Notes

import sys
import socket
import sys, select, termios, tty
import cPickle as pickle
import pprint
import math
from multiprocessing import Process


def uav_client(uav_id, dispatch_heading):
# Create a TCP/IP socket
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

# Connect the socket to the port where the server is listening
uav_id = uav_id
server_address = ('localhost', int("1000%s" % uav_id))
print >> sys.stderr, 'connecting to %s port %s' % server_address
sock.connect(server_address)

try:
x_speed =-250
y_speed =-800
altitude = 7
heading = dispatch_heading
# Send data
predispatch_count = 53
postdispatch_count = 50
picked = False
while True:

command = {"x_speed": x_speed, "y_speed": y_speed, "altitude": altitude, "heading": heading}
message = pickle.dumps(command)
pprint.pprint(command)
sock.sendall(message)

# Look for the response

data = sock.recv(4096)
data = pickle.loads(data)
pprint.pprint(data)

except KeyboardInterrupt:
print >> sys.stderr, 'closing socket'
sock.close()

def move(x,y):
deneme=data["active_uav"]["location"]
instant_location_x,instant_location_y = deneme.split(',')
instant_location_x=float(instant_location_x)
instant_location_y=float(instant_location_y)
mesafe =(instant_location_x-x)*(instant_location_x-x) + (instant_location_y-y) * (instant_location_y-y)
mesafe = math.sqrt(mesafe)
print (mesafe)
top=abs(instant_location_x-x) + abs(instant_location_y-y)
oran=50/top
x_speed=oran*(instant_location_x-x)
y_speed=oran*(instant_location_y-y)
while mesafe ==0:
command={"x_speed":x_speed,"y_speed":y_speed}

def dist_from_node():
deneme=data["active_uav"]["location"]
instant_location_x,instant_location_y = deneme.split(',')
instant_location_x=float(instant_location_x)
instant_location_y=float(instant_location_y)
#liste sayısı düzenlenmeli!
dist_list=[0,0,0,0,0,0,0,0]
for i in range (len(data["uav_link"])):
i=str(i+1)
hm="uav_"+i
deneme=data["uav_link"][hm]["location"]
uav_loc_x,uav_loc_y=deneme.split(',')
uav_loc_y=float(uav_loc_y)
uav_loc_x=float(uav_loc_x)
dist=(instant_location_x - uav_loc_x)**2 + (instant_location_y - uav_loc_y)**2
dist=math.sqrt(dist)
dist_list[x]=dist
x=x+1

return dist_list

def formation_fly(u_b,a_b,u_k,a_k):
#eğer yön 1. bölgede ise
sin_ak=math.sin(a_k)
cos_ak=math.cos(a_k)
deneme=data["uav_guide"]["location"]
guide_x,guide_y = deneme.split(',')
guide_x=float(guide_x)
guide_y=float(guide_y)
uav0_x=guide_x+sin_ak*u_k
uav0_y=guide_y+cos_ak*u_k
#formasyon başındaki iha konumu
sin_ab=abs(math.sin(a_b))
cos_ab=abs(math.cos(a_b))
ub_x=sin_ab*u_b
ub_y=cos_ab*u_b
uav1_x=uav0_x+ub_x
uav1_y=uav0_y+ub_y
uav2_x=uav0_x+ub_x
uav2_y=uav0_y-ub_y
for i in range (len(data["uav_link"])-1//2):


for i in range (len(data["uav_link"]-1//2)):


#her uav kendi link de gözüken id sini bulur.
def find_id():
for i in range(len(data["uav_link"])):
i=str(i)
hm="uav_"+i
try:
data["uav_link"][hm]
except:
id=i
return i