From c345cca15cf9ac0b6fa4d3dd4e3b72276c893d4a Mon Sep 17 00:00:00 2001
From: "Khalil H." <81334438+Khalil-Hawari@users.noreply.github.com>
Date: Tue, 4 Feb 2025 02:06:42 -0500
Subject: [PATCH] Revised bootcamp code

---
 modules/bootcamp/decision_example.py          | 168 ++++-----
 modules/bootcamp/decision_simple_waypoint.py  | 176 +++++-----
 .../decision_waypoint_landing_pads.py         | 326 +++++++++---------
 3 files changed, 327 insertions(+), 343 deletions(-)

diff --git a/modules/bootcamp/decision_example.py b/modules/bootcamp/decision_example.py
index 74f3d3ae..b928f068 100644
--- a/modules/bootcamp/decision_example.py
+++ b/modules/bootcamp/decision_example.py
@@ -1,84 +1,84 @@
-"""
-BOOTCAMPERS DO NOT MODIFY THIS FILE.
-
-Example decision with figure 8.
-"""
-
-from .. import commands
-from .. import drone_report
-from .. import drone_status
-from .. import location
-from ..private.decision import base_decision
-
-
-# Disable for bootcamp use
-# No enable
-# pylint: disable=duplicate-code,unused-argument
-
-
-class DecisionExample(base_decision.BaseDecision):
-    """
-    Example of sending commands to the drone.
-    """
-
-    def __init__(self, waypoint: location.Location, acceptance_radius: float) -> None:
-        """
-        Initialize all persistent variables here with self.
-        """
-        self.waypoint = waypoint
-        print(f"Waypoint: {waypoint}")
-
-        self.acceptance_radius = acceptance_radius
-
-        self.command_index = 0
-        self.commands = [
-            commands.Command.create_set_relative_destination_command(50.0, 37.5),
-            commands.Command.create_set_relative_destination_command(0.0, -75.0),
-            commands.Command.create_set_relative_destination_command(-50.0, 37.5),
-            commands.Command.create_set_relative_destination_command(-50.0, -37.5),
-            commands.Command.create_set_relative_destination_command(0.0, 75.0),
-            commands.Command.create_set_relative_destination_command(50.0, -37.5),
-            commands.Command.create_set_relative_destination_command(-50.0, 0.0),
-            commands.Command.create_set_relative_destination_command(50.0, 0.0),
-        ]
-
-        self.has_sent_landing_command = False
-
-        self.counter = 0
-
-    def run(
-        self, report: drone_report.DroneReport, landing_pad_locations: "list[location.Location]"
-    ) -> commands.Command:
-        """
-        Makes the drone fly in a figure 8, then land.
-
-        This method will be called in an infinite loop, something like this:
-
-        ```py
-        while True:
-            report, landing_pad_locations = get_input()
-            command = Decision.run(report, landing_pad_locations)
-            put_output(command)
-        ```
-        """
-        # Default command
-        command = commands.Command.create_null_command()
-
-        if report.status == drone_status.DroneStatus.HALTED and self.command_index < len(
-            self.commands
-        ):
-            # Print some information for debugging
-            print(self.counter)
-            print(self.command_index)
-            print(f"Halted at: {report.position}")
-
-            command = self.commands[self.command_index]
-            self.command_index += 1
-        elif report.status == drone_status.DroneStatus.HALTED and not self.has_sent_landing_command:
-            command = commands.Command.create_land_command()
-
-            self.has_sent_landing_command = True
-
-        self.counter += 1
-
-        return command
+"""
+BOOTCAMPERS DO NOT MODIFY THIS FILE.
+
+Example decision with figure 8.
+"""
+
+from .. import commands
+from .. import drone_report
+from .. import drone_status
+from .. import location
+from ..private.decision import base_decision
+
+
+# Disable for bootcamp use
+# No enable
+# pylint: disable=duplicate-code,unused-argument
+
+
+class DecisionExample(base_decision.BaseDecision):
+    """
+    Example of sending commands to the drone.
+    """
+
+    def __init__(self, waypoint: location.Location, acceptance_radius: float) -> None:
+        """
+        Initialize all persistent variables here with self.
+        """
+        self.waypoint = waypoint
+        print(f"Waypoint: {waypoint}")
+
+        self.acceptance_radius = acceptance_radius
+
+        self.command_index = 0
+        self.commands = [
+            commands.Command.create_set_relative_destination_command(50.0, 37.5),
+            commands.Command.create_set_relative_destination_command(0.0, -75.0),
+            commands.Command.create_set_relative_destination_command(-50.0, 37.5),
+            commands.Command.create_set_relative_destination_command(-50.0, -37.5),
+            commands.Command.create_set_relative_destination_command(0.0, 75.0),
+            commands.Command.create_set_relative_destination_command(50.0, -37.5),
+            commands.Command.create_set_relative_destination_command(-50.0, 0.0),
+            commands.Command.create_set_relative_destination_command(50.0, 0.0),
+        ]
+
+        self.has_sent_landing_command = False
+
+        self.counter = 0
+
+    def run(
+        self, report: drone_report.DroneReport, landing_pad_locations: "list[location.Location]"
+    ) -> commands.Command:
+        """
+        Makes the drone fly in a figure 8, then land.
+
+        This method will be called in an infinite loop, something like this:
+
+        ```py
+        while True:
+            report, landing_pad_locations = get_input()
+            command = Decision.run(report, landing_pad_locations)
+            put_output(command)
+        ```
+        """
+        # Default command
+        command = commands.Command.create_null_command()
+
+        if report.status == drone_status.DroneStatus.HALTED and self.command_index < len(
+            self.commands
+        ):
+            # Print some information for debugging
+            print(self.counter)
+            print(self.command_index)
+            print(f"Halted at: {report.position}")
+
+            command = self.commands[self.command_index]
+            self.command_index += 1
+        elif report.status == drone_status.DroneStatus.HALTED and not self.has_sent_landing_command:
+            command = commands.Command.create_land_command()
+
+            self.has_sent_landing_command = True
+
+        self.counter += 1
+
+        return command
diff --git a/modules/bootcamp/decision_simple_waypoint.py b/modules/bootcamp/decision_simple_waypoint.py
index a5838a70..8923e494 100644
--- a/modules/bootcamp/decision_simple_waypoint.py
+++ b/modules/bootcamp/decision_simple_waypoint.py
@@ -1,90 +1,86 @@
-"""
-BOOTCAMPERS TO COMPLETE.
-
-Travel to designated waypoint.
-"""
-
-from .. import commands
-from .. import drone_report
-
-# Disable for bootcamp use
-# pylint: disable-next=unused-import
-from .. import drone_status
-from .. import location
-from ..private.decision import base_decision
-
-
-# Disable for bootcamp use
-# No enable
-# pylint: disable=duplicate-code,unused-argument
-
-
-class DecisionSimpleWaypoint(base_decision.BaseDecision):
-    """
-    Travel to the designed waypoint.
-    """
-
-    def __init__(self, waypoint: location.Location, acceptance_radius: float) -> None:
-        """
-        Initialize all persistent variables here with self.
-        """
-        self.waypoint = waypoint
-        print(f"Waypoint: {waypoint}")
-
-        self.acceptance_radius = acceptance_radius
-
-        # ============
-        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
-        # ============
-
-        # Write here
-
-        # ============
-        # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
-        # ============
-
-    def run(
-        self, report: drone_report.DroneReport, landing_pad_locations: "list[location.Location]"
-    ) -> commands.Command:
-        """
-        Make the drone fly to the waypoint.
-
-        You are allowed to create as many helper methods as you want,
-        as long as you do not change the __init__() and run() signatures.
-
-        This method will be called in an infinite loop, something like this:
-
-        ```py
-        while True:
-            report, landing_pad_locations = get_input()
-            command = Decision.run(report, landing_pad_locations)
-            put_output(command)
-        ```
-        """
-        # Default command
-        command = commands.Command.create_null_command()
-
-        # ============
-        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
-        # ============
-
-        # Do something based on the report and the state of this class...
-
-        if report.status == drone_status.DroneStatus.HALTED:
-            delta_x = report.position.location_x - self.waypoint.location_x
-            delta_y = report.position.location_y - self.waypoint.location_y
-            on_waypoint = delta_x**2 + delta_y**2 < self.acceptance_radius**2
-
-            if on_waypoint:
-                command = commands.Command.create_land_command()
-
-            else:
-                command = commands.Command.create_set_relative_destination_command(
-                    self.waypoint.location_x, self.waypoint.location_y
-                )
-
-        # ============
-        # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
-        # ============
-
-        return command
+"""
+BOOTCAMPERS TO COMPLETE.
+
+Travel to designated waypoint.
+"""
+
+from .. import commands
+from .. import drone_report
+
+# Disable for bootcamp use
+# pylint: disable-next=unused-import
+from .. import drone_status
+from .. import location
+from ..private.decision import base_decision
+
+
+# Disable for bootcamp use
+# No enable
+# pylint: disable=duplicate-code,unused-argument
+
+
+class DecisionSimpleWaypoint(base_decision.BaseDecision):
+    """
+    Travel to the designed waypoint.
+    """
+
+    def __init__(self, waypoint: location.Location, acceptance_radius: float) -> None:
+        """
+        Initialize all persistent variables here with self.
+        """
+        self.waypoint = waypoint
+        print(f"Waypoint: {waypoint}")
+
+        self.acceptance_radius = acceptance_radius
+
+        # ============
+        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
+        # ============
+
+        # Write here
+
+        # ============
+        # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
+        # ============
+
+    def run(
+        self, report: drone_report.DroneReport, landing_pad_locations: "list[location.Location]"
+    ) -> commands.Command:
+        """
+        Make the drone fly to the waypoint.
+
+        You are allowed to create as many helper methods as you want,
+        as long as you do not change the __init__() and run() signatures.
+
+        This method will be called in an infinite loop, something like this:
+
+        ```py
+        while True:
+            report, landing_pad_locations = get_input()
+            command = Decision.run(report, landing_pad_locations)
+            put_output(command)
+        ```
+        """
+        # Default command
+        command = commands.Command.create_null_command()
+
+        # ============
+        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
+        # ============
+
+        if report.status == drone_status.DroneStatus.HALTED:
+            delta_x = self.waypoint.location_x - report.position.location_x
+            delta_y = self.waypoint.location_y - report.position.location_y
+            on_waypoint = delta_x**2 + delta_y**2 < self.acceptance_radius**2
+
+            if on_waypoint:
+                command = commands.Command.create_land_command()
+
+            else:
+                command = commands.Command.create_set_relative_destination_command(delta_x, delta_y)
+
+        # ============
+        # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
+        # ============
+
+        return command
diff --git a/modules/bootcamp/decision_waypoint_landing_pads.py b/modules/bootcamp/decision_waypoint_landing_pads.py
index d4030cba..977045fd 100644
--- a/modules/bootcamp/decision_waypoint_landing_pads.py
+++ b/modules/bootcamp/decision_waypoint_landing_pads.py
@@ -1,169 +1,157 @@
-"""
-BOOTCAMPERS TO COMPLETE.
-
-Travel to designated waypoint and then land at a nearby landing pad.
-"""
-
-from .. import commands
-from .. import drone_report
-
-# Disable for bootcamp use
-# pylint: disable-next=unused-import
-from .. import drone_status
-from .. import location
-from ..private.decision import base_decision
-
-
-# Disable for bootcamp use
-# No enable
-# pylint: disable=duplicate-code,unused-argument
-
-
-class DecisionWaypointLandingPads(base_decision.BaseDecision):
-    """
-    Travel to the designed waypoint and then land at the nearest landing pad.
-    """
-
-    def __init__(self, waypoint: location.Location, acceptance_radius: float) -> None:
-        """
-        Initialize all persistent variables here with self.
-        """
-        self.waypoint = waypoint
-        print(f"Waypoint: {waypoint}")
-
-        self.acceptance_radius = acceptance_radius
-
-        # ============
-        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
-        # ============
-
-        self.above_destination = False
-        self.target_lp = None
-
-        self.approaching_wp = False
-        self.approaching_lp = False
-
-        # ============
-        # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
-        # ============
-
-    def run(
-        self, report: drone_report.DroneReport, landing_pad_locations: "list[location.Location]"
-    ) -> commands.Command:
-        """
-        Make the drone fly to the waypoint and then land at the nearest landing pad.
-
-        You are allowed to create as many helper methods as you want,
-        as long as you do not change the __init__() and run() signatures.
-
-        This method will be called in an infinite loop, something like this:
-
-        ```py
-        while True:
-            report, landing_pad_locations = get_input()
-            command = Decision.run(report, landing_pad_locations)
-            put_output(command)
-        ```
-        """
-        # ============
-        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
-        # ============
-
-        # print("RUN")
-        # Default command
-        command = commands.Command.create_null_command()
-
-        if report.status == drone_status.DroneStatus.HALTED:
-            print("HALTED AT:   ", report.position.location_x, report.position.location_y)
-            print(
-                "DESTINATION WAS:   ", report.destination.location_x, report.destination.location_y
-            )
-
-            # Handle unexpected halts
-            delta_x = report.position.location_x - report.destination.location_x
-            delta_y = report.position.location_y - report.destination.location_y
-            self.above_destination = delta_x**2 + delta_y**2 < self.acceptance_radius**2
-
-            if not self.above_destination:
-                print("^^UNEXPECTED HALT")
-                command = commands.Command.create_set_relative_destination_command(
-                    report.destination.location_x - report.position.location_x,
-                    report.destination.location_y - report.position.location_y,
-                )
-
-            elif not self.approaching_wp:
-                command = commands.Command.create_set_relative_destination_command(
-                    self.waypoint.location_x, self.waypoint.location_y
-                )
-                self.approaching_wp = True
-                print("APPROACHING WP:  ", self.waypoint.location_x, self.waypoint.location_y)
-
-            elif not self.approaching_lp:
-                self.target_lp = self.find_closest_lp(report, landing_pad_locations)
-                lp_relative_x, lp_relative_y = self.relative_target(self.target_lp, report)
-
-                command = commands.Command.create_set_relative_destination_command(
-                    lp_relative_x, lp_relative_y
-                )
-                self.approaching_lp = True
-                print("APPROACHING LP:  ", self.target_lp.location_x, self.target_lp.location_y)
-
-            else:
-                command = commands.Command.create_land_command()
-                print("LANDING")
-
-        return command
-
-        # ============
-        # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
-        # ============
-
-    def find_closest_lp(
-        self, report: drone_report.DroneReport, landing_pad_locations: "list[location.Location]"
-    ) -> int:
-        """
-        Given a list of landing pads,
-        determines the index of the closest one to the waypoint.
-        """
-        if len(landing_pad_locations) == 1:
-            return landing_pad_locations[0]
-
-        drone_x = report.position.location_x
-        drone_y = report.position.location_y
-
-        i = 0
-        winning_pad = landing_pad_locations[0]
-        winning_sq_dist = float("inf")
-
-        for lp in landing_pad_locations:
-            lp_x = lp.location_x
-            lp_y = lp.location_y
-
-            delta_x = lp_x - drone_x
-            delta_y = lp_y - drone_y
-
-            sq_dist = delta_x**2 + delta_y**2
-
-            if sq_dist < winning_sq_dist:
-                winning_sq_dist = sq_dist
-                winning_pad = landing_pad_locations[i]
-
-            i += 1
-
-        # print("TARGET LP FOUND, INDEX: ", winning_i)
-        # print("^^SQDIST FROM WP:  ", winning_dist)
-        return winning_pad
-
-    @staticmethod
-    def relative_target(
-        target: location.Location, report: drone_report.DroneReport
-    ) -> tuple[int, int]:
-        """
-        Returns the x and y of a target relative to the drone's current position
-        """
-
-        diff_x = target.location_x - report.position.location_x
-        diff_y = target.location_y - report.position.location_y
-
-        # print("RELATIVE TARGET: ", diff_x, diff_y)
-        return diff_x, diff_y
+"""
+BOOTCAMPERS TO COMPLETE.
+
+Travel to designated waypoint and then land at a nearby landing pad.
+"""
+
+from .. import commands
+from .. import drone_report
+
+# Disable for bootcamp use
+# pylint: disable-next=unused-import
+from .. import drone_status
+from .. import location
+from ..private.decision import base_decision
+
+
+# Disable for bootcamp use
+# No enable
+# pylint: disable=duplicate-code,unused-argument
+
+
+class DecisionWaypointLandingPads(base_decision.BaseDecision):
+    """
+    Travel to the designed waypoint and then land at the nearest landing pad.
+    """
+
+    def __init__(self, waypoint: location.Location, acceptance_radius: float) -> None:
+        """
+        Initialize all persistent variables here with self.
+        """
+        self.waypoint = waypoint
+        print(f"Waypoint: {waypoint}")
+
+        self.acceptance_radius = acceptance_radius
+
+        # ============
+        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
+        # ============
+
+        self.above_destination = False
+        self.target_lp = None
+
+        self.approaching_wp = False
+        self.approaching_lp = False
+
+        # ============
+        # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
+        # ============
+
+    def run(
+        self, report: drone_report.DroneReport, landing_pad_locations: "list[location.Location]"
+    ) -> commands.Command:
+        """
+        Make the drone fly to the waypoint and then land at the nearest landing pad.
+
+        You are allowed to create as many helper methods as you want,
+        as long as you do not change the __init__() and run() signatures.
+
+        This method will be called in an infinite loop, something like this:
+
+        ```py
+        while True:
+            report, landing_pad_locations = get_input()
+            command = Decision.run(report, landing_pad_locations)
+            put_output(command)
+        ```
+        """
+        # Default command
+        command = commands.Command.create_null_command()
+
+        # ============
+        # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
+        # ============
+
+        if report.status == drone_status.DroneStatus.HALTED:
+            print(f"HALTED AT: ({report.position.location_x}, {report.position.location_y})")
+            print(
+                f"DESTINATION WAS: ({report.destination.location_x}, {report.destination.location_y})"
+            )
+
+            # Handle unexpected halts
+            delta_x = report.destination.location_x - report.position.location_x
+            delta_y = report.destination.location_y - report.position.location_y
+            self.above_destination = delta_x**2 + delta_y**2 < self.acceptance_radius**2
+
+            if not self.above_destination:
+                print("^^UNEXPECTED HALT")
+                command = commands.Command.create_set_relative_destination_command(delta_x, delta_y)
+
+            # Go to waypoint
+            elif not self.approaching_wp:
+                waypoint_delta_x = self.waypoint.location_x - report.position.location_x
+                waypoint_delta_y = self.waypoint.location_y - report.position.location_y
+
+                command = commands.Command.create_set_relative_destination_command(
+                    waypoint_delta_x, waypoint_delta_y
+                )
+                self.approaching_wp = True
+                print("APPROACHING WP:  ", self.waypoint.location_x, self.waypoint.location_y)
+
+            # Find and go to nearest landing pad
+            elif not self.approaching_lp:
+                self.target_lp = self.find_closest_lp(report, landing_pad_locations)
+
+                if self.target_lp:
+                    lp_delta_x = self.target_lp.location_x - report.position.location_x
+                    lp_delta_y = self.target_lp.location_y - report.position.location_y
+
+                    command = commands.Command.create_set_relative_destination_command(
+                        lp_delta_x, lp_delta_y
+                    )
+                    self.approaching_lp = True
+                    print("APPROACHING LP:  ", self.target_lp.location_x, self.target_lp.location_y)
+
+                # Give a null command if there are no landing pads in landing_pad_locations
+                else:
+                    command = commands.Command.create_null_command()
+
+            # Landing
+            else:
+                command = commands.Command.create_land_command()
+                print("LANDING")
+
+        return command
+
+        # ============
+        # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
+        # ============
+
+    def find_closest_lp(
+        self, report: drone_report.DroneReport, landing_pad_locations: "list[location.Location]"
+    ) -> int:
+        """
+        Given a list of landing pads,
+        determines the index of the closest one to the waypoint.
+        """
+        # If there's only one pad, default to that one
+        if len(landing_pad_locations) == 1:
+            return landing_pad_locations[0]
+
+        i = 0
+        winning_pad = None
+        winning_sq_dist = float("inf")
+
+        for lp in landing_pad_locations:
+            delta_x = report.position.location_x - lp.location_x
+            delta_y = report.position.location_y - lp.location_y
+
+            sq_dist = delta_x**2 + delta_y**2
+
+            if sq_dist < winning_sq_dist:
+                winning_sq_dist = sq_dist
+                winning_pad = landing_pad_locations[i]
+
+            i += 1
+
+        return winning_pad