"""Follow Path GPS Module."""
# Copyright 2022 Universidad Politécnica de Madrid
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__authors__ = 'Pedro Arias Pérez, Miguel Fernández Cortizas, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
import typing
from typing import Union
from as2_msgs.msg import YawMode
from as2_python_api.behavior_actions.followpath_behavior import FollowPathBehavior
from as2_python_api.modules.module_base import ModuleBase
from geographic_msgs.msg import GeoPath, GeoPoseStamped
if typing.TYPE_CHECKING:
from ..drone_interface import DroneInterface
[docs]
class FollowPathGpsModule(ModuleBase, FollowPathBehavior):
"""Follow Path GPS Module."""
__alias__ = 'follow_path_gps'
__deps__ = ['gps']
def __init__(self, drone: 'DroneInterface') -> None:
super().__init__(drone, self.__alias__)
def __call__(self, geopath: GeoPath, speed: float,
yaw_mode: int = YawMode.KEEP_YAW,
yaw_angle: float = 0.0, wait: bool = True) -> bool:
"""
Follow GPS path.
:param path: path to follow
:type path: Path
:param speed: speed (m/s) limit
:type speed: float
:param yaw_mode: yaw mode, defaults to YawMode.KEEP_YAW
:type yaw_mode: int, optional
:param yaw_angle: yaw angle (rad) when fixed yaw is set, defaults to None
:type yaw_angle: float, optional
:param wait: blocking call, defaults to True
:type wait: bool, optional
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__follow_path(geopath, speed, yaw_mode, yaw_angle, wait)
def __follow_path(self, path: Union[list, GeoPath],
speed: float, yaw_mode: int, yaw_angle: float, wait: bool = True) -> bool:
"""
Follow GPS path.
:param path: path to follow
:type path: Path
:param speed: speed (m/s) limit
:type speed: float
:param yaw_mode: yaw mode
:type yaw_mode: int
:param yaw_angle: yaw angle (rad) when fixed yaw is set
:type yaw_angle: float
:param wait: blocking call, defaults to True
:type wait: bool, optional
:return: True if was accepted, False otherwise
:rtype: bool
"""
if isinstance(path, list):
geopath = GeoPath()
for geopoint in path:
geops = GeoPoseStamped()
geops.pose.position.latitude = float(geopoint[0])
geops.pose.position.longitude = float(geopoint[1])
geops.pose.position.altitude = float(geopoint[2])
geopath.poses.append(geops)
else:
geopath = path
return self.start(path=geopath, speed=speed, yaw_mode=yaw_mode,
yaw_angle=yaw_angle, wait_result=wait)