222 lines
7.7 KiB
Python
222 lines
7.7 KiB
Python
#!/usr/bin/env python3
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"""
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UAV Runner for AERPAW - aerpawlib BasicRunner implementation.
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Run via:
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python -m aerpawlib --script client.uav_runner --conn <conn> --vehicle drone
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Or use the auto-detecting wrapper:
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./run_uav.sh
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Binary Protocol:
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Server sends: TARGET (1 byte) + x,y,z (24 bytes as 3 doubles)
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Client sends: ACK (1 byte)
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Client (after moving): READY (1 byte)
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Server sends: RTL (1 byte)
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Client sends: ACK (1 byte)
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Client (after returning home): READY (1 byte)
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Server sends: LAND (1 byte)
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Client sends: ACK (1 byte)
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Client (after landing): READY (1 byte)
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Server sends: READY (1 byte) - mission complete, disconnect
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"""
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from enum import IntEnum
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from pathlib import Path
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import asyncio
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import os
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import socket
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import struct
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import yaml
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from aerpawlib.runner import BasicRunner, entrypoint
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from aerpawlib.util import Coordinate, VectorNED
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from aerpawlib.vehicle import Drone
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# Message types - must match MESSAGE_TYPE.m enum
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class MessageType(IntEnum):
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TARGET = 1
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ACK = 2
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READY = 3
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RTL = 4
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LAND = 5
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AERPAW_DIR = Path(__file__).parent.parent
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CONFIG_FILE = AERPAW_DIR / "config" / "config.yaml"
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def load_config():
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"""Load configuration from YAML file."""
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with open(CONFIG_FILE, 'r') as f:
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return yaml.safe_load(f)
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def get_environment():
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"""Get environment from AERPAW_ENV variable. Fails if not set."""
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env = os.environ.get('AERPAW_ENV')
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if env is None:
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raise RuntimeError(
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"AERPAW_ENV environment variable not set. "
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"Set to 'local' or 'testbed', or use: ./run_uav.sh [local|testbed]"
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)
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if env not in ('local', 'testbed'):
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raise RuntimeError(
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f"Invalid AERPAW_ENV '{env}'. Must be 'local' or 'testbed'."
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)
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return env
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def recv_exactly(sock: socket.socket, n: int) -> bytes:
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"""Receive exactly n bytes from socket."""
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data = b''
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while len(data) < n:
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chunk = sock.recv(n - len(data))
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if not chunk:
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raise ConnectionError("Connection closed while receiving data")
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data += chunk
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return data
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def recv_message_type(sock: socket.socket) -> MessageType:
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"""Receive a single-byte message type."""
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data = recv_exactly(sock, 1)
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return MessageType(data[0])
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def send_message_type(sock: socket.socket, msg_type: MessageType):
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"""Send a single-byte message type."""
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sock.sendall(bytes([msg_type]))
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def recv_target(sock: socket.socket) -> tuple[float, float, float]:
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"""Receive TARGET message (1 byte type + 3 doubles).
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Returns (x, y, z) ENU coordinates.
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"""
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# First byte is message type (already consumed or check it)
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msg_type = recv_message_type(sock)
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if msg_type != MessageType.TARGET:
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raise ValueError(f"Expected TARGET, got {msg_type.name}")
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# Next 24 bytes are 3 doubles (little-endian)
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data = recv_exactly(sock, 24)
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x, y, z = struct.unpack('<ddd', data)
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return x, y, z
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class UAVRunner(BasicRunner):
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def initialize_args(self, extra_args):
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"""Load configuration from YAML config file."""
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config = load_config()
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env = get_environment()
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print(f"[UAV] Environment: {env}")
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# Load origin
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origin = config['origin']
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self.origin = Coordinate(origin['lat'], origin['lon'], origin['alt'])
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print(f"[UAV] Origin: {origin['lat']}, {origin['lon']}, {origin['alt']}")
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# Load controller address for this environment
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env_config = config['environments'][env]
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self.server_ip = env_config['controller']['ip']
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self.server_port = env_config['controller']['port']
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print(f"[UAV] Controller: {self.server_ip}:{self.server_port}")
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@entrypoint
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async def run_mission(self, drone: Drone):
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"""Main mission entry point."""
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print(f"[UAV] Connecting to controller at {self.server_ip}:{self.server_port}")
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# Retry connection up to 10 times (~30 seconds total)
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sock = None
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for attempt in range(10):
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try:
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sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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sock.settimeout(5)
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sock.connect((self.server_ip, self.server_port))
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sock.settimeout(None)
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print(f"[UAV] Connected to controller")
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break
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except (ConnectionRefusedError, socket.timeout, OSError) as e:
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if sock:
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sock.close()
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print(f"[UAV] Connection attempt {attempt + 1}/10 failed: {e}")
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if attempt < 9:
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await asyncio.sleep(3)
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if sock is None or sock.fileno() == -1:
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print("[UAV] Failed to connect to controller after 10 attempts")
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return
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try:
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# Takeoff to above AERPAW minimum altitude
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print("[UAV] Taking off...")
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await drone.takeoff(25)
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print("[UAV] Takeoff complete, waiting for target...")
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# Receive TARGET command (1 byte type + 24 bytes coords)
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enu_x, enu_y, enu_z = recv_target(sock)
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print(f"[UAV] Received TARGET: x={enu_x}, y={enu_y}, z={enu_z}")
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# Convert ENU to lat/lon
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# ENU: x=East, y=North, z=Up
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# NED: north, east, down
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target = self.origin + VectorNED(north=enu_y, east=enu_x, down=-enu_z)
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print(f"[UAV] Target coord: {target.lat:.6f}, {target.lon:.6f}, {target.alt:.1f}")
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# Acknowledge
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send_message_type(sock, MessageType.ACK)
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print(f"[UAV] Sent {MessageType.ACK.name}")
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# Move to target
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print("[UAV] Moving to target...")
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await drone.goto_coordinates(target)
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print("[UAV] Arrived at target")
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# Signal ready
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send_message_type(sock, MessageType.READY)
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print(f"[UAV] Sent {MessageType.READY.name}, waiting for commands...")
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# Command loop - handle RTL, LAND, READY (mission complete) from controller
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while True:
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msg_type = recv_message_type(sock)
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print(f"[UAV] Received: {msg_type.name}")
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if msg_type == MessageType.RTL:
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send_message_type(sock, MessageType.ACK)
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print(f"[UAV] Sent {MessageType.ACK.name}")
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print("[UAV] Returning to home...")
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# Navigate to home lat/lon at safe altitude
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home = drone.home_coords
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safe_alt = 25 # Set to 25m alt for RTL motion
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rtl_target = Coordinate(home.lat, home.lon, safe_alt)
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print(f"[UAV] RTL to {home.lat:.6f}, {home.lon:.6f} at {safe_alt:.1f}m")
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await drone.goto_coordinates(rtl_target)
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print("[UAV] Arrived at home position")
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send_message_type(sock, MessageType.READY)
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print(f"[UAV] Sent {MessageType.READY.name}")
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elif msg_type == MessageType.LAND:
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send_message_type(sock, MessageType.ACK)
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print(f"[UAV] Sent {MessageType.ACK.name}")
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print("[UAV] Landing...")
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await drone.land()
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print("[UAV] Landed and disarmed")
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send_message_type(sock, MessageType.READY)
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print(f"[UAV] Sent {MessageType.READY.name}")
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elif msg_type == MessageType.READY:
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print("[UAV] Received READY from server - mission complete")
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break
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else:
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print(f"[UAV] Unknown command: {msg_type}")
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except (ValueError, ConnectionError) as e:
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print(f"[UAV] Error: {e}")
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finally:
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sock.close()
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print("[UAV] Socket closed")
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