Victor Huang Bootcamp

modules/bootcamp/decision_simple_waypoint.py

@@ -37,8 +37,6 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float) -> Non
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Add your own
-
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
@@ -68,10 +66,23 @@ def run(
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Do something based on the report and the state of this class...
+        if report.status == drone_status.DroneStatus.HALTED:
+            if self.acceptance_radius**2 >= self.find_squared_dist(self.waypoint, report.position):
+                command = command.create_land_command()
+            else:
+                command = command.create_set_relative_destination_command(
+                    self.waypoint.location_x - report.position.location_x,
+                    self.waypoint.location_y - report.position.location_y,
+                )
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
 
         return command
+
+    # helper functions
+    @staticmethod
+    def find_squared_dist(loc1: location.Location, loc2: location.Location) -> int:
+        """helper function that finds the squared distance between two Location instances"""
+        return (loc1.location_x - loc2.location_x) ** 2 + (loc1.location_y - loc2.location_y) ** 2

modules/bootcamp/decision_waypoint_landing_pads.py

@@ -37,7 +37,8 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float) -> Non
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Add your own
+        self.waypoint_achieved = False
+        self.final_destination = None
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
@@ -68,10 +69,62 @@ def run(
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Do something based on the report and the state of this class...
+        if (
+            report.status == drone_status.DroneStatus.HALTED
+            and self.waypoint_achieved
+            and (
+                self.acceptance_radius**2
+                >= self.find_squared_dist(self.final_destination, report.position)
+            )
+        ):
+            # landing at closest landing pad
+            command = command.create_land_command()
+        elif report.status == drone_status.DroneStatus.HALTED and (
+            self.acceptance_radius**2 >= self.find_squared_dist(self.waypoint, report.position)
+        ):
+            # find closest landing pad
+            self.waypoint_achieved = True
+            self.final_destination = self.find_closest_location(
+                report.position, landing_pad_locations
+            )
+
+            if self.final_destination is not None:
+                command = command.create_set_relative_destination_command(
+                    self.final_destination.location_x - report.position.location_x,
+                    self.final_destination.location_y - report.position.location_y,
+                )
+            else:
+                # leave control of drone to higher-order function if no landing pad is available
+                command = command.create_null_command()
+        elif report.status == drone_status.DroneStatus.HALTED:
+            command = command.create_set_relative_destination_command(
+                self.waypoint.location_x - report.position.location_x,
+                self.waypoint.location_y - report.position.location_y,
+            )
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
 
         return command
+
+    # helper functions
+    @staticmethod
+    def find_squared_dist(loc1: location.Location, loc2: location.Location) -> int:
+        """helper function that finds the squared distance between two Location instances"""
+        return (loc1.location_x - loc2.location_x) ** 2 + (loc1.location_y - loc2.location_y) ** 2
+
+    @staticmethod
+    def find_closest_location(
+        curr_loc: location.Location, location_list: "list[location.Location]"
+    ) -> location.Location | None:
+        """find the closest location in a list of locations"""
+        min_dist, closest_location = float("inf"), None
+
+        for loc in location_list:
+            dist = DecisionWaypointLandingPads.find_squared_dist(curr_loc, loc)
+            if dist < min_dist:
+                closest_location = loc
+                min_dist = dist
+
+        return closest_location

modules/bootcamp/detect_landing_pad.py

@@ -17,9 +17,6 @@
 # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
 # ============
 # Bootcampers remove the following lines:
-# Allow linters and formatters to pass for bootcamp maintainers
-# No enable
-# pylint: disable=unused-argument,unused-private-member,unused-variable
 # ============
 # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
 # ============
@@ -98,31 +95,36 @@ def run(self, image: np.ndarray) -> "tuple[list[bounding_box.BoundingBox], np.nd
         # * conf
         # * device
         # * verbose
-        predictions = ...
+        predictions = self.__model.predict(source=image, verbose=False, conf=0.75, device=None)
 
         # Get the Result object
-        prediction = ...
+        prediction = predictions[0]
 
         # Plot the annotated image from the Result object
         # Include the confidence value
-        image_annotated = ...
+        image_annotated = prediction.plot(conf=True)
 
         # Get the xyxy boxes list from the Boxes object in the Result object
-        boxes_xyxy = ...
+        boxes_xyxy = prediction.boxes.xyxy
 
         # Detach the xyxy boxes to make a copy,
         # move the copy into CPU space,
         # and convert to a numpy array
-        boxes_cpu = ...
+        boxes_cpu = boxes_xyxy.detach().cpu().numpy()
 
         # Loop over the boxes list and create a list of bounding boxes
         bounding_boxes = []
         # Hint: .shape gets the dimensions of the numpy array
-        # for i in range(0, ...):
-        #     # Create BoundingBox object and append to list
-        #     result, box = ...
+        for raw_box in boxes_cpu:
+            # Create BoundingBox object and append to list
+            result, box = bounding_box.BoundingBox.create(raw_box)
+            # discard image if failed
+            if not result:
+                return [], image_annotated
 
-        return [], image_annotated
+            bounding_boxes.append(box)
+
+        return bounding_boxes, image_annotated
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============

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 = 0.5  # seconds
 
 # OpenCV ignores your display settings,
 # so if the window is too small or too large,