first

modules/bootcamp/decision_simple_waypoint.py

@@ -38,6 +38,8 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float):
         # ============
 
         # Add your own
+        self.traveled_to_waypoint = False
+        self.has_sent_landing_command = False
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
@@ -69,9 +71,19 @@ def run(self,
         # ============
 
         # Do something based on the report and the state of this class...
-
-        # Remove this when done
-        raise NotImplementedError
+        if report.status == drone_status.DroneStatus.HALTED:
+            if not self.traveled_to_waypoint:
+                command = commands.Command.create_set_relative_destination_command(
+                    self.waypoint.location_x - report.position.location_x,
+                    self.waypoint.location_y - report.position.location_y
+                )
+                self.traveled_to_waypoint = True
+            elif not self.has_sent_landing_command:
+                command = commands.Command.create_land_command()
+                self.has_sent_landing_command = True
+
+        # # Remove this when done
+        # raise NotImplementedError
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑

modules/bootcamp/decision_waypoint_landing_pads.py

@@ -38,6 +38,9 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float):
         # ============
 
         # Add your own
+        self.traveled_to_waypoint = False
+        self.has_sent_landing_command = False
+        self.closest_landing_pad = None
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
@@ -69,12 +72,52 @@ def run(self,
         # ============
 
         # Do something based on the report and the state of this class...
-
-        # Remove this when done
-        raise NotImplementedError
+        if report.status == drone_status.DroneStatus.HALTED:
+            if not self.traveled_to_waypoint:
+                # Fly to the waypoint
+                command = commands.Command.create_set_relative_destination_command(
+                    self.waypoint.location_x - report.position.location_x,
+                    self.waypoint.location_y - report.position.location_y
+                )
+                self.traveled_to_waypoint = True
+            elif not self.closest_landing_pad:
+                # Calculate the closest landing pad
+                self.closest_landing_pad = self.find_closest_landing_pad(report.position, landing_pad_locations)
+                command = commands.Command.create_set_relative_destination_command(
+                    self.closest_landing_pad.location_x - report.position.location_x,
+                    self.closest_landing_pad.location_y - report.position.location_y
+                )
+            elif not self.has_sent_landing_command:
+                # Land the drone at the closest landing pad
+                command = commands.Command.create_land_command()
+                self.has_sent_landing_command = True
+
+        # # Remove this when done
+        # raise NotImplementedError
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
 
         return command
+
+    def find_closest_landing_pad(self, current_position: location.Location, landing_pads: "list[location.Location]") -> location.Location:
+        """
+        Find the closest landing pad to the current position using L-2 norm.
+        """
+        closest_pad = None
+        min_distance = float('inf')
+
+        for pad in landing_pads:
+            distance = self.calculate_distance(current_position, pad)
+            if distance < min_distance:
+                min_distance = distance
+                closest_pad = pad
+
+        return closest_pad
+
+    def calculate_distance(self, loc1: location.Location, loc2: location.Location) -> float:
+        """
+        Calculate the squared distance between two locations to avoid computing square roots.
+        """
+        return (loc1.location_x - loc2.location_x) ** 2 + (loc1.location_y - loc2.location_y) ** 2

modules/bootcamp/detect_landing_pad.py

@@ -86,32 +86,45 @@ def run(self, image: np.ndarray) -> "tuple[list[bounding_box.BoundingBox], np.nd
         # * conf
         # * device
         # * verbose
-        predictions = ...
+        predictions = self.__model.predict(
+            source=image,
+            conf=0.7,
+            device=self.__DEVICE,
+            verbose=False,
+        )
 
         # Get the Result object
-        prediction = ...
+        prediction = predictions[0]
 
         # Plot the annotated image from the Result object
         # Include the confidence value
-        image_annotated = ...
+        image_annotated = prediction.plot()
 
         # Get the xyxy boxes list from the Boxes object in the Result object
-        boxes_xyxy = ...
+        boxes_xyxy = prediction.boxes.xyxy
 
         # Detach the xyxy boxes to make a copy,
         # move the copy into CPU space,
         # and convert to a numpy array
-        boxes_cpu = ...
+        boxes_cpu = boxes_xyxy.detach().cpu().numpy()
 
         # Loop over the boxes list and create a list of bounding boxes
         bounding_boxes = []
         # Hint: .shape gets the dimensions of the numpy array
         # for i in range(0, ...):
             # Create BoundingBox object and append to list
             # result, box = ...
-
-        # Remove this when done
-        raise NotImplementedError
+
+        for i in range(boxes_cpu.shape[0]):
+            results, bbox = bounding_box.BoundingBox.create(boxes_cpu[i])
+            if not results:
+                break
+            else:
+                bounding_boxes.append(bbox)
+        return bounding_boxes, image_annotated
+
+        # # Remove this when done
+        # raise NotImplementedError
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑

modules/bootcamp/tests/run_decision_example.py

@@ -36,7 +36,7 @@
 # to reach the 1st command
 # Increase the step size if your computer is lagging
 # Larger step size is smaller FPS
-TIME_STEP_SIZE = 0.1  # seconds
+TIME_STEP_SIZE = 1  # seconds
 
 # OpenCV ignores your display settings,
 # so if the window is too small or too large,

modules/bootcamp/tests/run_decision_waypoint_landing_pads.py

@@ -36,7 +36,7 @@
 # to reach the 1st command
 # Increase the step size if your computer is lagging
 # Larger step size is smaller FPS
-TIME_STEP_SIZE = 0.1  # seconds
+TIME_STEP_SIZE = 1  # seconds
 
 # OpenCV ignores your display settings,
 # so if the window is too small or too large,

requirements.txt

@@ -18,8 +18,8 @@ pytest
 # If you are on MacOS, remove +cu117
 # Otherwise, you can keep as is, or use +cpu if you
 # have a CUDA capable GPU but don't want to use it
-torch==1.13.1+cu117
-torchvision==0.14.1+cu117
+torch==1.13.1
+torchvision==0.14.1
 
 # ============
 # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑