fix lint & add camera vision config option

configs/config.json

@@ -23,6 +23,7 @@
  },
  "coverage": {
  "altitude_m": 30.0,
+ "camera_vision_m": 20,
  "method": "hover",
  "hover": {
  "pictures_per_stop": 1,

configs/dev-config.json

@@ -23,6 +23,7 @@
  },
  "coverage": {
  "altitude_m": 30.0,
+ "camera_vision_m": 20,
  "method": "hover",
  "hover": {
  "pictures_per_stop": 1,

include/pathing/static.hpp

@@ -197,14 +197,17 @@ class RRT {
  */
 class ForwardCoveragePathing {
  public:
- ForwardCoveragePathing(const RRTPoint &start, double scan_radius, Polygon bounds, Polygon airdrop_zone,
- std::vector<Polygon> obstacles = {},
- AirdropCoverageConfig config = {.altitude_m = 30.0,
- .method = AirdropCoverageMethod::Enum::FORWARD,
- .hover = {},
- .forward = {.optimize = false, 
- .vertical = false,
- .one_way = false}});
+ ForwardCoveragePathing(const RRTPoint &start,
+ double scan_radius,
+ Polygon bounds,
+ Polygon airdrop_zone,
+ std::vector<Polygon> obstacles = {},
+ AirdropCoverageConfig config = {.altitude_m = 30.0,
+ .method = AirdropCoverageMethod::Enum::FORWARD,
+ .hover = {},
+ .forward = {.optimize = false,
+ .vertical = false,
+ .one_way = false}});
 
  /**
  * Generates a path of parallel lines to cover a given area

include/utilities/obc_config.hpp

@@ -3,12 +3,15 @@
 
 #include <variant>
 #include <string>
+#include <utility>
+#include <unordered_set>
 #include <initializer_list>
 #include "udp_squared/internal/enum.h"
 #include "utilities/constants.hpp"
 #include "utilities/datatypes.hpp"
 
-#define CONFIG_VARIANT_MAPPING_T(enum_type) const std::initializer_list<std::pair<std::string, enum_type>>
+#define CONFIG_VARIANT_MAPPING_T(enum_type) \
+ const std::initializer_list<std::pair<std::string, enum_type>>
 
 struct LoggingConfig {
  std::string dir;
@@ -43,7 +46,7 @@ namespace PointFetchMethod {
  CONFIG_VARIANT_MAPPING_T(Enum) MAPPINGS = {
  {"none", Enum::NONE}, {"random", Enum::RANDOM}, {"nearest", Enum::NEAREST}
  };
-};
+}; // namespace PointFetchMethod
 
 struct RRTConfig {
  int iterations_per_waypoint; // number of iterations run between two waypoints
@@ -62,14 +65,15 @@ namespace AirdropCoverageMethod {
  CONFIG_VARIANT_MAPPING_T(Enum) MAPPINGS = {
  {"hover", Enum::HOVER}, {"forward", Enum::FORWARD}
  };
-};
+}; // namespace AirdropCoverageMethod
 
 struct AirdropCoverageConfig {
  double altitude_m;
+ double camera_vision_m;
  AirdropCoverageMethod::Enum method;
  struct {
  std::size_t pictures_per_stop;
- std::time_t hover_time_s; 
+ std::time_t hover_time_s;
  } hover;
  struct {
  bool optimize; // whether to ignore the config below and run all ways.

include/utilities/obc_config_macros.hpp

@@ -1,6 +1,8 @@
 #ifndef INCLUDE_UTILITIES_OBC_CONFIG_MACROS_HPP_
 #define INCLUDE_UTILITIES_OBC_CONFIG_MACROS_HPP_
 
+#include <string>
+
 /*
  ( ) /\ _ ( 
  \ | ( \ ( \.( ) _____
@@ -27,7 +29,8 @@
 // just use these macros to do the parsing for the config
 // it saves like 5 characters, and forces you to use .at instead of [] to index into the json
 // because .at gives more descriptive error messages
-// ALSO: does some shenanegans with tracking the line number of the last call to PARSE and handling errors
+// ALSO: does some shenanegans with tracking the line number of the
+// last call to PARSE and handling errors
 
 // return statement in this macro in catch case is there to supress compiler warning b/c
 // it doesn't know that FATAL log will kill it
@@ -39,8 +42,8 @@
  return nlohmann::json(); \
  }
 
-// basically setting up an overloaded macro where you can pass in a variable number of args with the same
-// macro name. Same setup as in the gcs macros
+// basically setting up an overloaded macro where you can pass in a variable number of args
+// with the same macro name. Same setup as in the gcs macros
 #define GET_MACRO_5(_1, _2, _3, _4, _5, NAME, ...) NAME
 #define PARSE_CONFIG_2(p1, p2) configs.at(#p1).at(#p2)
 #define PARSE_CONFIG_3(p1, p2, p3) configs.at(#p1).at(#p2).at(#p3)
@@ -54,9 +57,8 @@
 #define PARSE(...) \
  [configs]() { \
  HANDLE_JSON_EXCEPTION( \
- GET_MACRO_5(__VA_ARGS__, PARSE_CONFIG_5, PARSE_CONFIG_4, PARSE_CONFIG_3, PARSE_CONFIG_2) \
- (__VA_ARGS__) \
- ) \
+ GET_MACRO_5(__VA_ARGS__, PARSE_CONFIG_5, PARSE_CONFIG_4, \
+ PARSE_CONFIG_3, PARSE_CONFIG_2) (__VA_ARGS__)) \
  }()
 
 // look in the code below for an example on how to use this function
@@ -70,7 +72,7 @@ constexpr T PARSE_VARIANT(CONFIG_VARIANT_MAPPING_T(T) mapping, std::string input
  }
  }
  LOG_F(FATAL, "Unknown config option %s", input.c_str());
- std::exit(1); // not needed except so the compiler knows this cannot reach end of function
+ std::exit(1);  // not needed except so the compiler knows this cannot reach end of function
 }
 
 // and then at the very end we prevent having to duplicate typing
@@ -101,4 +103,4 @@ constexpr T PARSE_VARIANT(CONFIG_VARIANT_MAPPING_T(T) mapping, std::string input
  GET_MACRO_5(__VA_ARGS__, SET_CONFIG_OPT_5_VARIANT, SET_CONFIG_OPT_4_VARIANT, \
  SET_CONFIG_OPT_3_VARIANT, SET_CONFIG_OPT_2_VARIANT) (mapping::MAPPINGS, __VA_ARGS__)
 
-#endif // INCLUDE_UTILITIES_OBC_CONFIG_MACROS_HPP_
+#endif // INCLUDE_UTILITIES_OBC_CONFIG_MACROS_HPP_

src/pathing/static.cpp

@@ -281,14 +281,13 @@ RRTNode *RRT::parseOptions(const std::vector<std::pair<RRTNode *, RRTOption>> &o
 
 void RRT::optimizeTree(RRTNode *sample) { tree.RRTStar(sample, rewire_radius); }
 
-ForwardCoveragePathing::ForwardCoveragePathing(const RRTPoint &start, double scan_radius, Polygon bounds,
- Polygon airdrop_zone, std::vector<Polygon> obstacles,
- AirdropCoverageConfig config)
- : start(start),
- scan_radius(scan_radius),
- airspace(Environment(bounds, airdrop_zone, {}, obstacles)),
- dubins(Dubins(TURNING_RADIUS, POINT_SEPARATION)),
- config(config) {}
+ForwardCoveragePathing::ForwardCoveragePathing(
+ const RRTPoint &start, double scan_radius, Polygon bounds,
+ Polygon airdrop_zone, std::vector<Polygon> obstacles,
+ AirdropCoverageConfig config):
+ start(start), scan_radius(scan_radius),
+ airspace(Environment(bounds, airdrop_zone, {}, obstacles)),
+ dubins(Dubins(TURNING_RADIUS, POINT_SEPARATION)), config(config) {}
 
 std::vector<XYZCoord> ForwardCoveragePathing::run() const {
  return config.forward.optimize ? coverageOptimal() : coverageDefault();
@@ -362,8 +361,9 @@ std::vector<XYZCoord> ForwardCoveragePathing::coverageOptimal() const {
  return generatePath(dubins_paths[best_path_idx], waypoints);
 }
 
-std::vector<XYZCoord> ForwardCoveragePathing::generatePath(const std::vector<RRTOption> &dubins_options,
- const std::vector<RRTPoint> &waypoints) const {
+std::vector<XYZCoord> ForwardCoveragePathing::generatePath(
+ const std::vector<RRTOption> &dubins_options,
+ const std::vector<RRTPoint> &waypoints) const {
  std::vector<XYZCoord> path;
 
  // height adjustement
@@ -398,6 +398,14 @@ std::vector<XYZCoord> ForwardCoveragePathing::generatePath(const std::vector<RRT
  return path;
 }
 
+HoverCoveragePathing::HoverCoveragePathing(Polygon flight_bounds, Polygon drop_zone):
+ flight_bounds{flight_bounds}, drop_zone{drop_zone}
+{}
+
+std::vector<XYZCoord> HoverCoveragePathing::run() {
+ return {};
+}
+
 AirdropApproachPathing::AirdropApproachPathing(const RRTPoint &start, const XYZCoord &goal,
  RRTPoint wind, Polygon bounds,
  std::vector<Polygon> obstacles,
@@ -475,12 +483,23 @@ std::vector<GPSCoord> generateInitialPath(std::shared_ptr<MissionState> state) {
  int count = 0;
 
  for (XYZCoord wpt : path) {
- output_coords.push_back(state->getCartesianConverter().value().toLatLng(wpt));
+ output_coords.push_back(state->getCartesianConverter()->toLatLng(wpt));
  }
 
  return output_coords;
 }
 
 std::vector<GPSCoord> generateSearchPath(std::shared_ptr<MissionState> state) {
- return {};
-}
+ if (state->config.pathing.coverage.method == AirdropCoverageMethod::Enum::FORWARD) {
+ LOG_F(FATAL, "Forward search path not fully integrated yet.");
+ return {};
+ } else { // hover
+ const auto& [flight_bounds, airdrop_bounds, _, __] = state->mission_params.getConfig();
+ HoverCoveragePathing pathing(flight_bounds, airdrop_bounds);
+ std::vector<GPSCoord> coords;
+ for (const XYZCoord& coord : pathing.run()) {
+ coords.push_back(state->getCartesianConverter()->toLatLng(coord));
+ }
+ return coords;
+ }
+}

src/utilities/obc_config.cpp

@@ -44,6 +44,7 @@ OBCConfig::OBCConfig(int argc, char* argv[]) {
  SET_CONFIG_OPT_VARIANT(AirdropCoverageMethod, pathing, coverage, method);
 
  SET_CONFIG_OPT(pathing, coverage, altitude_m);
+ SET_CONFIG_OPT(pathing, coverage, camera_vision_m);
  SET_CONFIG_OPT(pathing, coverage, hover, hover_time_s);
  SET_CONFIG_OPT(pathing, coverage, hover, pictures_per_stop);
  SET_CONFIG_OPT(pathing, coverage, forward, optimize);
@@ -81,7 +82,7 @@ OBCConfig::OBCConfig(int argc, char* argv[]) {
  SET_CONFIG_OPT(camera, lucid, device_link_throughput_limit);
 
  SET_CONFIG_OPT(camera, lucid, gamma_enable);
- SET_CONFIG_OPT(camera, lucid, gamma); // bruh
+ SET_CONFIG_OPT(camera, lucid, gamma);  // bruh
  SET_CONFIG_OPT(camera, lucid, gain_auto);
  SET_CONFIG_OPT(camera, lucid, gain_auto_upper_limit);
  SET_CONFIG_OPT(camera, lucid, gain_auto_lower_limit);