Complete autonomous landing module

Author: danielquzhao

modules/auto_landing/auto_landing.py

@@ -4,11 +4,25 @@
 """
 
 import math
+from enum import Enum
+from typing import Optional
+import threading
 
 from .. import merged_odometry_detections
 from ..common.modules.logger import logger
 
 
+class DetectionSelectionStrategy(Enum):
+    """
+    Strategies for selecting which detection to use when multiple targets are detected.
+    """
+
+    NEAREST_TO_CENTER = "nearest_to_center"  # Choose detection closest to image center
+    LARGEST_AREA = "largest_area"  # Choose detection with largest bounding box area
+    HIGHEST_CONFIDENCE = "highest_confidence"  # Choose detection with highest confidence
+    FIRST_DETECTION = "first_detection"  # Use first detection in list (original behavior)
+
+
 class AutoLandingInformation:
     """
     Information necessary for the LANDING_TARGET MAVLink command.
@@ -44,17 +58,21 @@ def create(
         im_h: float,
         im_w: float,
         local_logger: logger.Logger,
+        selection_strategy: DetectionSelectionStrategy = DetectionSelectionStrategy.NEAREST_TO_CENTER,
     ) -> "tuple [bool, AutoLanding | None ]":
         """
         fov_x: The horizontal camera field of view in degrees.
         fov_y: The vertical camera field of view in degrees.
         im_w: Width of image.
         im_h: Height of image.
+        selection_strategy: Strategy for selecting which detection to use when multiple targets are detected.
 
         Returns an AutoLanding object.
         """
 
-        return True, AutoLanding(cls.__create_key, fov_x, fov_y, im_h, im_w, local_logger)
+        return True, AutoLanding(
+            cls.__create_key, fov_x, fov_y, im_h, im_w, local_logger, selection_strategy
+        )
 
     def __init__(
         self,
@@ -64,6 +82,7 @@ def __init__(
         im_h: float,
         im_w: float,
         local_logger: logger.Logger,
+        selection_strategy: DetectionSelectionStrategy,
     ) -> None:
         """
         Private constructor, use create() method.
@@ -75,10 +94,75 @@ def __init__(
         self.im_h = im_h
         self.im_w = im_w
         self.__logger = local_logger
+        self.__selection_strategy = selection_strategy
+
+    def _select_detection(self, detections: list) -> Optional[int]:
+        """
+        Select which detection to use based on the configured strategy.
+
+        Returns the index of the selected detection, or None if no suitable detection found.
+        """
+        if not detections:
+            return None
+
+        if len(detections) == 1:
+            return 0
+
+        if self.__selection_strategy == DetectionSelectionStrategy.FIRST_DETECTION:
+            return 0
+
+        if self.__selection_strategy == DetectionSelectionStrategy.NEAREST_TO_CENTER:
+            # Find detection closest to image center
+            image_center_x = self.im_w / 2
+            image_center_y = self.im_h / 2
+
+            min_distance = float("inf")
+            selected_index = 0
+
+            for i, detection in enumerate(detections):
+                det_center_x, det_center_y = detection.get_centre()
+                distance = math.sqrt(
+                    (det_center_x - image_center_x) ** 2 + (det_center_y - image_center_y) ** 2
+                )
+                if distance < min_distance:
+                    min_distance = distance
+                    selected_index = i
+
+            return selected_index
+
+        if self.__selection_strategy == DetectionSelectionStrategy.LARGEST_AREA:
+            # Find detection with largest bounding box area
+            max_area = 0
+            selected_index = 0
+
+            for i, detection in enumerate(detections):
+                width = detection.x_2 - detection.x_1
+                height = detection.y_2 - detection.y_1
+                area = width * height
+                if area > max_area:
+                    max_area = area
+                    selected_index = i
+
+            return selected_index
+
+        if self.__selection_strategy == DetectionSelectionStrategy.HIGHEST_CONFIDENCE:
+            # Find detection with highest confidence
+            max_confidence = 0
+            selected_index = 0
+
+            for i, detection in enumerate(detections):
+                if detection.confidence > max_confidence:
+                    max_confidence = detection.confidence
+                    selected_index = i
+
+            return selected_index
+
+        # Default fallback
+        return 0
 
     def run(
         self, odometry_detections: merged_odometry_detections.MergedOdometryDetections
-    ) -> "tuple[bool, AutoLandingInformation]":
+    ) -> "tuple[bool, AutoLandingInformation | None]":
         """
         Calculates the x and y angles in radians of the bounding box based on its center.
 
@@ -87,8 +171,26 @@ def run(
         Returns an AutoLandingInformation object.
         """
 
-        # TODO: Devise better algorithm to pick which detection to land at if several are detected
-        x_center, y_center = odometry_detections.detections[0].get_centre()
+        # Check if we have any detections
+        if not odometry_detections.detections:
+            self.__logger.warning("No detections available for auto-landing", True)
+            return False, None
+
+        # Select which detection to use
+        selected_index = self._select_detection(odometry_detections.detections)
+        if selected_index is None:
+            self.__logger.error("Failed to select detection for auto-landing", True)
+            return False, None
+
+        selected_detection = odometry_detections.detections[selected_index]
+
+        # Log selection information
+        self.__logger.info(
+            f"Selected detection {selected_index + 1}/{len(odometry_detections.detections)} using strategy: {self.__selection_strategy.value}",
+            True,
+        )
+
+        x_center, y_center = selected_detection.get_centre()
 
         angle_x = (x_center - self.im_w / 2) * (self.fov_x * (math.pi / 180)) / self.im_w
         angle_y = (y_center - self.im_h / 2) * (self.fov_y * (math.pi / 180)) / self.im_h
@@ -108,3 +210,94 @@ def run(
         )
 
         return True, AutoLandingInformation(angle_x, angle_y, target_to_vehicle_dist)
+
+
+class AutoLandingController:
+    """
+    Controller for turning auto-landing on/off.
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(
+        cls,
+        auto_landing: AutoLanding,
+        local_logger: logger.Logger,
+    ) -> "tuple[bool, AutoLandingController | None]":
+        """
+        Create an AutoLandingController instance.
+
+        auto_landing: The AutoLanding instance to control.
+        local_logger: Logger instance for logging.
+
+        Returns an AutoLandingController object.
+        """
+        return True, AutoLandingController(cls.__create_key, auto_landing, local_logger)
+
+    def __init__(
+        self,
+        class_private_create_key: object,
+        auto_landing: AutoLanding,
+        local_logger: logger.Logger,
+    ) -> None:
+        """
+        Private constructor, use create() method.
+        """
+        assert class_private_create_key is AutoLandingController.__create_key, "Use create() method"
+
+        self.__auto_landing = auto_landing
+        self.__logger = local_logger
+        self.__enabled = False
+        self.__enabled_lock = threading.Lock()
+
+    def is_enabled(self) -> bool:
+        """
+        Check if auto-landing is enabled.
+        """
+        with self.__enabled_lock:
+            return self.__enabled
+
+    def enable(self) -> bool:
+        """
+        Enable auto-landing system.
+
+        Returns True if successfully enabled, False otherwise.
+        """
+        with self.__enabled_lock:
+            if not self.__enabled:
+                self.__enabled = True
+                self.__logger.info("Auto-landing system enabled", True)
+                return True
+            self.__logger.warning("Auto-landing system already enabled", True)
+            return False
+
+    def disable(self) -> bool:
+        """
+        Disable auto-landing system.
+
+        Returns True if successfully disabled, False otherwise.
+        """
+        with self.__enabled_lock:
+            if self.__enabled:
+                self.__enabled = False
+                self.__logger.info("Auto-landing system disabled", True)
+                return True
+            self.__logger.warning("Auto-landing system already disabled", True)
+            return False
+
+    def process_detections(
+        self, odometry_detections: merged_odometry_detections.MergedOdometryDetections
+    ) -> "tuple[bool, AutoLandingInformation | None]":
+        """
+        Process detections if auto-landing is enabled.
+
+        Returns landing information if processing was successful, None otherwise.
+        """
+        with self.__enabled_lock:
+            if not self.__enabled:
+                return False, None
+
+        # Process the detections using the auto-landing module
+        result, landing_info = self.__auto_landing.run(odometry_detections)
+        return result, landing_info