Bootcamp - Tao Shen

modules/bootcamp/decision_simple_waypoint.py

@@ -38,7 +38,7 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float):
         # ============
 
         # Add your own
-
+        
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
@@ -67,14 +67,33 @@ def run(self,
         # ============
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
-
-        # Do something based on the report and the state of this class...
-
-        # Remove this when done
-        raise NotImplementedError
-
+        status = report.status
+        relative_x_dist = self.waypoint.location_x - report.position.location_x
+        relative_y_dist = self.waypoint.location_y - report.position.location_y
+
+        if status == drone_status.DroneStatus.HALTED:
+            # Check if halted at initial position or at waypoint
+            if self.relative_distance(relative_x_dist, relative_y_dist) < self.acceptance_radius:
+                command = commands.Command.create_land_command()
+            else:
+                command = commands.Command.create_set_relative_destination_command(
+                    relative_x_dist,
+                    relative_y_dist,
+                )
+        elif status == drone_status.DroneStatus.MOVING:
+            if self.relative_distance(relative_x_dist, relative_y_dist) < self.acceptance_radius:
+                command = commands.Command.create_halt_command()
+
+
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
 
         return command
+
+    def relative_distance(
+            self, 
+            relative_x_dist: float, 
+            relative_y_dist: float,
+            ) -> float:
+        return (relative_x_dist ** 2 + relative_y_dist ** 2) ** 0.5

modules/bootcamp/decision_waypoint_landing_pads.py

@@ -32,13 +32,13 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float):
         print("Waypoint: " + str(waypoint))
 
         self.acceptance_radius = acceptance_radius
-
+    
         # ============
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Add your own
-
+        self.visited_waypoint = False
+        self.acceptance_radius_squared = self.acceptance_radius ** 2
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
@@ -47,7 +47,7 @@ def run(self,
             report: drone_report.DroneReport,
             landing_pad_locations: "list[location.Location]") -> commands.Command:
         """
-        Make the drone fly to the waypoint and then land at the nearest landing pad.
+        Make the drone fly to the waypoint.
 
         You are allowed to create as many helper methods as you want,
         as long as you do not change the __init__() and run() signatures.
@@ -67,14 +67,70 @@ def run(self,
         # ============
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
-
-        # Do something based on the report and the state of this class...
-
-        # Remove this when done
-        raise NotImplementedError
-
+        status = report.status
+        position = report.position
+
+        if self.visited_waypoint: # Travel to nearest landing pad
+            if status == drone_status.DroneStatus.HALTED: # If halted, need to first calculate the nearest landing pad
+                self.nearest_landing_pad = self.get_nearest_landing_pad(position, landing_pad_locations)
+
+                if (self.get_relative_location_distance(position, self.nearest_landing_pad) 
+                    < self.acceptance_radius_squared):
+                    command = commands.Command.create_land_command()
+                else:
+                    landing_pad_x_dist = self.nearest_landing_pad.location_x - position.location_x
+                    landing_pad_y_dist = self.nearest_landing_pad.location_y - position.location_y
+                    command = commands.Command.create_set_relative_destination_command(
+                        landing_pad_x_dist,
+                        landing_pad_y_dist,
+                    )
+            elif status == drone_status.DroneStatus.MOVING:
+                if (self.get_relative_location_distance(position, self.nearest_landing_pad) 
+                    < self.acceptance_radius_squared):
+                    command = commands.Command.create_halt_command()
+        else: # Travel to waypoint
+            if status == drone_status.DroneStatus.HALTED:
+                if (self.get_relative_location_distance(position, self.waypoint) 
+                    > self.acceptance_radius_squared):
+                    waypoint_x_dist = self.waypoint.location_x - position.location_x
+                    waypoint_y_dist = self.waypoint.location_y - position.location_y
+                    command = commands.Command.create_set_relative_destination_command(
+                        waypoint_x_dist,
+                        waypoint_y_dist,
+                    )
+                else:
+                    self.visited_waypoint = True
+            elif status == drone_status.DroneStatus.MOVING:
+                if (self.get_relative_location_distance(position, self.waypoint) 
+                    < self.acceptance_radius_squared):
+                    command = commands.Command.create_halt_command()
+
+
+
+
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
 
         return command
+
+    def get_nearest_landing_pad(
+            self, 
+            position: location.Location, 
+            landing_pad_locations: "list[location.Location]",
+            ) -> location.Location:
+        nearest_landing_pad = None
+        nearest_landing_pad_distance = float("inf")
+        for landing_pad in landing_pad_locations:
+            current_distance = self.get_relative_location_distance(position, landing_pad)
+            if current_distance < nearest_landing_pad_distance:
+                nearest_landing_pad = landing_pad
+                nearest_landing_pad_distance = current_distance
+        return nearest_landing_pad
+
+    def get_relative_location_distance(
+            self, 
+            locOne: location.Location, 
+            locTwo: location.Location,
+            ) -> float:
+        return (locOne.location_x - locTwo.location_x) ** 2 + (locOne.location_y - locTwo.location_y) ** 2

modules/bootcamp/detect_landing_pad.py

@@ -86,25 +86,37 @@ def run(self, image: np.ndarray) -> "tuple[list[bounding_box.BoundingBox], np.nd
         # * conf
         # * device
         # * verbose
-        predictions = ...
+        predictions = self.__model.predict(
+            source=image, conf=0.7, device=self.__DEVICE, verbose=False
+        )
 
         # Get the Result object
-        prediction = ...
+        prediction = predictions[0]
 
         # Plot the annotated image from the Result object
         # Include the confidence value
-        image_annotated = ...
+        image_annotated = prediction.plot(conf=True)
 
         # Get the xyxy boxes list from the Boxes object in the Result object
-        boxes_xyxy = ...
+        boxes_xyxy = prediction.boxes.xyxy
 
         # Detach the xyxy boxes to make a copy,
         # move the copy into CPU space,
         # and convert to a numpy array
-        boxes_cpu = ...
+        boxes_cpu = boxes_xyxy.detach().cpu().numpy()
 
         # Loop over the boxes list and create a list of bounding boxes
         bounding_boxes = []
+
+        # Get the dimensions of the numpy array
+        num_boxes, _ = boxes_cpu.shape
+
+        for i in range(num_boxes):
+            result, box = bounding_box.BoundingBox.create(boxes_cpu[i])
+            bounding_boxes.append(box)
+
+        return bounding_boxes, image_annotated
+
         # Hint: .shape gets the dimensions of the numpy array
         # for i in range(0, ...):
             # Create BoundingBox object and append to list

requirements.txt

@@ -18,8 +18,8 @@ pytest
 # If you are on MacOS, remove +cu117
 # Otherwise, you can keep as is, or use +cpu if you
 # have a CUDA capable GPU but don't want to use it
-torch==1.13.1+cu117
-torchvision==0.14.1+cu117
+torch==1.13.1
+torchvision==0.14.1
 
 # ============
 # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑