}'.format(args.host, args.port))
    drone = BackyardFlyer(conn)
    time.sleep(2)
    drone.start()