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self.hastaneMesafe=9999
self.hastaneX=0
self.hastaneY=0
eklendi
if self.yaraliKurtarma==0:
self.replika_search(data,params)
elif self.yaraliKurtarma==1:
self.kurtar(data,params)
elif self.yaraliKurtarma==2:
self.yukselme(data,params)
elif self.yaraliKurtarma==3:
self.transfer(data,params)
elif self.yaraliKurtarma==4:
self.yaraliBirak(data,params)
ufak çaplı status yapıldı
def replika_search(self,data,params):
if self.count==0:
print("---1. checkpointe gidiliyor.")
self.x_positioncalc=self.searchId * 40
self.y_positioncalc=0
if self.yurukulum(data,self.x_positioncalc,self.y_positioncalc,self.searchAltitude)==True:
self.count=1
time.sleep(1)
if self.count==1:
print("--- ---2. checkpointe gidiliyor.")
self.x_positioncalc=self.searchId * 40
self.y_positioncalc=self.x_positioncalc * (-1)
if self.yurukulum(data,self.x_positioncalc,self.y_positioncalc,self.searchAltitude)==True:
self.count=2
time.sleep(1)
if self.count==2:
print("--- --- ---3. checkpointe gidiliyor.")
self.x_positioncalc=0
self.y_positioncalc=self.x_positioncalc * (-1)
if self.yurukulum(data,self.x_positioncalc,self.y_positioncalc,self.searchAltitude)==True:
self.count=3
time.sleep(1)
if self.count==3:
print("--- --- --- ---4. checkpointe gidiliyor.")
self.x_positioncalc=self.searchId * (-40)
self.y_positioncalc=self.x_positioncalc * (-1)
if self.yurukulum(data,self.x_positioncalc,self.y_positioncalc,self.searchAltitude)==True:
self.count=4
time.sleep(1)
if self.count==4:
print("--- --- --- --- ---5. checkpointe gidiliyor.")
self.x_positioncalc=self.searchId * (-40)
self.y_positioncalc=0
if self.yurukulum(data,self.x_positioncalc,self.y_positioncalc,self.searchAltitude)==True:
self.count=5
time.sleep(1)
if self.count==5:
print("--- --- --- --- --- ---6. checkpointe gidiliyor.")
self.x_positioncalc=self.searchId * (-40)
self.y_positioncalc=self.searchId * 40
if self.yurukulum(data,self.x_positioncalc,self.y_positioncalc,self.searchAltitude)==True:
self.count=6
time.sleep(1)
if self.count==6:
print("--- --- --- --- --- --- ---7. checkpointe gidiliyor.")
self.x_positioncalc=0
self.y_positioncalc=self.searchId * 40
if self.yurukulum(data,self.x_positioncalc,self.y_positioncalc,self.searchAltitude)==True:
self.count=7
time.sleep(1)
if self.count==7:
print("--- --- --- --- --- --- --- ---8. checkpointe gidiliyor.")
self.x_positioncalc=self.searchId * 40
self.y_positioncalc=self.searchId * 40
if self.yurukulum(data,self.x_positioncalc,self.y_positioncalc,self.searchAltitude)==True:
self.count=8
time.sleep(1)
if self.count==8:
self.searchId=self.searchId + 1
self.count=0
KOD GÜNCELLENDİ
def yaraliVarmi(self,data):
for i in range (len(data["casualties_in_world"])):
if data["casualties_in_world"][i]["in_world"]==True:
self.yaraliX=data["casualties_in_world"][i]["pose"][0]
self.yaraliY=data["casualties_in_world"][i]["pose"][1]
if self.mesafe(data,self.yaraliX,self.yaraliY)<70:
self.yaraliKurtarma=1
#self.kurtar(data,yaraliX,yaraliY)
def kurtar(self,data,params):
if self.yurukulum(data,218,78,params["injured_pick_up_height"])==True:
#if self.yurukulum(data,self.yaraliX,self.yaraliY,params["injured_pick_up_height"])==True:
self.send_move_cmd(0,0,data["active_uav"]["altitude"],params["injured_pick_up_duration"])
time.sleep(params["injured_pick_up_duration"])
self.yaraliKurtarma=2
self.count=self.count-1
def yukselme(self,data,params):
if not data["active_uav"]["altitude"]<60:
self.yurukulum(data,self.yaraliX,self.yaraliY,70)
else:
self.yaraliKurtarma=3
def transfer(self,data,params):
self.hastaneBul(data,params)
if self.yurukulum(data,self.hastaneX,self.hastaneY,60)==True:
self.yaraliKurtarma=4
def hastaneBul(self,data,params):
for i in range (len(params["special_assets"])):
if params["special_assets"][i]["type"]== 'hospital':
hastaneX=params["special_assets"][i]["location"]["x"]
hastaneY=params["special_assets"][i]["location"]["y"]
if self.mesafe(data,hastaneX,hastaneY) < self.hastaneMesafe:
self.hastaneX=hastaneX
self.hastaneY=hastaneY
def yaraliBirak(self,data,params):
release = params["injured_release_height"]
if data["active_uav"]["altitude"]>release:
self.yurukulum(data,self.hastaneX,self.hastaneY,release-1)
else:
#sira algoritmasi
time.sleep(params["injured_release_duration"])
self.yaraliKurtarma=0
eklendi
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