Finished task 2, 3, 4

modules/bootcamp/decision_simple_waypoint.py

@@ -29,16 +29,13 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float) -> Non
         Initialize all persistent variables here with self.
         """
         self.waypoint = waypoint
-        print(f"Waypoint: {waypoint}")
 
         self.acceptance_radius = acceptance_radius
 
         # ============
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Add your own
-
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
@@ -68,10 +65,30 @@ def run(
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Do something based on the report and the state of this class...
-
+        status = report.status
+        position = report.position
+
+        distance_from_waypoint = (self.waypoint.location_x - position.location_x) ** 2 + (
+            self.waypoint.location_y - position.location_y
+        ) ** 2
+
+        # check if status is HALTED; if it is, set the relative destination
+        if status == drone_status.DroneStatus.HALTED:
+            # if the drone is in the acceptance radius, we have reached
+            if distance_from_waypoint < (self.acceptance_radius**2):
+                return commands.Command.create_land_command()
+            relative_destination = location.Location(
+                self.waypoint.location_x - position.location_x,
+                self.waypoint.location_y - position.location_y,
+            )
+            return commands.Command.create_set_relative_destination_command(
+                relative_destination.location_x, relative_destination.location_y
+            )
+        # if the drone is in the acceptance radius, we have reached
+        if distance_from_waypoint < (self.acceptance_radius**2):
+            return commands.Command.create_halt_command()
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
 
-        return command
+        return command

modules/bootcamp/decision_waypoint_landing_pads.py

@@ -13,12 +13,27 @@
 from .. import location
 from ..private.decision import base_decision
 
-
 # Disable for bootcamp use
 # No enable
 # pylint: disable=duplicate-code,unused-argument
 
 
+def calculate_distance(position: location.Location, landing_pad: location.Location) -> float:
+    """
+    Calculate the Euclidean distance between a given position and a landing pad.
+
+    Args:
+        position (object): An object with attributes `location_x` and `location_y` representing the coordinates of the position.
+        landing_pad (object): An object with attributes `location_x` and `location_y` representing the coordinates of the landing pad.
+
+    Returns:
+        float: The Euclidean distance between the position and the landing pad.
+    """
+    return (landing_pad.location_x - position.location_x) ** 2 + (
+        landing_pad.location_y - position.location_y
+    ) ** 2
+
+
 class DecisionWaypointLandingPads(base_decision.BaseDecision):
     """
     Travel to the designed waypoint and then land at the nearest landing pad.
@@ -39,6 +54,11 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float) -> Non
 
         # Add your own
 
+        # a boolean to see if the drone has reached the waypoint
+        self.reached = False
+
+        self.nearest_landing_pad = None
+
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
@@ -68,10 +88,58 @@ def run(
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Do something based on the report and the state of this class...
+        status = report.status
+        position = report.position
+
+        if not self.reached:
+            distance_from_waypoint = (self.waypoint.location_x - position.location_x) ** 2 + (
+                self.waypoint.location_y - position.location_y
+            ) ** 2
+
+            # if the drone is in the acceptance radius, we have reached
+            if distance_from_waypoint < (self.acceptance_radius**2):
+                self.reached = True
+                self.nearest_landing_pad = min(
+                    landing_pad_locations,
+                    key=lambda landing_pad: calculate_distance(position, landing_pad),
+                )
+                relative_destination = location.Location(
+                    self.nearest_landing_pad.location_x - position.location_x,
+                    self.nearest_landing_pad.location_y - position.location_y,
+                )
+                return commands.Command.create_set_relative_destination_command(
+                    relative_destination.location_x, relative_destination.location_y
+                )
+                # return commands.Command.create_halt_command()
+            # otherwise, the drone has not reached in the acceptance radius
+            # If the drone is not at the waypoint yet
+            if status == drone_status.DroneStatus.HALTED:
+                relative_destination = location.Location(
+                    self.waypoint.location_x - position.location_x,
+                    self.waypoint.location_y - position.location_y,
+                )
+                return commands.Command.create_set_relative_destination_command(
+                    relative_destination.location_x, relative_destination.location_y
+                )
+            return command
+        distance_to_pad = calculate_distance(position, self.nearest_landing_pad)
+        # if we are within the acceptance radius of the landing pad, we land
+        if distance_to_pad < (self.acceptance_radius**2):
+            if status == drone_status.DroneStatus.HALTED:
+                return commands.Command.create_land_command()
+            return commands.Command.create_halt_command()
+        # if we are not within the acceptance radius of the landing pad, we head towards it
+        if status == drone_status.DroneStatus.HALTED:
+            relative_destination = location.Location(
+                self.nearest_landing_pad.location_x - position.location_x,
+                self.nearest_landing_pad.location_y - position.location_y,
+            )
+            return commands.Command.create_set_relative_destination_command(
+                relative_destination.location_x, relative_destination.location_y
+            )
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
 
-        return command
+        return command

modules/bootcamp/tests/run_decision_example.py

@@ -21,7 +21,7 @@
 # to reach the 1st command
 # Increase the step size if your computer is lagging
 # Larger step size is smaller FPS
-TIME_STEP_SIZE = 0.1  # seconds
+TIME_STEP_SIZE = 0.2  # seconds
 
 # OpenCV ignores your display settings,
 # so if the window is too small or too large,
@@ -51,4 +51,4 @@ def main() -> int:
     if result_main != 0:
         print(f"ERROR: Status code: {result_main}")
 
-    print("Done!")
+    print("Done!")

modules/bootcamp/tests/run_decision_simple_waypoint.py

@@ -21,7 +21,7 @@
 # to reach the 1st command
 # Increase the step size if your computer is lagging
 # Larger step size is smaller FPS
-TIME_STEP_SIZE = 0.1  # seconds
+TIME_STEP_SIZE = 0.8  # seconds
 
 # OpenCV ignores your display settings,
 # so if the window is too small or too large,
@@ -53,4 +53,4 @@ def main() -> int:
     if result_main != 0:
         print(f"ERROR: Status code: {result_main}")
 
-    print("Done!")
+    print("Done!")

requirements.txt

@@ -17,7 +17,7 @@ pytest
 # If you are on MacOS, don't have a CUDA capable GPU,
 # or if things don't work and you just want to use the CPU,
 # comment out the "--extra-index-url" option
---extra-index-url https://download.pytorch.org/whl/cu124
+#--extra-index-url https://download.pytorch.org/whl/cu124
 
 # ============
 # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑