434 lines
15 KiB
Python
434 lines
15 KiB
Python
#!/usr/bin/env python3
|
|
|
|
import math
|
|
import time
|
|
import numpy as np
|
|
from scipy.stats import levy, uniform
|
|
from time import sleep
|
|
from enum import Enum
|
|
|
|
from control.uav_controller import Controller
|
|
from vision.object_detector import ObjectDetector
|
|
from utils.helpers import distance_2d
|
|
from safety.geofence import clip_to_geofence
|
|
from navigation.patterns.spiral import plan_spiral
|
|
from navigation.patterns.lawnmower import plan_lawnmower
|
|
from navigation.patterns.levy import plan_levy
|
|
|
|
class SearchMode(Enum):
|
|
SPIRAL = "spiral"
|
|
LAWNMOWER = "lawnmower"
|
|
LEVY = "levy"
|
|
class Search:
|
|
POSITION_TOLERANCE = 0.05
|
|
CHECK_INTERVAL = 0.5
|
|
MAX_TRAVEL_TIME = 300.0
|
|
|
|
def __init__(self, ctrl: Controller, detector: ObjectDetector,
|
|
camera=None, mode: str = "spiral", altitude: float = 5.0,
|
|
actions: dict = None):
|
|
self.ctrl = ctrl
|
|
self.detector = detector
|
|
self.camera = camera
|
|
self.mode = SearchMode(mode.lower())
|
|
self.altitude = altitude
|
|
self.found_markers = {}
|
|
self.running = True
|
|
self.landed = False
|
|
self._landing = False
|
|
self.landing_enabled = False
|
|
|
|
self.actions = actions or {}
|
|
self.land_ids = set(self.actions.get("land", []))
|
|
self.target_ids = set(self.actions.get("target", []))
|
|
self.on_target_found = None
|
|
self._dispatched_targets = set()
|
|
|
|
hfov = 1.3962634
|
|
self.cam_fov_meters = 2.0 * self.altitude * math.tan(hfov / 2.0)
|
|
|
|
self.spiral_max_legs = 40
|
|
overlap_spacing = self.cam_fov_meters * 0.8
|
|
self.spiral_initial_leg = overlap_spacing
|
|
self.spiral_leg_increment = overlap_spacing
|
|
|
|
self.lawn_width = 30.0
|
|
self.lawn_height = 30.0
|
|
self.lawn_lane_spacing = self.cam_fov_meters * 0.8
|
|
self.lawn_lanes = int(self.lawn_width / max(self.lawn_lane_spacing, 0.1)) + 1
|
|
|
|
self.levy_max_steps = 20
|
|
self.levy_field_size = 50.0
|
|
self.levy_angle_dist = uniform(loc=-180, scale=360)
|
|
|
|
self.waypoints = []
|
|
self.current_wp = 0
|
|
self._on_waypoint_change = None
|
|
|
|
def configure(self, **kwargs):
|
|
for key, value in kwargs.items():
|
|
if hasattr(self, key):
|
|
setattr(self, key, value)
|
|
|
|
def plan(self, start_pos=(0.0, 0.0), geofence_points=None):
|
|
if geofence_points:
|
|
warn_dist = getattr(self, 'geofence_warn_dist', 3.0)
|
|
xs = [p[0] for p in geofence_points]
|
|
ys = [p[1] for p in geofence_points]
|
|
safe_w = (max(xs) - min(xs)) - 2 * warn_dist
|
|
safe_h = (max(ys) - min(ys)) - 2 * warn_dist
|
|
if safe_w > 0 and safe_h > 0:
|
|
self.lawn_width = safe_w
|
|
self.lawn_height = safe_h
|
|
self.levy_field_size = min(safe_w, safe_h)
|
|
|
|
hfov = 1.3962634
|
|
self.cam_fov_meters = 2.0 * self.altitude * math.tan(hfov / 2.0)
|
|
overlap_spacing = self.cam_fov_meters * 0.8
|
|
self.spiral_initial_leg = overlap_spacing
|
|
self.spiral_leg_increment = overlap_spacing
|
|
self.lawn_lane_spacing = overlap_spacing
|
|
self.lawn_lanes = int(self.lawn_width / max(self.lawn_lane_spacing, 0.1)) + 1
|
|
|
|
if self.mode == SearchMode.SPIRAL:
|
|
waypoints = plan_spiral(start_pos, self.spiral_initial_leg, self.spiral_leg_increment, self.spiral_max_legs)
|
|
elif self.mode == SearchMode.LAWNMOWER:
|
|
waypoints = plan_lawnmower(start_pos, self.lawn_width, self.lawn_height, self.lawn_lane_spacing)
|
|
elif self.mode == SearchMode.LEVY:
|
|
waypoints = plan_levy(start_pos, self.levy_max_steps, self.levy_field_size, overlap_spacing, self.levy_angle_dist)
|
|
else:
|
|
waypoints = [start_pos]
|
|
|
|
if geofence_points:
|
|
warn_dist = getattr(self, 'geofence_warn_dist', 3.0)
|
|
stop_on_leave = (self.mode == SearchMode.SPIRAL)
|
|
waypoints = clip_to_geofence(waypoints, geofence_points, warn_dist, stop_on_leave)
|
|
|
|
self.waypoints = waypoints
|
|
self.current_wp = 0
|
|
|
|
print(f"\n[PLAN] {self.mode.value.upper()} flight plan: "
|
|
f"{len(waypoints)} waypoints")
|
|
for i, (wx, wy) in enumerate(waypoints):
|
|
print(f" WP{i:02d}: ({wx:+.1f}, {wy:+.1f})")
|
|
if geofence_points:
|
|
print(f"[PLAN] Clipped to geofence ({len(geofence_points)} vertices)")
|
|
|
|
return waypoints
|
|
|
|
def run(self):
|
|
if not self.waypoints:
|
|
self.plan()
|
|
|
|
n = len(self.waypoints)
|
|
print(f"\n{'=' * 50}")
|
|
print(f" SEARCH: {self.mode.value.upper()} at {self.altitude}m")
|
|
print(f" Waypoints: {n}")
|
|
if self.land_ids:
|
|
print(f" Landing targets: {self.land_ids}")
|
|
print(f"{'=' * 50}\n")
|
|
|
|
for i, (wx, wy) in enumerate(self.waypoints):
|
|
if not self.running:
|
|
break
|
|
|
|
self.current_wp = i
|
|
if self._on_waypoint_change:
|
|
self._on_waypoint_change(i)
|
|
|
|
self.ctrl.update_state()
|
|
pos = self.ctrl.get_local_position()
|
|
dist = distance_2d((pos['x'], pos['y']), (wx, wy))
|
|
|
|
dir_label = ""
|
|
if i > 0:
|
|
prev = self.waypoints[i - 1]
|
|
dx = wx - prev[0]
|
|
dy = wy - prev[1]
|
|
if abs(dx) > abs(dy):
|
|
dir_label = "N" if dx > 0 else "S"
|
|
else:
|
|
dir_label = "E" if dy > 0 else "W"
|
|
|
|
print(f"[SEARCH] WP {i + 1}/{n} "
|
|
f"→ ({wx:+.1f}, {wy:+.1f}) "
|
|
f"dist:{dist:.1f}m {dir_label} "
|
|
f"markers:{len(self.found_markers)}")
|
|
|
|
self.move_to_local(wx, wy)
|
|
|
|
if not self._landing:
|
|
print(f"\n[SEARCH] Search complete. "
|
|
f"Found {len(self.found_markers)} markers.")
|
|
|
|
return self.found_markers
|
|
|
|
def get_camera_frame(self):
|
|
if self.camera is None:
|
|
return None
|
|
frame = self.camera.raw_frames.get("downward")
|
|
if frame is None:
|
|
frame = self.camera.raw_frames.get("gimbal")
|
|
return frame
|
|
|
|
def check_for_markers(self):
|
|
frame = self.get_camera_frame()
|
|
if frame is None:
|
|
return []
|
|
|
|
detections = self.detector.detect(frame)
|
|
new_markers = []
|
|
for d in detections:
|
|
marker_id = d.get("id")
|
|
if marker_id is None:
|
|
continue
|
|
|
|
if marker_id not in self.found_markers:
|
|
self.ctrl.update_state()
|
|
pos = self.ctrl.get_local_position()
|
|
self.found_markers[marker_id] = {
|
|
"id": marker_id,
|
|
"uav_position": pos.copy(),
|
|
"distance": d.get("distance", 0),
|
|
"timestamp": time.time(),
|
|
}
|
|
new_markers.append(d)
|
|
print(f"\n[SEARCH] ArUco ID:{marker_id} detected! "
|
|
f"distance:{d['distance']:.2f}m "
|
|
f"UAV at ({pos['x']:.1f}, {pos['y']:.1f})")
|
|
|
|
if marker_id in self.target_ids and marker_id not in self._dispatched_targets:
|
|
self._dispatched_targets.add(marker_id)
|
|
self.running = False
|
|
|
|
final_pos = self.center_over_target(marker_id)
|
|
|
|
print(f"\n[SEARCH] Target ID:{marker_id} centered! "
|
|
f"Dispatching UGV to ({final_pos['x']:.1f}, {final_pos['y']:.1f})")
|
|
if self.on_target_found:
|
|
self.on_target_found(marker_id, final_pos['x'], final_pos['y'])
|
|
|
|
if marker_id in self.land_ids and not self._landing and self.landing_enabled:
|
|
print(f"\n[SEARCH] Landing target ID:{marker_id} found! "
|
|
f"Starting approach.")
|
|
self._landing = True
|
|
self.execute_landing(detections)
|
|
return new_markers
|
|
|
|
return new_markers
|
|
|
|
def execute_landing(self, initial_detections):
|
|
target_det = None
|
|
for d in initial_detections:
|
|
if d.get("id") in self.land_ids:
|
|
target_det = d
|
|
break
|
|
|
|
if target_det is None:
|
|
print("[SEARCH] Lost landing target, resuming search")
|
|
return
|
|
|
|
print(f"\n[SEARCH] ===== LANDING SEQUENCE =====")
|
|
print(f"[SEARCH] Target marker ID:{target_det['id']} "
|
|
f"distance:{target_det['distance']:.2f}m")
|
|
|
|
IMG_W, IMG_H = 640, 480
|
|
IMG_CX, IMG_CY = IMG_W / 2, IMG_H / 2
|
|
HFOV = 1.3962634
|
|
|
|
self.ctrl.update_state()
|
|
current_alt = self.ctrl.altitude
|
|
|
|
DESCENT_STEP = max(0.5, current_alt * 0.25)
|
|
LAND_ALT = min(1.0, current_alt - 0.2)
|
|
CENTER_PX = 50
|
|
MAX_CORRECTIONS = 200
|
|
MAX_LOST = 30
|
|
GAIN = 0.35
|
|
|
|
self.ctrl.update_state()
|
|
current_alt = self.ctrl.altitude
|
|
|
|
print(f"[SEARCH] Visual servoing descent from {current_alt:.1f}m")
|
|
|
|
while current_alt > LAND_ALT and self.running:
|
|
centered = self._center_over_marker(
|
|
current_alt, IMG_W, IMG_H, IMG_CX, IMG_CY, HFOV,
|
|
CENTER_PX, MAX_CORRECTIONS, MAX_LOST, GAIN)
|
|
|
|
if centered is None:
|
|
print(f"\n[SEARCH] Marker lost, aborting landing")
|
|
self._landing = False
|
|
return
|
|
|
|
current_alt = max(current_alt - DESCENT_STEP, LAND_ALT)
|
|
print(f"\n[SEARCH] Descending to {current_alt:.1f}m")
|
|
self.ctrl.update_state()
|
|
cur = self.ctrl.get_local_position()
|
|
self.ctrl.move_local_ned(cur['x'], cur['y'], -current_alt)
|
|
sleep(2.0)
|
|
|
|
print(f"[SEARCH] Final centering at {LAND_ALT:.1f}m")
|
|
self._center_over_marker(
|
|
LAND_ALT, IMG_W, IMG_H, IMG_CX, IMG_CY, HFOV,
|
|
35, MAX_CORRECTIONS, MAX_LOST, 0.25)
|
|
|
|
print(f"\n[SEARCH] ===== LANDING =====")
|
|
self.ctrl.land()
|
|
self.landed = True
|
|
self.running = False
|
|
|
|
def center_over_target(self, target_id):
|
|
print(f"\n[SEARCH] ===== CENTERING OVER TARGET {target_id} =====")
|
|
if hasattr(self, 'uav_min_cms'):
|
|
print(f"[SEARCH] Reducing speed to minimum ({self.uav_min_cms} cm/s) for centering.")
|
|
self.ctrl.configure_speed_limits(wpnav_speed=self.uav_min_cms, loit_speed=self.uav_min_cms)
|
|
|
|
IMG_W, IMG_H = 640, 480
|
|
IMG_CX, IMG_CY = IMG_W / 2, IMG_H / 2
|
|
HFOV = 1.3962634
|
|
|
|
CENTER_PX = 30
|
|
MAX_CORRECTIONS = 200
|
|
MAX_LOST = 30
|
|
GAIN = 0.35
|
|
|
|
self.ctrl.update_state()
|
|
current_alt = self.ctrl.altitude
|
|
|
|
centered = self._center_over_marker(
|
|
current_alt, IMG_W, IMG_H, IMG_CX, IMG_CY, HFOV,
|
|
CENTER_PX, MAX_CORRECTIONS, MAX_LOST, GAIN, allowed_ids=[target_id])
|
|
|
|
if not centered:
|
|
print(f"\n[SEARCH] Failed to fully center, using best estimate.")
|
|
else:
|
|
print(f"\n[SEARCH] Successfully centered over target {target_id}.")
|
|
|
|
self.ctrl.update_state()
|
|
pos = self.ctrl.get_local_position()
|
|
return pos
|
|
|
|
def _center_over_marker(self, target_alt, img_w, img_h, img_cx, img_cy,
|
|
hfov, center_px, max_corrections, max_lost, gain, allowed_ids=None):
|
|
if allowed_ids is None:
|
|
allowed_ids = self.land_ids
|
|
|
|
lost_count = 0
|
|
centered = False
|
|
|
|
for attempt in range(max_corrections):
|
|
frame = self.get_camera_frame()
|
|
if frame is None:
|
|
sleep(0.3)
|
|
continue
|
|
|
|
detections = self.detector.detect(frame)
|
|
target = None
|
|
for d in detections:
|
|
if d.get("id") in allowed_ids:
|
|
target = d
|
|
break
|
|
|
|
if target is None:
|
|
lost_count += 1
|
|
print(f"\r[SEARCH] Alt:{target_alt:.1f}m "
|
|
f"MARKER LOST ({lost_count}/{max_lost}) ",
|
|
end='', flush=True)
|
|
if lost_count >= max_lost:
|
|
return None
|
|
sleep(0.3)
|
|
continue
|
|
|
|
lost_count = 0
|
|
|
|
cx, cy = target["center_px"]
|
|
err_x = cx - img_cx
|
|
err_y = cy - img_cy
|
|
|
|
print(f"\r[SEARCH] Alt:{target_alt:.1f}m "
|
|
f"err=({err_x:+.0f},{err_y:+.0f})px "
|
|
f"dist:{target['distance']:.2f}m "
|
|
f"({attempt+1}/{max_corrections}) ",
|
|
end='', flush=True)
|
|
|
|
if abs(err_x) < center_px and abs(err_y) < center_px:
|
|
centered = True
|
|
print(f"\n[SEARCH] Centered at {target_alt:.1f}m!")
|
|
break
|
|
|
|
self.ctrl.update_state()
|
|
alt = max(self.ctrl.altitude, 0.5)
|
|
ground_w = 2.0 * alt * math.tan(hfov / 2.0)
|
|
m_per_px = ground_w / img_w
|
|
|
|
correction_forward = -err_y * m_per_px * gain
|
|
correction_right = err_x * m_per_px * gain
|
|
|
|
self.ctrl.update_state()
|
|
yaw = self.ctrl.current_yaw
|
|
|
|
correction_n = correction_forward * math.cos(yaw) - correction_right * math.sin(yaw)
|
|
correction_e = correction_forward * math.sin(yaw) + correction_right * math.cos(yaw)
|
|
|
|
cur = self.ctrl.get_local_position()
|
|
self.ctrl.move_local_ned(
|
|
cur['x'] + correction_n,
|
|
cur['y'] + correction_e,
|
|
-target_alt)
|
|
sleep(0.5)
|
|
|
|
if not centered:
|
|
print(f"\n[SEARCH] Partially centered at {target_alt:.1f}m, continuing")
|
|
|
|
return centered
|
|
|
|
def wait_for_position(self, target_x, target_y, timeout=None):
|
|
self.ctrl.update_state()
|
|
pos = self.ctrl.get_local_position()
|
|
dist_total = distance_2d((pos['x'], pos['y']), (target_x, target_y))
|
|
|
|
if timeout is None:
|
|
|
|
timeout = 30.0 + (dist_total * 3.0)
|
|
|
|
t0 = time.time()
|
|
while time.time() - t0 < timeout and self.running:
|
|
self.ctrl.update_state()
|
|
self.check_for_markers()
|
|
if not self.running:
|
|
return False
|
|
pos = self.ctrl.get_local_position()
|
|
dist = distance_2d(
|
|
(pos['x'], pos['y']),
|
|
(target_x, target_y)
|
|
)
|
|
elapsed = int(time.time() - t0)
|
|
print(f"\r[SEARCH] Moving: {dist:.1f}m to target ({elapsed}s) "
|
|
f"markers found: {len(self.found_markers)} ",
|
|
end='', flush=True)
|
|
if dist < self.POSITION_TOLERANCE:
|
|
print()
|
|
return True
|
|
sleep(self.CHECK_INTERVAL)
|
|
print()
|
|
return False
|
|
|
|
return False
|
|
|
|
def move_to_local(self, x, y):
|
|
z = -self.altitude
|
|
self.ctrl.move_local_ned(x, y, z)
|
|
return self.wait_for_position(x, y)
|
|
|
|
def stop(self):
|
|
self.running = False
|
|
|
|
def get_results(self):
|
|
return {
|
|
"mode": self.mode.value,
|
|
"markers_found": len(self.found_markers),
|
|
"markers": self.found_markers,
|
|
"landed": self.landed,
|
|
}
|