"""Go To Behavior."""
from __future__ import annotations
# Copyright 2022 Universidad Politécnica de Madrid
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# this software without specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
import typing
from as2_msgs.action import GoToWaypoint
from as2_python_api.behavior_actions.behavior_handler import BehaviorHandler
from geographic_msgs.msg import GeoPose, GeoPoseStamped
from geometry_msgs.msg import Pose, PoseStamped
from pymap3d import geodetic2enu
if typing.TYPE_CHECKING:
from ..drone_interface_base import DroneInterfaceBase
[docs]
class GoToBehavior(BehaviorHandler):
"""GoTo Behavior."""
def __init__(self, drone: 'DroneInterfaceBase') -> None:
self.__drone = drone
try:
super().__init__(drone, GoToWaypoint, 'GoToBehavior')
except self.BehaviorNotAvailable as err:
self.__drone.get_logger().warn(str(err))
[docs]
def start(self, pose: tuple[Pose, PoseStamped, GeoPose, GeoPoseStamped],
speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth',
wait_result: bool = True) -> bool:
"""Start behavior."""
goal_msg = GoToWaypoint.Goal()
pose_stamped = self.__get_pose(pose)
goal_msg.target_pose.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.target_pose.header.frame_id = frame_id
goal_msg.target_pose.point.x = pose_stamped.position.x
goal_msg.target_pose.point.y = pose_stamped.position.y
goal_msg.target_pose.point.z = pose_stamped.position.z
goal_msg.max_speed = speed
goal_msg.yaw.mode = yaw_mode
if yaw_angle:
goal_msg.yaw.angle = yaw_angle
try:
return super().start(goal_msg, wait_result)
except self.GoalRejected as err:
self.__drone.get_logger().warn(str(err))
return False
[docs]
def modify(self, pose: tuple[Pose, PoseStamped, GeoPose, GeoPoseStamped],
speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth'):
"""Modify behavior."""
goal_msg = GoToWaypoint.Goal()
pose_stamped = self.__get_pose(pose)
goal_msg.target_pose.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.target_pose.header.frame_id = frame_id
goal_msg.target_pose.point.x = pose_stamped.position.x
goal_msg.target_pose.point.y = pose_stamped.position.y
goal_msg.target_pose.point.z = pose_stamped.position.z
goal_msg.max_speed = speed
goal_msg.yaw.mode = yaw_mode
if yaw_angle:
goal_msg.yaw.angle = yaw_angle
return super().modify(goal_msg)
def __get_pose(self, pose: tuple[Pose, PoseStamped, GeoPose, GeoPoseStamped]):
"""Get pose msg."""
if isinstance(pose, Pose):
return pose
if isinstance(pose, PoseStamped):
return pose.pose
if isinstance(pose, GeoPose):
geopose = GeoPoseStamped()
# TODO: frame id and stamp
geopose.pose = pose
return self.__get_pose(geopose)
if isinstance(pose, GeoPoseStamped):
lat0, lon0, h0 = self.__drone.gps.origin
x, y, z = geodetic2enu(pose.pose.position.latitude,
pose.pose.position.longitude,
pose.pose.position.altitude,
lat0, lon0, h0)
mypose = Pose()
mypose.position.x = float(x)
mypose.position.y = float(y)
# CAUTION: using height from origin
mypose.position.z = float(pose.pose.position.altitude)
return mypose
raise self.GoalRejected('Goal format invalid')