"""Go to GPS Module."""
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"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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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'
from typing import TYPE_CHECKING
from as2_msgs.msg import YawMode
from as2_python_api.behavior_actions.go_to_behavior import GoToBehavior
from as2_python_api.modules.module_base import ModuleBase
from geographic_msgs.msg import GeoPose
if TYPE_CHECKING:
from ..drone_interface import DroneInterface
[docs]
class GoToGpsModule(ModuleBase, GoToBehavior):
"""Go to GPS Module."""
__alias__ = 'go_to_gps'
__deps__ = ['gps']
def __init__(self, drone: 'DroneInterface') -> None:
super().__init__(drone, self.__alias__)
def __call__(self, lat: float, lon: float, alt: float, speed: float,
yaw_mode: int = YawMode.KEEP_YAW,
yaw_angle: float = None, wait: bool = True) -> bool:
"""
Go to GPS point.
:param lat: latitude (deg) of the point
:type lat: float
:param lon: longitude (deg) of the point
:type lon: float
:param alt: altitude (m) of the point
:type alt: float
:param speed: speed (m/s) to go to the point
: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.__go_to(lat, lon, alt, speed, yaw_mode, yaw_angle, wait)
def __go_to(self, lat: float, lon: float, alt: float,
speed: float, yaw_mode: int, yaw_angle: float, wait: bool = True) -> bool:
"""
Go to GPS point.
:param lat: latitude (deg) of the point
:type lat: float
:param lon: longitude (deg) of the point
:type lon: float
:param alt: altitude (m) of the point
:type alt: float
:param speed: speed (m/s) to go to the point
: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
"""
msg = GeoPose()
msg.position.latitude = (float)(lat)
msg.position.longitude = (float)(lon)
msg.position.altitude = (float)(alt)
return self.start(pose=msg, speed=speed, yaw_mode=yaw_mode,
yaw_angle=yaw_angle, wait_result=wait)
# Method simplications
[docs]
def go_to_gps(self, lat: float, lon: float, alt: float, speed: float) -> bool:
"""
Go to GPS point. Blocking call.
:param lat: latitude (deg) of the point
:type lat: float
:param lon: longitude (deg) of the point
:type lon: float
:param alt: altitude (m) of the point
:type alt: float
:param speed: speed (m/s) to go to the point
:type speed: float
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(lat, lon, alt, speed,
yaw_mode=YawMode.KEEP_YAW, yaw_angle=None)
[docs]
def go_to_gps_with_yaw(self, lat: float, lon: float, alt: float,
speed: float, angle: float) -> bool:
"""
Go to GPS point. With desired yaw angle. Blocking call.
:param lat: latitude (deg) of the point
:type lat: float
:param lon: longitude (deg) of the point
:type lon: float
:param alt: altitude (m) of the point
:type alt: float
:param speed: speed (m/s) to go to the point
:type speed: float
:param yaw_angle: go to desired yaw angle (rad)
:type yaw_angle: float
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(lat, lon, alt, speed,
yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle)
[docs]
def go_to_gps_path_facing(self, lat: float, lon: float, alt: float, speed: float) -> bool:
"""
Go to GPS point. With desired path facing. Blocking call.
:param lat: latitude (deg) of the point
:type lat: float
:param lon: longitude (deg) of the point
:type lon: float
:param alt: altitude (m) of the point
:type alt: float
:param speed: speed (m/s) to go to the point
:type speed: float
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(lat, lon, alt, speed,
yaw_mode=YawMode.PATH_FACING, yaw_angle=None)
[docs]
def go_to_gps_point(self, waypoint: list[float], speed: float) -> bool:
"""
Go to GPS point. Blocking call.
:param point: GPS point [lat, lon, alt]
:type point: list[float]
:param speed: speed (m/s) to go to the point
:type speed: float
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(waypoint[0], waypoint[1], waypoint[2],
speed, yaw_mode=YawMode.KEEP_YAW, yaw_angle=None)
[docs]
def go_to_gps_point_with_yaw(self, waypoint: list[float], speed: float, angle: float) -> bool:
"""
Go to GPS point. With desired yaw angle. Blocking call.
:param point: GPS point [lat, lon, alt]
:type point: list[float]
:param speed: speed (m/s) to go to the point
:type speed: float
:param yaw_angle: go to desired yaw angle (rad)
:type yaw_angle: float
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(waypoint[0], waypoint[1], waypoint[2],
speed, yaw_mode=YawMode.FIXED_YAW, yaw_angle=angle)
[docs]
def go_to_gps_point_path_facing(self, waypoint: list[float], speed: float) -> bool:
"""
Go to GPS point. With desired path facing. Blocking call.
:param point: GPS point [lat, lon, alt]
:type point: list[float]
:param speed: speed (m/s) to go to the point
:type speed: float
:return: True if was accepted, False otherwise
:rtype: bool
"""
return self.__go_to(waypoint[0], waypoint[1], waypoint[2],
speed, yaw_mode=YawMode.PATH_FACING, yaw_angle=None)