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Server: Fix checking start position

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This commit is contained in:
Arthur Golubtsov
2019-11-13 08:30:40 +03:00
parent 029376b759
commit 9f9e78d528
1 changed files with 28 additions and 33 deletions
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61
Server/copter_table_models.py
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@@ -53,6 +53,13 @@ class StatedCopterData(CopterData):
try:
self.states.__dict__[key] = \
Checks.all_checks[self.attrs_dict.keys().index(key)](value)
if key == 'start_pos':
if (self.__dict__['position'] is not None) and (self.__dict__['start_pos'] is not None):
current_pos = get_position(self.__dict__['position'])
start_pos = get_position(self.__dict__['start_pos'])
delta = get_position_delta(current_pos, start_pos)
if delta != 'NO_POS':
self.states.__dict__[key] = (delta < Checks.start_pos_delta_max)
except KeyError: # No check present for that col
pass
else: # update selfchecked and takeoff_ready
@@ -64,25 +71,33 @@ class StatedCopterData(CopterData):
[self.states[i] for i in Checks.takeoff_checklist]
)
def get_position(pos_string):
pos = []
pos_str = pos_string.split(' ')
if pos_str[0] != 'nan' and pos_str[0] != 'NO_POS':
for i in range(3):
pos.append(float(pos_str[i]))
else:
pos = 'NO_POS'
return pos
def get_position_delta(pos1, pos2):
if pos1 != 'NO_POS' and pos2 != 'NO_POS':
delta_squared = 0
for i in range(3):
delta_squared += (pos1[i]-pos2[i])**2
return math.sqrt(delta_squared)
return 'NO_POS'
class Checks:
all_checks = {}
takeoff_checklist = (3, 4, 6, 7, 8)
current_position = 'NO_POS'
start_position = 'NO_POS'
battery_min = config.getfloat('CHECKS', 'battery_percentage_min')
start_pos_delta_max = config.getfloat('CHECKS', 'start_pos_delta_max')
time_delta_max = config.getfloat('CHECKS', 'time_delta_max')
@classmethod
def get_pos_delta(self):
if self.current_position != 'NO_POS' and self.start_position != 'NO_POS':
delta_squared = 0
for i in range(3):
delta_squared += (self.current_position[i]-self.start_position[i])**2
return math.sqrt(delta_squared)
return 'NO_POS'
class CopterDataModel(QtCore.QAbstractTableModel):
selected_ready_signal = QtCore.pyqtSignal(bool)
selected_takeoff_ready_signal = QtCore.pyqtSignal(bool)
@@ -317,43 +332,25 @@ def check_mode(item):
return None
return (item != "NO_FCU") and not ("CMODE" in item)
@col_check(7)
def check_selfcheck(item):
if not item:
return None
return item == "OK"
@col_check(8)
def check_pos_status(item):
if not item:
return None
str_pos = item.split(' ')
if str_pos[0] != 'nan' and str_pos[0] != 'NO_POS':
Checks.current_position = []
for i in range(3):
Checks.current_position.append(float(str_pos[i]))
return True
Checks.current_position = 'NO_POS'
return False
return str_pos[0] != 'nan' and str_pos[0] != 'NO_POS'
@col_check(9)
def check_start_pos_status(item):
if not item:
return None
str_start_pos = item.split(' ')
if str_start_pos[0] != 'nan' and str_start_pos[0] != 'NO_POS':
Checks.start_position = []
for i in range(3):
Checks.start_position.append(float(str_start_pos[i]))
delta = Checks.get_pos_delta()
if delta == 'NO_POS':
return False
else:
return delta < Checks.start_pos_delta_max
return False
return str_start_pos[0] != 'nan' and str_start_pos[0] != 'NO_POS'
@col_check(10)
def check_time_delta(item):
@@ -368,14 +365,12 @@ def all_checks(copter_item):
return False
return True
def takeoff_checks(copter_item):
for col in Checks.takeoff_checklist:
if not Checks.all_checks[col](copter_item[col]):
return False
return True
def flip_checks(copter_item):
for col in Checks.takeoff_checklist:
if col != 4 or col != 7: