Ase docker

.dockerignore

@@ -0,0 +1,18 @@
+# ignore all csv, png, jpg, jpeg files
+
+# ignore all files in the .git folder
+.git/*
+
+# ignore all files in the .vscode folder
+.vscode/*
+
+# ignore all files in the __pycache__ folder
+__pycache__/*
+
+# ignore venv
+venv/*
+
+# ignore all files in the .idea folder
+.idea/*
+
+node_modules/*

Dockerfile

@@ -0,0 +1,20 @@
+# Use an official Node.js runtime as a parent image
+FROM node:14
+
+# Set the working directory to /app
+WORKDIR /app
+
+# Copy the package.json and package-lock.json files to the container
+COPY frontend/package*.json ./
+
+# Install dependencies
+RUN npm install
+
+# Copy the rest of the application code to the container
+COPY frontend/. .
+
+# Expose port 3000 for the React app
+EXPOSE 3000
+
+# Start the React app
+CMD ["npm", "start"]

backend/.gitignore

@@ -7,3 +7,14 @@
 # ignore all png and jpg files
 *.png
 *.jpg
+
+# NO pycache files
+
+# pycache 
+/PythonClient/__pycache__/
+/PythonClient/multirotor/__pycache__/
+/PythonClient/airsim/__pycache__/
+/PythonClient/multirotor/control/__pycache__/
+/PythonClient/multirotor/util/__pycache__/
+/PythonClient/multirotor/util/geo/__pycache__/
+/PythonClient/multirotor/socket/__pycache__/

backend/PythonClient/multirotor/control/simulation_task_manager.py

@@ -158,6 +158,7 @@ def add_task(self, raw_request_json, uuid):
                 json.dump(raw_request_json, f, indent=4)
 
     def __populate_drone_and_mission_settings(self, new_setting_dot_json, raw_request_json):
+        print(new_setting_dot_json)
         for single_drone_setting in raw_request_json["Drones"]:
             # Must-exist params for setting.json or mission dispatch
             single_drone_setting_copy = copy.deepcopy(single_drone_setting)
@@ -180,10 +181,36 @@ def __populate_drone_and_mission_settings(self, new_setting_dot_json, raw_reques
 
             diff_dict = self.__find_diff(single_drone_setting_copy, self.__DEFAULT_DRONE_FULL_LENGTH)
 
+            if "Sensors" in single_drone_setting:
+                diff_dict["Sensors"] = diff_dict.get("Sensors", {})
+                if "Barometer" in single_drone_setting["Sensors"]:
+                    diff_dict["Sensors"]["Barometer"] = single_drone_setting["Sensors"]["Barometer"]
+                if "Magnetometer" in single_drone_setting["Sensors"]:
+                    diff_dict["Sensors"]["Magnetometer"] = single_drone_setting["Sensors"]["Magnetometer"]
+                if "GPS" in single_drone_setting["Sensors"]:
+                    diff_dict["Sensors"]["GPS"] = single_drone_setting["Sensors"]["GPS"]
+
             new_one_drone_json = {
-                drone_name: dict(VehicleType="SimpleFlight", X=drone_x, Y=drone_y, Z=drone_z)
+                drone_name: dict(FlightController="SimpleFlight", X=drone_x, Y=drone_y, Z=drone_z)
             }
 
+            # # GPS settings
+            # if "GPS" in single_drone_setting["Sensors"]:
+            #     diff_dict["Sensors"]["GPS"] = {
+            #         "EphTimeConstant": single_drone_setting["Sensors"]["GPS"].get("EphTimeConstant", 0.9),
+            #         "EpvTimeConstant": single_drone_setting["Sensors"]["GPS"].get("EpvTimeConstant", 0.9),
+            #         "EphInitial": single_drone_setting["Sensors"]["GPS"].get("EphInitial", 25),
+            #         "EpvInitial": single_drone_setting["Sensors"]["GPS"].get("EpvInitial", 25),
+            #         "EphFinal": single_drone_setting["Sensors"]["GPS"].get("EphFinal", 0.1),
+            #         "EpvFinal": single_drone_setting["Sensors"]["GPS"].get("EpvFinal", 0.1),
+            #         "EphMin3d": single_drone_setting["Sensors"]["GPS"].get("EphMin3d", 3),
+            #         "EphMin2d": single_drone_setting["Sensors"]["GPS"].get("EphMin2d", 4),
+            #         "UpdateLatency": single_drone_setting["Sensors"]["GPS"].get("UpdateLatency", 0.2),
+            #         "UpdateFrequency": single_drone_setting["Sensors"]["GPS"].get("UpdateFrequency", 50),
+            #         "StartupDelay": single_drone_setting["Sensors"]["GPS"].get("StartupDelay", 1),
+            #     }
+
+
             new_one_drone_json[drone_name].update(diff_dict)
             new_setting_dot_json['Vehicles'].update(new_one_drone_json)
         self.__drone_positions_seen.clear()  # clear the duplicate drone position list
@@ -195,8 +222,8 @@ def __handle_wind_settings(self, new_setting_dot_json, raw_request_json):
                 # wind vector already handled in run_fuzzy_test_batch
             else:
                 wind = raw_request_json['environment']['Wind']
-                if "Force" in wind:
-                    wind_vector = self.__string_to_wind_vector(wind["Distance"], wind["Force"])
+                if "Velocity" in wind:
+                    wind_vector = self.__string_to_wind_vector(wind["Direction"], wind["Velocity"])
                     new_setting_dot_json['Wind'] = {'X': wind_vector[0], 'Y': wind_vector[1], 'Z': wind_vector[2]}
                 elif not (wind['X'] == 0 and wind['Y'] == 0 and wind['Z'] == 0):
                     new_setting_dot_json['Wind'] = raw_request_json['environment']['Wind']
@@ -392,7 +419,7 @@ def __create_global_monitor_threads(self, monitor_list):
                 start_threads.append(threading.Thread(target=monitor_instance.start))
                 stop_threads.append(threading.Thread(target=monitor_instance.stop))
         return start_threads, stop_threads
-
+    
     @staticmethod
     def __get_class_instance(class_name, module_name):
         module = importlib.import_module("PythonClient.multirotor." + module_name + "." + class_name)
@@ -401,7 +428,7 @@ def __get_class_instance(class_name, module_name):
     @staticmethod
     def __create_default_drone_full_length_reqeust():
         return dict(
-            VehicleType="SimpleFlight", DefaultVehicleState="Armed", PawnPath="",
+            FlightController="SimpleFlight", DefaultVehicleState="Armed", PawnPath="",
             EnableCollisionPassthrogh=False, EnableCollisions=True,
             AllowAPIAlways=True, EnableTrace=False, Name="Drone1", Mission={},
             X=0, Y=0, Z=0, Pitch=0, Roll=0, Yaw=0)
@@ -445,23 +472,23 @@ def __set_fuzzy_wind_vector(wind_magnitude):
         return [x, y, 0]
 
     @staticmethod
-    def __string_to_wind_vector(direction, force):
+    def __string_to_wind_vector(direction, velocity):
         if direction == 'N':
-            return [force, 0, 0]
+            return [velocity, 0, 0]
         elif direction == 'S':
-            return [-force, 0, 0]
+            return [-velocity, 0, 0]
         elif direction == 'E':
-            return [0, force, 0]
+            return [0, velocity, 0]
         elif direction == 'W':
-            return [0, -force, 0]
+            return [0, -velocity, 0]
         elif direction == 'NE':
-            return [force / 2 ** 0.5, force / 2 ** 0.5, 0]
+            return [velocity / 2 ** 0.5, velocity / 2 ** 0.5, 0]
         elif direction == 'NW':
-            return [force / 2 ** 0.5, -force / 2 ** 0.5, 0]
+            return [velocity / 2 ** 0.5, -velocity / 2 ** 0.5, 0]
         elif direction == 'SE':
-            return [-force / 2 ** 0.5, force / 2 ** 0.5, 0]
+            return [-velocity / 2 ** 0.5, velocity / 2 ** 0.5, 0]
         elif direction == 'SW':
-            return [-force / 2 ** 0.5, -force / 2 ** 0.5, 0]
+            return [-velocity / 2 ** 0.5, -velocity / 2 ** 0.5, 0]
         else:
             return [0, 0, 0]
 
@@ -502,7 +529,7 @@ def __environment_check():
                 "SimMode": "Multirotor",
                 "Vehicles": {
                     "Drone1": {
-                        "VehicleType": "SimpleFlight",
+                        "FlightController": "SimpleFlight",
                         "X": 0,
                         "Y": 0,
                         "Z": 0

backend/PythonClient/multirotor/util/geo/geo_util.py

@@ -190,7 +190,7 @@ def get_distance_btw_3d_points(point_arr_1, point_arr_2):
     @staticmethod
     def get_elevation(lat, lng):
         #curl -L -X GET 'https://maps.googleapis.com/maps/api/elevation/json?locations=39.7391536%2C-104.9847034&key=AIzaSyAZg02ECdzNzTvjTLbIRr61eh-P9mCq2ac'
-        url = f"https://maps.googleapis.com/maps/api/elevation/json?locations={lat}%2C{lng}&key=AIzaSyAZg02ECdzNzTvjTLbIRr61eh-P9mCq2ac"
+        url = f"https://maps.googleapis.com/maps/api/elevation/json?locations={lat}%2C{lng}&key=AIzaSyDl5tkiX4Z8CKS8NNngmYLwpnGCtig9DCg"
         response = requests.get(url).json()
         if 'results' in response:
             return response['results'][0]['elevation']