56 lines
1.9 KiB
Python
56 lines
1.9 KiB
Python
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from shapely.geometry import Polygon, LineString, Point
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from planning.uav import Uav
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from planning import UavPlanning
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from planning.target import (PointTarget, LineTarget, SarRegionTarget, AroundTarget, TargetType)
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def sar_planning(inputs):
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uav_list = []
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max_width = 0
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for uav_param in inputs['uavs']:
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uav = Uav(
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id = uav_param["id"],
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start_coord = Point(uav_param["start_coord"]),
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end_coord = Point(uav_param["end_coord"]),
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payload = uav_param["payload"],
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constraint = uav_param["constraint"]
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)
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uav_list.append(uav)
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max_width = max(uav_param["payload"]["width"], max_width)
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target_list = []
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for target_param in inputs['targets']:
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target_type = target_param["type"]
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if target_type == TargetType.point:
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target = PointTarget(
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id = target_param["id"],
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shape = Point(target_param["coords"])
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)
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elif target_type == TargetType.line:
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target = LineTarget(
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id = target_param["id"],
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shape = LineString(target_param["coords"])
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)
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elif target_type == TargetType.region:
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target = SarRegionTarget(
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id = target_param["id"],
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shape = Polygon(target_param["coords"]),
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width = max_width * 0.95
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)
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elif target_type == TargetType.around:
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target = AroundTarget(
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id = target_param["id"],
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shape = Point(target_param["coords"]),
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)
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else:
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raise TypeError(f"{target_type} is not a valid target type.")
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target_list.append(target)
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optimize = inputs["optimize"]
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planning = UavPlanning(target_list, uav_list, 'SAR')
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planning.solve()
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if optimize:
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planning.optimize()
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result, _ = planning.solve_route()
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return result
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