GPS and Drone Modules #17
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Good job! Most of my feedback is in coordination with MITLLRacecar/Simulation#1. Let's discuss and check these in together when they are ready!
library/drone.py
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| """ | ||
| Copyright MIT and Harvey Mudd College | ||
| MIT License | ||
| Summer 2020 |
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Go ahead and make that 2022 :)
library/drone.py
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| # Store the amount of blue in the pixel on row 3, column 5 | ||
| blue = image[3][5][0] | ||
| """ | ||
| return copy.deepcopy(self.get_drone_image_no_copy()) |
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Please add a declaration for get_image_no_copy as well (see camera.py for comparison).
library/drone.py
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| _HEIGHT: int = 480 | ||
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| def get_drone_image(self) -> NDArray[(480, 640, 3), np.uint8]: |
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To keep in line with my comment in the Simulation PR review, consider changing this to get_image instead. Happy to discuss if you disagree.
library/drone.py
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| pass | ||
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| @abc.abstractmethod | ||
| def get_drone_height(self) -> float: |
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consider changing to get_height
library/drone.py
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| @abc.abstractmethod | ||
| def get_drone_height(self) -> float: | ||
| """ | ||
| Returns the drone's height. |
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Please add an Example:: and Returns:: entry to the docstring. This is needed so that the documentation is auto-formatted correctly on the website (the website pulls from these docstrings to make the html).
library/simulation/drone_sim.py
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| self.__drone_image: NDArray[(480, 640, 3), np.uint8] = None | ||
| self.__is_drone_image_current: bool = False | ||
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| def get_drone_image_no_copy(self) -> NDArray[(480, 640, 3), np.uint8]: |
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any function names changed in drone.py will have to be made here as well
| def get_drone_image_async(self) -> NDArray[(480, 640, 3), np.uint8]: | ||
| return self.__request_drone_image(True) | ||
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| def __update(self) -> None: |
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Organize by public and private methods (ie move __update and __request_drone_image to the bottom)
| @@ -20,6 +20,7 @@ | |||
| import drive_sim | |||
| import lidar_sim | |||
| import physics_sim | |||
| import drone_sim | |||
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You need to change __VERSION = 1 to 2 since you are updating the communication protocol.
| @@ -65,6 +66,11 @@ class Header(IntEnum): | |||
| lidar_get_samples = 26 | |||
| physics_get_linear_acceleration = 27 | |||
| physics_get_angular_velocity = 28 | |||
| physics_get_position = 29 | |||
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Any changes in Simulation/PythonInterface.cs will need to be made here too
| @@ -263,3 +271,4 @@ def __handle_error(self, error: Error): | |||
| rc_utils.print_error(text) | |||
| print(">> Closing script...") | |||
| exit(0) | |||
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nit: remove extra newline
Added all new files and modifications to old files for the GPS and drone modules (on the Python side).