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TargetWaypoint.py
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import math
import Config
import Math
import TargetNone
class TargetWaypoint(TargetNone.TargetNone):
def __init__(self, reverse=False):
self.waypoint = Config.config_json['waypoint']
print("[Target waypoint] " + str(len(self.waypoint)) + " waypoints")
if 'proximity_timeout' in Config.config_json:
self.proximity_timeout = Config.config_json['proximity_timeout']
else:
self.proximity_timeout = 0.5
print("[Target waypoint] proximity timeout = " + str(self.proximity_timeout))
self.event_ahead_qty = 1
self.current_waypoint = 0
self.prev_rotation = [0.0, 0.0, 0.0]
self.previous_rotation_present = False
self.target_speed_ms = self.waypoint[self.current_waypoint][3] * 1000 / 3600
self.rot_diff = 0.0
self.previous_height = 0.0
self.height_event_ahead_qty = 10
self.go_up = False
self.reverse = reverse
def reset(self):
self.event_ahead_qty = 1
self.current_waypoint = 0
self.prev_rotation = [0.0, 0.0, 0.0]
self.previous_rotation_present = False
self.target_speed_ms = self.waypoint[self.current_waypoint][3] * 1000 / 3600
self.rot_diff = 0.0
self.previous_height = 0.0
self.height_event_ahead_qty = 10
self.go_up = False
print("[Target waypoint] reset")
def run(self, position, rotation, speed_ms, rot_diff, target_speed_ms, go_up):
self.check_waypoint_distance(position, speed_ms)
self.check_rotation(position, rotation)
self.check_height(position)
return self.rot_diff, self.target_speed_ms, self.go_up
def check_waypoint_distance(self, position, speed_ms):
proximity_distance = speed_ms * self.proximity_timeout
if proximity_distance < 2.0:
proximity_distance = 2.0
waypoint_changed = False
while True:
dist_x = position[0] - self.waypoint[self.current_waypoint][0]
dist_z = position[1] - self.waypoint[self.current_waypoint][1]
dist_y = position[2] - self.waypoint[self.current_waypoint][2]
distance = math.sqrt(dist_x * dist_x + dist_y * dist_y + dist_z * dist_z)
if distance > proximity_distance:
break
if self.reverse is False:
new_waypoint = (self.current_waypoint + 1) % len(self.waypoint)
else:
new_waypoint = (self.current_waypoint - 1);
if new_waypoint < 0:
new_waypoint = len(self.waypoint) - 1
if self.waypoint[new_waypoint][3] != -1:
self.target_speed_ms = self.waypoint[new_waypoint][3] * 1000 / 3600
if self.waypoint[self.current_waypoint][4] >= 0:
self.event_ahead_qty = self.waypoint[self.current_waypoint][4]
self.current_waypoint = new_waypoint
waypoint_changed = True
if waypoint_changed is True:
print("[Target Waypoint] next waypoint ", new_waypoint, "speed kmh = ", self.target_speed_ms / 1000 * 3600, ", event ahead = ",
self.event_ahead_qty)
def check_rotation(self, position, rotation):
if self.previous_rotation_present is False:
self.prev_rotation = rotation
self.previous_rotation_present = True
else:
waypoint_angle = Math.calc_angle([position[0], position[2] + 1.0], [position[0], position[2]],
[self.waypoint[self.current_waypoint][0],
self.waypoint[self.current_waypoint][2]])
if waypoint_angle > 0:
target_angle = waypoint_angle - 180.0
else:
target_angle = waypoint_angle + 180.0
# print('target_angle: ', target_angle)
# print('rotation:', rotation)
# diff_rot = rotation[1] - target_angle
# print('rotation[1] - target_angle:', diff_rot)
rotation_since_previous_event = self.prev_rotation[1] - rotation[1]
next_diff_rot = rotation[1] - (self.event_ahead_qty * rotation_since_previous_event) - target_angle
self.prev_rotation = rotation
if next_diff_rot > 180.0:
next_diff_rot = next_diff_rot - 360.0
if next_diff_rot < -180.0:
next_diff_rot = 360.0 + next_diff_rot
# print("diff_rot = ", diff_rot)
self.rot_diff = next_diff_rot
def check_height(self, position):
height_since_previous_event = self.previous_height - position[1]
next_height = position[1] - (self.event_ahead_qty * height_since_previous_event)
self.previous_height = position[1]
if next_height < self.waypoint[self.current_waypoint][1]:
self.go_up = True
else:
self.go_up = False