Refactor mainline

.pylintrc

@@ -11,7 +11,7 @@ ignore=CVS
 
 # Add files or directories matching the regex patterns to the blacklist. The
 # regex matches against base names, not paths.
-ignore-patterns=
+# ignore-patterns=
 
 # Python code to execute, usually for sys.path manipulation such as
 # pygtk.require().
@@ -43,7 +43,7 @@ unsafe-load-any-extension=no
 
 # Only show warnings with the listed confidence levels. Leave empty to show
 # all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
+# confidence=
 
 # Disable the message, report, category or checker with the given id(s). You
 # can either give multiple identifiers separated by comma (,) or put this
@@ -186,13 +186,13 @@ max-spelling-suggestions=4
 
 # Spelling dictionary name. Available dictionaries: none. To make it working
 # install python-enchant package.
-spelling-dict=
+# spelling-dict=
 
 # List of comma separated words that should not be checked.
-spelling-ignore-words=
+# spelling-ignore-words=
 
 # A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
+# spelling-private-dict-file=
 
 # Tells whether to store unknown words to indicated private dictionary in
 # --spelling-private-dict-file option instead of raising a message.
@@ -216,7 +216,7 @@ contextmanager-decorators=contextlib.contextmanager
 # List of members which are set dynamically and missed by pylint inference
 # system, and so shouldn't trigger E1101 when accessed. Python regular
 # expressions are accepted.
-generated-members=
+# generated-members=
 
 # Tells whether missing members accessed in mixin class should be ignored. A
 # mixin class is detected if its name ends with "mixin" (case insensitive).
@@ -239,7 +239,7 @@ ignored-classes=optparse.Values,thread._local,_thread._local,str
 # (useful for modules/projects where namespaces are manipulated during runtime
 # and thus existing member attributes cannot be deduced by static analysis. It
 # supports qualified module names, as well as Unix pattern matching.
-ignored-modules=
+ignored-modules=numpy
 
 # Show a hint with possible names when a member name was not found. The aspect
 # of finding the hint is based on edit distance.
@@ -258,7 +258,7 @@ missing-member-max-choices=1
 
 # List of additional names supposed to be defined in builtins. Remember that
 # you should avoid to define new builtins when possible.
-additional-builtins=
+# additional-builtins=
 
 # Tells whether unused global variables should be treated as a violation.
 allow-global-unused-variables=yes
@@ -343,14 +343,14 @@ argument-naming-style=snake_case
 
 # Regular expression matching correct argument names. Overrides argument-
 # naming-style
-#argument-rgx=
+# argument-rgx=
 
 # Naming style matching correct attribute names
 attr-naming-style=snake_case
 
 # Regular expression matching correct attribute names. Overrides attr-naming-
 # style
-#attr-rgx=
+# attr-rgx=
 
 # Bad variable names which should always be refused, separated by a comma
 bad-names=foo,
@@ -371,14 +371,14 @@ class-attribute-naming-style=any
 class-naming-style=PascalCase
 
 # Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
+# class-rgx=
 
 # Naming style matching correct constant names
 const-naming-style=UPPER_CASE
 
 # Regular expression matching correct constant names. Overrides const-naming-
 # style
-#const-rgx=
+# const-rgx=
 
 # Minimum line length for functions/classes that require docstrings, shorter
 # ones are exempt.
@@ -389,7 +389,7 @@ function-naming-style=snake_case
 
 # Regular expression matching correct function names. Overrides function-
 # naming-style
-#function-rgx=
+# function-rgx=
 
 # Good variable names which should always be accepted, separated by a comma
 good-names=i,
@@ -407,25 +407,25 @@ inlinevar-naming-style=any
 
 # Regular expression matching correct inline iteration names. Overrides
 # inlinevar-naming-style
-#inlinevar-rgx=
+# inlinevar-rgx=
 
 # Naming style matching correct method names
 method-naming-style=snake_case
 
 # Regular expression matching correct method names. Overrides method-naming-
 # style
-#method-rgx=
+# method-rgx=
 
 # Naming style matching correct module names
 module-naming-style=snake_case
 
 # Regular expression matching correct module names. Overrides module-naming-
 # style
-#module-rgx=
+# module-rgx=
 
 # Colon-delimited sets of names that determine each other's naming style when
 # the name regexes allow several styles.
-name-group=
+# name-group=
 
 # Regular expression which should only match function or class names that do
 # not require a docstring.
@@ -440,7 +440,7 @@ variable-naming-style=snake_case
 
 # Regular expression matching correct variable names. Overrides variable-
 # naming-style
-#variable-rgx=
+# variable-rgx=
 
 
 [IMPORTS]
@@ -462,15 +462,15 @@ ext-import-graph=
 
 # Create a graph of every (i.e. internal and external) dependencies in the
 # given file (report RP0402 must not be disabled)
-import-graph=
+# import-graph=
 
 # Create a graph of internal dependencies in the given file (report RP0402 must
 # not be disabled)
-int-import-graph=
+# int-import-graph=
 
 # Force import order to recognize a module as part of the standard
 # compatibility libraries.
-known-standard-library=
+# known-standard-library=
 
 # Force import order to recognize a module as part of a third party library.
 known-third-party=enchant

.travis.yml

@@ -10,4 +10,4 @@ install:
   - pip3 install tox-travis
 
 script:
-  - tox -e lint,vtol -c tox.ini
+  - tox -e lint,hex -c tox.ini

README.md

@@ -1 +1 @@
-[![Build Status](https://travis-ci.com/NGCP/VTOL.svg?token=pzpV4AQm2iKJkxHKKsEz&branch=master)](https://travis-ci.com/NGCP/VTOL)
+[![Build Status](https://travis-ci.com/NGCP/HEX.svg?token=pzpV4AQm2iKJkxHKKsEz&branch=master)](https://travis-ci.com/NGCP/HEX)

archives/detailed_search_autonomy.py

@@ -80,43 +80,43 @@ def orbit_poi(vehicle, poi, configs):
             waypoints.append(LocationGlobalRelative(lat, lon, alt))
 
     # Go to center of POI
-    if (configs["vehicle_type"] == "VTOL"):
+    if (configs["vehicle_type"] == "HEX"):
         cmds.add(
             Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                     0, waypoint_tolerance, 0, 0, poi.lat, poi.lon, poi_scan_altitude))
 
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         cmds.add(
             Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                     0, 0, 0, 0, poi.lat, poi.lon, poi_scan_altitude))
 
-    # Transition to quadcopter if applicable
-    if (configs["vehicle_type"] == "VTOL"):
+    # Transition to hexcopter if applicable
+    if (configs["vehicle_type"] == "HEX"):
         cmds.add(
-            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_VTOL_TRANSITION,
+            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_HEX_TRANSITION,
                     0, 0,
-                    mavutil.mavlink.MAV_VTOL_STATE_MC, 0, 0, 0, 0, 0, 0))
+                    mavutil.mavlink.MAV_HEX_STATE_MC, 0, 0, 0, 0, 0, 0))
 
     # Circular waypoints
-    if (configs["vehicle_type"] == "VTOL"):
+    if (configs["vehicle_type"] == "HEX"):
         for point in waypoints:
             cmds.add(
                 Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0,
                         0,
                         waypoint_tolerance, 0, 0, 0, point.lat, point.lon, point.alt))
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         for point in waypoints:
             cmds.add(
                 Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0,
                         0,
                         0, 0, 0, 0, point.lat, point.lon, point.alt))
 
     # Transition to forward flight if applicable
-    if (configs["vehicle_type"] == "VTOL"):
+    if (configs["vehicle_type"] == "HEX"):
         cmds.add(
-            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_VTOL_TRANSITION,
+            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_DO_HEX_TRANSITION,
                     0, 0,
-                    mavutil.mavlink.MAV_VTOL_STATE_MC, 0, 0, 0, 0, 0, 0))
+                    mavutil.mavlink.MAV_HEX_STATE_MC, 0, 0, 0, 0, 0, 0))
 
     # Add dummy endpoint
     cmds.add(
@@ -139,15 +139,15 @@ def detailed_search_adds_mission(configs, vehicle):
     cmds.clear()
 
     # Due to a bug presumed to be the fault of DroneKit, the first command is ignored. Thus we have two takeoff commands
-    if (configs["vehicle_type"] == "VTOL"):
-        # Separate MAVlink message for a VTOL takeoff. This takes off to altitude and transitions
+    if (configs["vehicle_type"] == "HEX"):
+        # Separate MAVlink message for a HEX takeoff. This takes off to altitude and transitions
         cmds.add(
-            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF, 0,
+            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_HEX_TAKEOFF, 0,
                     0, 0, 0, 0, 0, 0, 0, altitude))
         cmds.add(
-            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF, 0,
+            Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_HEX_TAKEOFF, 0,
                     0, 0, 0, 0, 0, 0, 0, altitude))
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         cmds.add(
             Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0,
                     0, 0, 0, 0, 0, 0, altitude))
@@ -233,9 +233,9 @@ def detailed_search_autonomy(configs, autonomyToCV, GCS_TIMESTAMP, CONNECTION_TI
 
             # Holds the copter in place if receives pause
         if autonomy.PAUSE_MISSION:
-            if (configs["vehicle_type"] == "VTOL"):
+            if (configs["vehicle_type"] == "HEX"):
                 vehicle.mode = VehicleMode("QHOVER")
-            elif (configs["vehicle_type"] == "Quadcopter"):
+            elif (configs["vehicle_type"] == "Hexcopter"):
                 vehicle.mode = VehicleMode("ALT_HOLD")
             change_status("paused")
 

archives/executable_picker.py

@@ -1,13 +1,13 @@
 '''
 The GCS allocates roles to vehicles. The purpose of this program is to connect to the GCS and then
 read a start message from the GCS, which contains a certain job_type. It then runs the
-corresponding VTOL program (quick scan, detailed search, guide) based on the start message.
+corresponding HEX program (quick scan, detailed search, guide) based on the start message.
 '''
 import sys
 import json
 import time
 from util import parse_configs, new_output_file
-from autonomy import VTOL
+from autonomy import HEX
 import autonomy
 
 XBEE = None

archives/quick_scan_autonomy.py

@@ -160,12 +160,12 @@ def quick_scan_adds_mission(configs, vehicle, lla_waypoint_list):
     print(" Define/add new commands.")
 
     # Due to a bug presumed to be the fault of DroneKit, the first command is ignored. Thus we have two takeoff commands
-    if (configs["vehicle_type"] == "VTOL"):
-        # Separate MAVlink message for a VTOL takeoff. This takes off to altitude and transitions
-        cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
-        cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_VTOL_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
+    if (configs["vehicle_type"] == "HEX"):
+        # Separate MAVlink message for a HEX takeoff. This takes off to altitude and transitions
+        cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_HEX_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
+        cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_HEX_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
 
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
         cmds.add(Command( 0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 0, 0, altitude))
 
@@ -174,15 +174,15 @@ def quick_scan_adds_mission(configs, vehicle, lla_waypoint_list):
                      0, configs["air_speed"], -1, 0, 0, 0, 0))
 
     # Add waypoints to the auto mission
-    if (configs["vehicle_type"] == "VTOL"):
+    if (configs["vehicle_type"] == "HEX"):
         for point in lla_waypoint_list:
             # Planes need a waypoint tolerance
             cmds.add(Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                             0, configs["waypoint_tolerance"], 0, 0, point.lat, point.lon, point.alt))
         # Adds dummy end point - this endpoint is the same as the last waypoint and lets us know we have reached destination.
         cmds.add(Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                             0, configs["waypoint_tolerance"], 0, 0, lla_waypoint_list[-1].lat, lla_waypoint_list[-1].lon, lla_waypoint_list[-1].alt))
-    elif (configs["vehicle_type"] == "Quadcopter"):
+    elif (configs["vehicle_type"] == "Hexcopter"):
         for point in lla_waypoint_list:
             cmds.add(Command(0, 0, 0, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0,
                              0, 0, 0, 0, point.lat, point.lon, point.alt))
@@ -259,9 +259,9 @@ def quick_scan_autonomy(configs, autonomyToCV, GCS_TIMESTAMP, CONNECTION_TIMESTA
         time.sleep(1)
         # Holds the copter in place if receives pause
         if autonomy.PAUSE_MISSION:
-            if (configs["vehicle_type"] == "VTOL"):
+            if (configs["vehicle_type"] == "HEX"):
                 vehicle.mode = VehicleMode("QHOVER")
-            elif (configs["vehicle_type"] == "Quadcopter"):
+            elif (configs["vehicle_type"] == "Hexcopter"):
                 vehicle.mode = VehicleMode("ALT_HOLD")
         # Lands the vehicle if receives stop mission
         elif autonomy.STOP_MISSION:

comm_sim_example.json

@@ -1,9 +1,20 @@
 [
-{
+    {
     	"time": 5.0,
     	"message" : {
-    		"type": "RTL",
+    		"type": "TAKEOFF",
     		"id": 1
     	}
-    }   
+    },
+    {
+    	"time": 15.0,
+    	"message" : {
+            "type": "GOTO",
+            "body": {
+                "lat": 100,
+                "lon": 100
+            },
+    		"id": 1
+    	}
+    }
 ]

dev_requirements.txt

@@ -2,3 +2,4 @@ pylint
 python-dotenv
 pytest
 shapely
+black