mrtautopilot 6__tar.gz → 8__tar.gz

{mrtautopilot-6 → mrtautopilot-8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mrtautopilot
-Version: 6
+Version: 8
 Summary: Communicate with the MRT Autopilot Mavlink API
 Maintainer-email: Nathan Knotts <nathan@magothyrt.com>
 Project-URL: Homepage, https://www.magothyrt.com/

{mrtautopilot-6 → mrtautopilot-8}/mrtautopilot/__init__.py

@@ -1,4 +1,4 @@
-__version__ = "6"
+__version__ = "8"
 
 from .autopilot import *
 from .mission import *

{mrtautopilot-6 → mrtautopilot-8}/mrtautopilot/mission.py

@@ -30,16 +30,11 @@ class Polygon:
 Area = Union[Circle, Polygon]
 
 
+@dataclass
 class Waypoint:
-    def __init__(
-        self,
-        lat_deg: float,
-        lon_deg: float,
-        speed_mps: float,
-    ):
-        self.lat_deg = lat_deg
-        self.lon_deg = lon_deg
-        self.speed_mps = speed_mps
+    lat_deg: float
+    lon_deg: float
+    speed_mps: float
 
 
 class DriftLoiter:
@@ -57,6 +52,9 @@ class DriftLoiter:
         self.radius_m = radius_m
         self.duration_s = duration_s
 
+    def __repr__(self) -> str:
+        return f"DriftLoiter(lat_deg={self.lat_deg}, lon_deg={self.lon_deg}, speed_mps={self.speed_mps}, radius_m={self.radius_m}, duration_s={self.duration_s})"
+
 
 class Orbit:
     def __init__(
@@ -75,6 +73,9 @@ class Orbit:
         self.is_clockwise = is_clockwise
         self.duration_s = duration_s
 
+    def __repr__(self) -> str:
+        return f"Orbit(lat_deg={self.lat_deg}, lon_deg={self.lon_deg}, speed_mps={self.speed_mps}, radius_m={self.radius_m}, is_clockwise={self.is_clockwise}, duration_s={self.duration_s})"
+
 
 class Milling:
     def __init__(
@@ -89,6 +90,9 @@ class Milling:
         self.speed_mps = speed_mps
         self.duration_s = duration_s
 
+    def __repr__(self) -> str:
+        return f"Milling(area={self.area}, speed_mps={self.speed_mps}, duration_s={self.duration_s})"
+
 
 class FaultResponseType(Enum):
     Ignore = 0
@@ -256,25 +260,6 @@ def make_polygon(
 
 def _fence_items(mission: Mission) -> List[mrtmavlink.MAVLink_mission_item_int_message]:
     out: List[mrtmavlink.MAVLink_mission_item_int_message] = []
-    out.append(
-        mrtmavlink.MAVLink_mission_item_int_message(
-            target_system=0,
-            target_component=0,
-            seq=0,
-            frame=mrtmavlink.MAV_FRAME_MISSION,
-            command=mrtmavlink.MAV_CMD_NAV_FENCE_RETURN_POINT,
-            mission_type=mrtmavlink.MAV_MISSION_TYPE_FENCE,
-            current=0,
-            autocontinue=0,
-            param1=0,
-            param2=0,
-            param3=0,
-            param4=0,
-            x=0,
-            y=0,
-            z=0,
-        )
-    )
 
     for shape in mission.fence:
         if type(shape) is KeepInCirlce:

{mrtautopilot-6 → mrtautopilot-8}/mrtautopilot.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mrtautopilot
-Version: 6
+Version: 8
 Summary: Communicate with the MRT Autopilot Mavlink API
 Maintainer-email: Nathan Knotts <nathan@magothyrt.com>
 Project-URL: Homepage, https://www.magothyrt.com/

{mrtautopilot-6 → mrtautopilot-8}/tests/test_mission.py

@@ -36,17 +36,7 @@ class TestMission(unittest.TestCase):
         self.assertEqual(len(mav.rally_items), 0)
 
         ### check fence items ###
-        self.assertEqual(len(mav.fence_items), 1)
-
-        # fence return point (not used)
-        i = mav.fence_items[0]
-        self.assertEqual(i.seq, 0)
-        self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
-        self.assertEqual(i.command, mrtmavlink.MAV_CMD_NAV_FENCE_RETURN_POINT)
-        self.assertEqual(i.mission_type, mrtmavlink.MAV_MISSION_TYPE_FENCE)
-        self.assertEqual(i.param1, 0)
-        self.assertEqual(i.x, 0)
-        self.assertEqual(i.y, 0)
+        self.assertEqual(len(mav.fence_items), 0)
 
         ### check mission items ###
         self.assertEqual(len(mav.mission_items), 18)
@@ -312,22 +302,12 @@ class TestMission(unittest.TestCase):
         self.assertEqual(i.y, -4e7)
 
         ### check fence items ###
-        self.assertEqual(len(mav.fence_items), 10)
+        self.assertEqual(len(mav.fence_items), 9)
 
-        # fence return point (not used)
+        # keep in circle
         i = mav.fence_items[0]
         self.assertEqual(i.seq, 0)
         self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
-        self.assertEqual(i.command, mrtmavlink.MAV_CMD_NAV_FENCE_RETURN_POINT)
-        self.assertEqual(i.mission_type, mrtmavlink.MAV_MISSION_TYPE_FENCE)
-        self.assertEqual(i.param1, 0)
-        self.assertEqual(i.x, 0)
-        self.assertEqual(i.y, 0)
-
-        # keep in circle
-        i = mav.fence_items[1]
-        self.assertEqual(i.seq, 1)
-        self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
         self.assertEqual(i.command, mrtmavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION)
         self.assertEqual(i.mission_type, mrtmavlink.MAV_MISSION_TYPE_FENCE)
         self.assertEqual(i.param1, 25)
@@ -335,8 +315,8 @@ class TestMission(unittest.TestCase):
         self.assertEqual(i.y, -6e7)
 
         # keep out polygon
-        i = mav.fence_items[2]
-        self.assertEqual(i.seq, 2)
+        i = mav.fence_items[1]
+        self.assertEqual(i.seq, 1)
         self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
         self.assertEqual(
             i.command, mrtmavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION
@@ -346,8 +326,8 @@ class TestMission(unittest.TestCase):
         self.assertEqual(i.x, 7e7)
         self.assertEqual(i.y, -8e7)
 
-        i = mav.fence_items[3]
-        self.assertEqual(i.seq, 3)
+        i = mav.fence_items[2]
+        self.assertEqual(i.seq, 2)
         self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
         self.assertEqual(
             i.command, mrtmavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION
@@ -357,8 +337,8 @@ class TestMission(unittest.TestCase):
         self.assertEqual(i.x, 9e7)
         self.assertEqual(i.y, -10e7)
 
-        i = mav.fence_items[4]
-        self.assertEqual(i.seq, 4)
+        i = mav.fence_items[3]
+        self.assertEqual(i.seq, 3)
         self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
         self.assertEqual(
             i.command, mrtmavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION
@@ -369,8 +349,8 @@ class TestMission(unittest.TestCase):
         self.assertEqual(i.y, -12e7)
 
         # keep in polygon
-        i = mav.fence_items[5]
-        self.assertEqual(i.seq, 5)
+        i = mav.fence_items[4]
+        self.assertEqual(i.seq, 4)
         self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
         self.assertEqual(
             i.command, mrtmavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION
@@ -380,8 +360,8 @@ class TestMission(unittest.TestCase):
         self.assertEqual(i.x, 13e7)
         self.assertEqual(i.y, -14e7)
 
-        i = mav.fence_items[6]
-        self.assertEqual(i.seq, 6)
+        i = mav.fence_items[5]
+        self.assertEqual(i.seq, 5)
         self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
         self.assertEqual(
             i.command, mrtmavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION
@@ -391,8 +371,8 @@ class TestMission(unittest.TestCase):
         self.assertEqual(i.x, 15e7)
         self.assertEqual(i.y, -16e7)
 
-        i = mav.fence_items[7]
-        self.assertEqual(i.seq, 7)
+        i = mav.fence_items[6]
+        self.assertEqual(i.seq, 6)
         self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
         self.assertEqual(
             i.command, mrtmavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION
@@ -402,8 +382,8 @@ class TestMission(unittest.TestCase):
         self.assertEqual(i.x, 17e7)
         self.assertEqual(i.y, -18e7)
 
-        i = mav.fence_items[8]
-        self.assertEqual(i.seq, 8)
+        i = mav.fence_items[7]
+        self.assertEqual(i.seq, 7)
         self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
         self.assertEqual(
             i.command, mrtmavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION
@@ -414,8 +394,8 @@ class TestMission(unittest.TestCase):
         self.assertEqual(i.y, -20e7)
 
         # keep out circle
-        i = mav.fence_items[9]
-        self.assertEqual(i.seq, 9)
+        i = mav.fence_items[8]
+        self.assertEqual(i.seq, 8)
         self.assertEqual(i.frame, mrtmavlink.MAV_FRAME_MISSION)
         self.assertEqual(i.command, mrtmavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION)
         self.assertEqual(i.mission_type, mrtmavlink.MAV_MISSION_TYPE_FENCE)