Colin Wang's Pull Request

modules/bootcamp/decision_simple_waypoint.py

@@ -70,6 +70,23 @@ def run(
 
         # Do something based on the report and the state of this class...
 
+        curr_position = report.position
+
+        # Find the distance between the current position and the waypoint
+        distance_x = self.waypoint.x - curr_position.x
+        distance_y = self.waypoint.y - curr_position.y
+
+        if report.status == drone_status.DroneStatus.HALTED:
+
+            # check if the drone is close enough to the waypoint
+            if (distance_x**2 + distance_y**2) < self.acceptance_radius**2:
+                command = commands.Command.create_landing_command()
+
+            else:
+                command = commands.Command.create_set_relative_destination_command(
+                    distance_x, distance_y
+                )
+
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============

modules/bootcamp/decision_waypoint_landing_pads.py

@@ -39,10 +39,31 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float) -> Non
 
         # Add your own
 
+        self.waypoint_reached = False
+        self.closest_landing_pad = None
+
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
 
+    def sqaure_distance(
+        self, start_location: location.Location, final_location: location.Location
+    ) -> float:
+        """
+        Calculate the square distance between two locations.
+        """
+        return (start_location.location_x - final_location.location_x) ** 2 + (
+            start_location.location_y - final_location.location_y
+        ) ** 2
+
+    def within_accepted_radius(
+        self, start_location: location.Location, final_location: location.Location
+    ) -> bool:
+        """
+        Check if the start location is within the acceptance radius of the final location.
+        """
+        return self.sqaure_distance(start_location, final_location) < self.acceptance_radius**2
+
     def run(
         self, report: drone_report.DroneReport, landing_pad_locations: "list[location.Location]"
     ) -> commands.Command:
@@ -70,6 +91,46 @@ def run(
 
         # Do something based on the report and the state of this class...
 
+        if report.status == drone_status.DroneStatus.HALTED:
+
+            # land the drone if it has reached the waypoint, no more landing pads and is within the acceptance radius
+            if (
+                self.waypoint_reached
+                and self.closest_landing_pad is not None
+                and self.within_accepepted_radius(report.position, self.closest_landing_pad)
+            ):
+                command = commands.Command.create_land_command()
+
+            # move the drone to the waypoint
+            elif (
+                not self.within_accepepted_radius(report.position, self.waypoint)
+                and not self.waypoint_reached
+            ):
+                distance_x = self.waypoint.location_x - report.position.location_x
+                distance_y = self.waypoint.location_y - report.position.location_y
+                command = commands.Command.create_set_relative_destination_command(
+                    distance_x, distance_y
+                )
+
+            # find the next closest landing pad
+            else:
+                shortest_distance = float("inf")
+
+                for landing_pad in landing_pad_locations:
+                    if self.sqaure_distance(report.position, landing_pad) < shortest_distance:
+                        shortest_distance = self.sqaure_distance(report.position, landing_pad)
+                        self.closest_landing_pad = landing_pad
+
+                if self.closest_landing_pad is not None:
+                    command = commands.Command.create_set_relative_destination_command(
+                        self.closest_landing_pad.location_x - report.position.location_x,
+                        self.closest_landing_pad.location_y - report.position.location_y,
+                    )
+                elif self.closest_landing_pad is None:
+                    command = command.create_halt_command()
+
+                self.waypoint_reached = True
+
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============

modules/bootcamp/detect_landing_pad.py

@@ -98,31 +98,39 @@ def run(self, image: np.ndarray) -> "tuple[list[bounding_box.BoundingBox], np.nd
         # * conf
         # * device
         # * verbose
-        predictions = ...
+        predictions = self.__model.predict(
+            source=image, conf=0.8, device=self.__DEVICE, verbose=True
+        )
 
         # 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 = ...
 
-        return [], image_annotated
+        for i in range(boxes_cpu.shape[0]):
+            result, box = bounding_box.BoundingBox.create(boxes_cpu[i])
+            if result:
+                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 = 0.2  # seconds
 
 # OpenCV ignores your display settings,
 # so if the window is too small or too large,