Use TypedDict for InputPoint #16

flight/avoidance/movement.py

@@ -108,7 +108,7 @@ async def move_toward(
     # Calculate target velocity based on time_seconds
     target_velocity: Vector3 = position_diff / time_seconds
 
-    # Create Velocity object
+    # Create VelocityNedYaw object
     result: mavsdk.offboard.VelocityNedYaw = target_velocity.to_mavsdk_velocitynedyaw(yaw_deg)
 
     # Set drone's velocity
@@ -155,7 +155,7 @@ async def goto_location_offboard(
         position_diff = await _difference_vector(
             drone, latitude_deg, longitude_deg, absolute_altitude_m
         )
-        yaw_deg = math.atan2(position_diff.east, position_diff.north)
+        yaw_deg = math.degrees(math.atan2(position_diff.east, position_diff.north))
 
     try:
         while True:

flight/avoidance/obstacle_avoidance.py

@@ -59,7 +59,7 @@ async def calculate_avoidance_velocity(
 
     # Convert obstacle data to list of Point objects
     obstacle_positions: list[Point] = [
-        Point.from_dict(
+        Point.from_typed_dict(
             in_point,
             force_zone_number=drone_position.utm_zone_number,
             force_zone_letter=drone_position.utm_zone_letter,

flight/avoidance/point.py

@@ -5,15 +5,27 @@
 from __future__ import annotations
 from dataclasses import dataclass
 import time
+from typing import TypedDict
 
 import mavsdk.telemetry
 import utm
 
 from .vector.vector3 import Vector3
 
-# Input points are dicts with time and UTM coordinate data
-# May change in the future
-InputPoint = dict[str, float | str]
+
+class InputPoint(TypedDict):
+    """
+    A dict representing a point to be passed to obstacle avoidance
+
+    See the Point class docstring for more info on attributes
+    """
+
+    utm_x: float
+    utm_y: float
+    utm_zone_number: int
+    utm_zone_letter: str
+    altitude: float
+    time: float
 
 
 @dataclass(slots=True)
@@ -33,7 +45,7 @@ class Point:
         The letter of the UTM latitude band
     altitude : float
         The altitude of the point above sea level, in meters
-    time : float | None
+    time : float
         The time at which an object was at this point, in Unix time
     """
 
@@ -45,7 +57,7 @@ class Point:
     time: float
 
     @classmethod
-    def from_dict(
+    def from_typed_dict(
         cls,
         position_data: InputPoint,
         force_zone_number: int | None = None,
@@ -71,8 +83,8 @@ def from_dict(
 
         utm_x: float = float(position_data["utm_x"])
         utm_y: float = float(position_data["utm_y"])
-        utm_zone_number: int = int(position_data["utm_zone_number"])
-        utm_zone_letter: str = str(position_data["utm_zone_letter"])
+        utm_zone_number: int = position_data["utm_zone_number"]
+        utm_zone_letter: str = position_data["utm_zone_letter"]
         if force_zone_number is not None or force_zone_letter is not None:
             utm_x, utm_y, utm_zone_number, utm_zone_letter = utm.from_latlon(
                 *utm.to_latlon(utm_x, utm_y, utm_zone_number, utm_zone_letter),
@@ -89,6 +101,25 @@ def from_dict(
             float(position_data["time"]),
         )
 
+    def as_typed_dict(self) -> InputPoint:
+        """
+        Converts a Point object to an InputPoint TypedDict
+
+        Returns
+        -------
+        An InputPoint dict object with the same values
+        as this Point object
+        """
+
+        return {
+            "utm_x": self.utm_x,
+            "utm_y": self.utm_y,
+            "utm_zone_number": self.utm_zone_number,
+            "utm_zone_letter": self.utm_zone_letter,
+            "altitude": self.altitude,
+            "time": self.time,
+        }
+
     @classmethod
     def from_mavsdk_position(cls, position: mavsdk.telemetry.Position) -> Point:
         """

flight/avoidance/test.py

@@ -3,7 +3,6 @@
 """
 
 import asyncio
-import dataclasses
 import random
 from typing import AsyncIterator
 
@@ -14,9 +13,10 @@
 import utm
 
 from .avoidance_goto import goto_with_avoidance
+from .movement import goto_location_offboard
 from .point import InputPoint, Point
 
-TAKEOFF_ALTITUDE: float = 100.0
+TAKEOFF_ALTITUDE: float = 40.0
 
 
 async def takeoff(drone: mavsdk.System, altitude: float) -> None:
@@ -38,7 +38,7 @@ async def takeoff(drone: mavsdk.System, altitude: float) -> None:
     # Temporary solution
     # Originally attempted to use telemetry to detect when the desired
     #   altitude was reached, but telemetry is broken when taking off
-    await asyncio.sleep(20.0)
+    await asyncio.sleep(30.0)
 
 
 async def random_position(
@@ -119,7 +119,7 @@ async def drone_positions(drone: mavsdk.System) -> AsyncIterator[list[InputPoint
 
     while True:
         point: Point = Point.from_mavsdk_position(await anext(drone.telemetry.position()))
-        in_point: InputPoint = dataclasses.asdict(point)
+        in_point: InputPoint = point.as_typed_dict()
 
         if len(positions) > 4:
             positions = positions[1:]
@@ -161,10 +161,12 @@ async def avoiding_drone_test(
     await drone.offboard.set_velocity_ned(mavsdk.offboard.VelocityNedYaw(0.0, 0.0, 0.0, 0.0))
     await drone.offboard.start()
 
+    await goto_location_offboard(drone, 10.0, 10.0, 10.0, None)
+
     # Randomly move drone
     while True:
         pos: tuple[float, float, float] = await random_position(drone)
-        await goto_with_avoidance(drone, *pos, 0.0, position_updates)
+        await goto_with_avoidance(drone, *pos, None, position_updates)
         await asyncio.sleep(4.0 * random.random() * random.random())