Integrate Mapping state into the state machine #29

state_machine/flight_settings.py

@@ -21,6 +21,8 @@ class FlightSettings:
         A small description for the current flight
     __skip_waypoint: bool
         Whether to skip the waypoint state.
+    __skip_odlc_and_airdrop: bool
+        Whether to skip the ODLC and airdrop states.
     __standard_object_count: int
         The number of standard objects to attempt to find.
     __sim_flag: bool
@@ -36,6 +38,8 @@ class FlightSettings:
         Sets the parameter for a simple or diagonal takeoff
     skip_waypoint() -> bool
         Returns whether to skip the waypoint state.
+    skip_odlc_and_airdrop() -> bool
+        Returns whether to skip the ODLC and airdrop states.
     skip_waypoint(flag: bool) -> None
         Setter for configuring whether to skip the waypoint state.
     standard_object_count() -> int
@@ -60,12 +64,14 @@ class FlightSettings:
         Set the path to the JSON file containing the boundary and waypoint data.
     """
 
+    # pylint: disable=too-many-arguments
     def __init__(
         self,
         simple_takeoff: bool = False,
         title: str = DEFAULT_RUN_TITLE,
         description: str = DEFAULT_RUN_DESCRIPTION,
         skip_waypoint: bool = False,
+        skip_odlc_and_airdrop: bool = False,
         standard_object_count: int = DEFAULT_STANDARD_OBJECT_COUNT,
         sim_flag: bool = False,
         path_data_path: str = "flight/data/waypoint_data.json",
@@ -83,6 +89,8 @@ def __init__(
             Sets a descriptive explanation for the current flight execution
         skip_waypoint : bool
             Whether to skip the waypoint state.
+        skip_odlc_and_airdrop : bool
+            Whether to skip the ODLC and airdrop states.
         standard_object_count : int
             The number of standard objects to attempt to find.
         sim_flag : bool, default False
@@ -94,6 +102,7 @@ def __init__(
         self.__run_title: str = title
         self.__run_description: str = description
         self.__skip_waypoint: bool = skip_waypoint
+        self.__skip_odlc_and_airdrop: bool = skip_odlc_and_airdrop
         self.__standard_object_count: int = standard_object_count
         self.__sim_flag: bool = sim_flag
         self.__path_data_path: str = path_data_path
@@ -149,6 +158,30 @@ def skip_waypoint(self, flag: bool) -> None:
         self.__skip_waypoint = flag
 
     # ----- ODLC Settings ----- #
+    @property
+    def skip_odlc_and_airdrop(self) -> bool:
+        """
+        Gets whether to skip the ODLC and airdrop states as a private member variable.
+
+        Returns
+        -------
+        skip_odlc_and_airdrop : bool
+            Whether to skip the ODLC and airdrop states.
+        """
+        return self.__skip_waypoint
+
+    @skip_odlc_and_airdrop.setter
+    def skip_odlc_and_airdrop(self, flag: bool) -> None:
+        """
+        Sets whether to skip the ODLC and airdrop states.
+
+        Parameters
+        ----------
+        flag : bool
+            Whether to skip the ODLC and airdrop states.
+        """
+        self.__skip_odlc_and_airdrop = flag
+
     @property
     def standard_object_count(self) -> int:
         """

state_machine/states/impl/airdrop_impl.py

@@ -8,8 +8,9 @@
 
 from state_machine.states.airdrop import Airdrop
 from state_machine.states.land import Land
-from state_machine.states.waypoint import Waypoint
+from state_machine.states.mapping import Mapping
 from state_machine.states.state import State
+from state_machine.states.waypoint import Waypoint
 
 # uncomment if automatic
 # from flight.maestro.air_drop import AirdropControl
@@ -30,6 +31,9 @@ async def run(self: Airdrop) -> State:
     This method is responsible for initiating the Airdrop process of the drone and transitioning
     it back to the Waypoint state.
     """
+    if self.flight_settings.skip_odlc_and_airdrop:
+        return Mapping(self.drone, self.flight_settings)
+
     try:
         update_state("Airdrop")
         logging.info("Airdrop")
@@ -106,7 +110,7 @@ async def run(self: Airdrop) -> State:
 
         if continue_run:
             return Waypoint(self.drone, self.flight_settings)
-        return Land(self.drone, self.flight_settings)
+        return Mapping(self.drone, self.flight_settings)
 
     except asyncio.CancelledError as ex:
         logging.error("Airdrop state canceled")

state_machine/states/impl/mapping_impl.py

@@ -3,17 +3,17 @@
 import asyncio
 import logging
 
-import dronekit
-
 from state_machine.state_tracker import (
     update_state,
     update_drone,
     update_flight_settings,
 )
+from state_machine.states.land import Land
 from state_machine.states.mapping import Mapping
+from state_machine.states.state import State
 
 
-async def run(self: Mapping) -> None:
+async def run(self: Mapping) -> State:
     """
     Implements the run method for the Mapping state.
 
@@ -39,6 +39,8 @@ async def run(self: Mapping) -> None:
         logging.error("Mapping state canceled")
         raise ex
 
+    return Land(self.drone, self.flight_settings)
+
 
 # Setting the run_callable attribute of the Mapping class to the run function
 Mapping.run_callable = run

state_machine/states/impl/odlc_impl.py

@@ -17,6 +17,7 @@
 from state_machine.flight_settings import FlightSettings
 from state_machine.state_tracker import update_state
 from state_machine.states.airdrop import Airdrop
+from state_machine.states.mapping import Mapping
 from state_machine.states.odlc import ODLC
 from state_machine.states.state import State
 from vision.flyover_vision_pipeline import flyover_pipeline
@@ -49,6 +50,10 @@ async def run(self: ODLC) -> State:
     The type hinting for the capture_status variable is broken, see
     https://github.com/python/typeshed/issues/8799
     """
+
+    if self.flight_settings.skip_odlc_and_airdrop:
+        return Mapping(self.drone, self.flight_settings)
+
     try:
         update_state("ODLC")
         # Syncronized type hint is broken, see https://github.com/python/typeshed/issues/8799
@@ -132,7 +137,6 @@ async def find_odlcs(self: ODLC, capture_status: "SynchronizedBase[c_bool]") ->
 
             if camera:
                 await camera.odlc_move_to(
-                    # TODO: Convert to Dronekit
                     self.drone,
                     gps_data["odlc_waypoints"][point].latitude,
                     gps_data["odlc_waypoints"][point].longitude,