reorganized and added aerpawlib submodule

2026-01-29 20:08:51 -08:00
parent 1ae617d5f7
commit c8b54a30aa
65 changed files with 59 additions and 1283 deletions
--- a/aerpaw/client/uav.py
+++ b/aerpaw/client/uav.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+"""
+UAV Client for AERPAW Target Location Protocol
+
+Protocol:
+  Server sends: TARGET:x,y,z
+  Client sends: ACK:TARGET
+  Client (after moving): READY
+"""
+
+import socket
+import sys
+import time
+
+SERVER_IP = "127.0.0.1"
+SERVER_PORT = 5000
+
+
+def parse_target(message: str) -> tuple:
+    """Parse TARGET:x,y,z message and return (x, y, z) coordinates."""
+    if not message.startswith("TARGET:"):
+        raise ValueError(f"Invalid message format: {message}")
+
+    coords_str = message[7:]  # Remove "TARGET:" prefix
+    parts = coords_str.split(",")
+    if len(parts) != 3:
+        raise ValueError(f"Expected 3 coordinates, got {len(parts)}")
+
+    x, y, z = float(parts[0]), float(parts[1]), float(parts[2])
+    return (x, y, z)
+
+
+def move_to_target(x: float, y: float, z: float):
+    """
+    Placeholder for AERPAW API integration.
+    In the future, this will command the UAV to move to (x, y, z).
+    """
+    print(f"  [PLACEHOLDER] Moving to target: ({x}, {y}, {z})")
+    # Simulate movement time
+    time.sleep(1.0)
+    print(f"  [PLACEHOLDER] Arrived at target: ({x}, {y}, {z})")
+
+
+def run_uav_client(client_id: int):
+    """Run a single UAV client."""
+    print(f"UAV {client_id}: Connecting to {SERVER_IP}:{SERVER_PORT}")
+
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.connect((SERVER_IP, SERVER_PORT))
+
+    try:
+        # Receive TARGET command
+        data = s.recv(1024).decode().strip()
+        print(f"UAV {client_id}: Received: {data}")
+
+        # Parse target coordinates
+        x, y, z = parse_target(data)
+        print(f"UAV {client_id}: Parsed target: x={x}, y={y}, z={z}")
+
+        # Send acknowledgment
+        s.sendall(b"ACK:TARGET")
+        print(f"UAV {client_id}: Sent ACK:TARGET")
+
+        # Move to target (placeholder)
+        move_to_target(x, y, z)
+
+        # Signal ready
+        s.sendall(b"READY")
+        print(f"UAV {client_id}: Sent READY")
+
+        # Wait for FINISHED signal from server
+        data = s.recv(1024).decode().strip()
+        if data == "FINISHED":
+            print(f"UAV {client_id}: Received FINISHED - session ended normally")
+        else:
+            print(f"UAV {client_id}: Unexpected message: {data}")
+
+    except ValueError as e:
+        error_msg = f"ERROR:{str(e)}"
+        s.sendall(error_msg.encode())
+        print(f"UAV {client_id}: Error - {e}")
+
+    finally:
+        s.close()
+        print(f"UAV {client_id}: Connection closed")
+
+
+if __name__ == "__main__":
+    if len(sys.argv) != 2:
+        print(f"Usage: {sys.argv[0]} <client_id>")
+        print("  Run one instance per UAV, e.g.:")
+        print("    Terminal 1: ./uav.py 1")
+        print("    Terminal 2: ./uav.py 2")
+        sys.exit(1)
+
+    client_id = int(sys.argv[1])
+    run_uav_client(client_id)