Fix dronekit code mostly related to connecting to the drone #23

flight/odlc_boundaries/search_path.py

@@ -117,7 +117,7 @@ async def run() -> None:
     try:
         # create a drone object
         logging.info("Waiting for drone to connect...")
-        drone: dronekit.Vehicle = dronekit.connect(sitl.connection_string())
+        drone: dronekit.Vehicle = dronekit.connect("tcp:127.0.0.1:5762")
         drone.wait_ready(True)
 
         logging.info("Waiting for pre-arm checks to pass...")
@@ -210,7 +210,9 @@ async def run() -> None:
     )
 
     # Generate search path
-    BUFFER_DISTANCE: int = -40  # use height/2 of camera image area on ground as buffer distance
+    BUFFER_DISTANCE: int = (
+        -40
+    )  # use height/2 of camera image area on ground as buffer distance
     search_paths: list[tuple[float, float]] = generate_search_paths(
         data_search_area_boundary_utm, BUFFER_DISTANCE
     )

flight/waypoint/goto.py

@@ -39,9 +39,9 @@ async def move_to(
         a float containing the requested longitude to move to
     altitude: float
         a float containing the requested altitude to go to in meters
-    airspeed: float, optional
-        a float containing the requested airspeed in meters per second;
-        if not specified, lets DroneKit decide the airspeed
+    airspeed: float, default None
+        a float containing the requested airspeed in meters per second,
+        or None to let DroneKit decide the airspeed
     """
     drone.simple_goto(
         dronekit.LocationGlobalRelative(latitude, longitude, altitude),

state_machine/drone.py

@@ -14,6 +14,8 @@ class Drone:
     ----------
     address : str
         The address used to connect to the drone.
+    baud : int | None
+        The baud rate, or None to use the default.
     is_connected
     odlc_scan : bool
         A boolean to tell if the odlc zone needs to be scanned, used the
@@ -27,15 +29,17 @@ class Drone:
     -------
     __init__(connection_string: str) -> None
         Initialize a new Drone object, but do not connect to a drone.
-    connect_drone(self) -> Awaitable[None]
-        Connect to a drone.
-    is_connected(self) -> bool
-        Checks if a drone has been connected to.
     vehicle(self) -> dronekit.Vehicle
         Get the Dronekit Vehicle object owned by this Drone object.
+    is_connected(self) -> bool
+        Checks if a drone has been connected to.
+    connect_drone(self) -> Awaitable[None]
+        Connect to a drone.
+    close(self) -> Awaitable[none]
+        Close the owned DroneKit Vehicle object.
     """
 
-    def __init__(self, address: str = "") -> None:
+    def __init__(self, address: str = "", baud: int | None = None) -> None:
         """
         Initialize a new Drone object, but do not connect to a drone.
 
@@ -44,29 +48,14 @@ def __init__(self, address: str = "") -> None:
         address : str, default ""
             The address of the drone to connect to when the `connect_drone()`
             method is called.
+        baud : int, default None
+            The baud rate, or None to use the default.
         """
         self._vehicle: dronekit.Vehicle | None = None
         self.address: str = address
+        self.baud: int | None = baud
         self.odlc_scan: bool = True
 
-    async def connect_drone(self) -> None:
-        """Connect to a drone. This operation is idempotent.
-
-        Raises
-        ------
-        RuntimeError
-            If no connection address has been set.
-        """
-        if self.is_connected:
-            return
-
-        if len(self.address) == 0:
-            raise RuntimeError("no connection address specified")
-
-        vehicle: dronekit.Vehicle = dronekit.connect(self.address)
-        vehicle.wait_ready(True)  # this doesn't run asynchronously
-        self._vehicle = vehicle
-
     @property
     def is_connected(self) -> bool:
         """Checks if a drone has been connected to.
@@ -80,7 +69,7 @@ def is_connected(self) -> bool:
 
     @property
     def vehicle(self) -> dronekit.Vehicle:
-        """Get the Dronekit Vehicle object owned by this Drone object.
+        """Get the DroneKit Vehicle object owned by this Drone object.
 
         Returns
         -------
@@ -94,5 +83,29 @@ def vehicle(self) -> dronekit.Vehicle:
         """
         vehicle: dronekit.Vehicle | None = self._vehicle
         if vehicle is None:
-            raise AttributeError("we haven't connected to the drone yet")
+            raise RuntimeError("we haven't connected to the drone yet")
         return vehicle
+
+    async def connect_drone(self) -> None:
+        """Connect to a drone. This operation is idempotent.
+
+        Raises
+        ------
+        RuntimeError
+            If no connection address has been set.
+        """
+        if self.is_connected:
+            return
+
+        if len(self.address) == 0:
+            raise RuntimeError("no connection address specified")
+
+        vehicle: dronekit.Vehicle = (
+            dronekit.connect(self.address, wait_ready=True)
+            if self.baud is None
+            else dronekit.connect(self.address, wait_ready=True, baud=self.baud)
+        )
+
+    async def close(self) -> None:
+        """Close the owned DroneKit Vehicle object."""
+        self.vehicle.close()

state_machine/flight_manager.py

@@ -60,13 +60,13 @@ async def run_manager(
         standard_object_count : int, default DEFAULT_STANDARD_OBJECT_COUNT
             The number of standard objects to attempt to find.
         """
-        sitl: dronekit_sitl.SITL | None = None
 
         if sim_flag:
             sitl = dronekit_sitl.start_default()
-            self.drone.address = sitl.connection_string()
+            self.drone.address = "tcp:127.0.0.1:5762"
         else:
-            self.drone.address = "serial:///dev/ttyFTDI:921600"
+            self.drone.address = "/dev/ttyFTDI"
+            self.drone.baud = 921600
 
         try:
             flight_settings_obj: FlightSettings = FlightSettings(
@@ -103,6 +103,7 @@ async def run_manager(
                 state_machine_task.cancel()
                 await self._graceful_exit()
         finally:
+            await self.drone.close()
             if sitl is not None:
                 sitl.stop()