模块化与配置分离

src/Autonomous_Navigation/airsim.py

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+# airsim_connection.py
+import airsim
+import time
+
+
+class AbandonedParkSimulator:
+    def __init__(self):
+        print("连接到AbandonedPark模拟器...")
+
+        # 连接到本地的AbandonedPark模拟器
+        self.client = airsim.MultirotorClient()
+        self.client.confirmConnection()
+
+        # 检查连接状态
+        print(f"连接状态: {self.client.ping()}")
+
+        print("模拟器已连接！")
+
+    def ensure_drone_mode(self):
+        """确保切换到无人机模式"""
+        print("切换到无人机模式...")
+
+        # 尝试解锁无人机
+        try:
+            self.client.enableApiControl(True)
+            self.client.armDisarm(True)
+            print("无人机已解锁")
+            return True
+        except Exception as e:
+            print(f"切换模式时出错: {e}")
+            print("请确保模拟器中已选择无人机模式")
+            return False
+
+    def takeoff_and_hover(self, altitude=10):
+        """起飞并悬停"""
+        print(f"起飞到 {altitude} 米高度...")
+
+        # 起飞
+        self.client.takeoffAsync().join()
+        time.sleep(2)
+
+        # 移动到指定高度
+        self.client.moveToZAsync(-altitude, 3).join()
+        time.sleep(1)
+
+        print(f"已在 {altitude} 米高度悬停")
+
+    def capture_park_image(self):
+        """捕获废弃公园图像"""
+        print("捕获图像...")
+
+        # 从相机获取图像
+        responses = self.client.simGetImages([
+            airsim.ImageRequest(
+                "0",  # 前置摄像头
+                airsim.ImageType.Scene,
+                False, False  # 不压缩
+            )
+        ])
+
+        if responses and len(responses) > 0:
+            response = responses[0]
+
+            # 转换为numpy数组
+            import numpy as np
+            img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
+            img_rgb = img1d.reshape(response.height, response.width, 3)
+
+            # 保存图像
+            import cv2
+            timestamp = time.strftime("%Y%m%d_%H%M%S")
+            cv2.imwrite(f"park_capture_{timestamp}.jpg", img_rgb)
+            print(f"图像已保存: park_capture_{timestamp}.jpg")
+
+            return img_rgb
+        else:
+            print("未能捕获图像")
+            return None
+
+    def explore_park(self):
+        """探索公园的简单路径"""
+        print("开始探索废弃公园...")
+
+        # 定义探索路径（围绕公园）
+        waypoints = [
+            (20, 0, -10),  # 向前20米
+            (20, 15, -10),  # 向右15米
+            (0, 15, -12),  # 向后20米，下降2米
+            (0, 0, -10),  # 向左15米，回到起点
+        ]
+
+        for x, y, z in waypoints:
+            print(f"飞往位置: ({x}, {y}, {z})")
+            self.client.moveToPositionAsync(x, y, z, 3).join()
+
+            # 在每个位置捕获图像
+            self.capture_park_image()
+            time.sleep(1)
+
+        print("探索完成！")
+
+    def cleanup(self):
+        """清理资源"""
+        print("正在降落...")
+        self.client.landAsync().join()
+        self.client.armDisarm(False)
+        self.client.enableApiControl(False)
+        print("无人机已降落")
+
+
+# 快速测试脚本
+if __name__ == "__main__":
+    print("=== AbandonedPark无人机测试 ===")
+
+    # 1. 确保模拟器已经运行
+    input("请确保AbandonedPark.exe已运行，然后按回车继续...")
+
+    # 2. 连接模拟器
+    simulator = AbandonedParkSimulator()
+
+    try:
+        # 3. 切换到无人机模式
+        if simulator.ensure_drone_mode():
+            # 4. 起飞
+            simulator.takeoff_and_hover(10)
+
+            # 5. 捕获初始图像
+            simulator.capture_park_image()
+
+            # 6. 简单探索
+            simulator.explore_park()
+
+            # 7. 降落
+            simulator.cleanup()
+    except KeyboardInterrupt:
+        print("用户中断")
+        simulator.cleanup()
+    except Exception as e:
+        print(f"发生错误: {e}")
+        simulator.cleanup()

src/Autonomous_Navigation/basic.py

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+# test_basic.py
+"""
+Basic connection test
+"""
+
+import airsim
+import cv2
+import numpy as np
+import time
+
+
+def test_connection():
+    print("=" * 50)
+    print("BASIC CONNECTION TEST")
+    print("=" * 50)
+
+    # Test AirSim connection
+    try:
+        print("Connecting to simulator...")
+        client = airsim.MultirotorClient()
+        client.confirmConnection()
+        print("✓ Connection successful!")
+    except Exception as e:
+        print(f"✗ Connection failed: {e}")
+        return False
+
+    # Test image capture
+    try:
+        print("Testing image capture...")
+        responses = client.simGetImages([
+            airsim.ImageRequest("0", airsim.ImageType.Scene)
+        ])
+
+        if responses:
+            response = responses[0]
+            print(f"✓ Image size: {response.width}x{response.height}")
+
+            # Convert to numpy array
+            img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
+            img = img1d.reshape(response.height, response.width, 3)
+
+            # Save test image
+            cv2.imwrite("test_capture.jpg", img)
+            print("✓ Test image saved: test_capture.jpg")
+    except Exception as e:
+        print(f"✗ Image capture failed: {e}")
+
+    # Test drone control
+    try:
+        print("Testing drone control...")
+        client.enableApiControl(True)
+        client.armDisarm(True)
+        print("✓ Drone unlocked")
+
+        print("Simple takeoff test...")
+        client.takeoffAsync().join()
+        time.sleep(2)
+        print("✓ Takeoff successful")
+
+        print("Hovering for 2 seconds...")
+        time.sleep(2)
+
+        print("Landing...")
+        client.landAsync().join()
+        print("✓ Landing successful")
+
+    except Exception as e:
+        print(f"✗ Control test failed: {e}")
+        print("You may need to switch to drone mode in simulator")
+
+    print("\n" + "=" * 50)
+    print("TEST COMPLETE!")
+    print("=" * 50)
+
+    return True
+
+
+if __name__ == "__main__":
+    test_connection()
+    input("\nPress Enter to exit...")