134 lines
5.2 KiB
Python
134 lines
5.2 KiB
Python
import time
|
|
import numpy as np
|
|
from typing import List, Tuple, Dict
|
|
from .config import Config
|
|
|
|
class FlightController:
|
|
"""
|
|
Verantwortlich für die Berechnung der Flugvektoren basierend auf KI-Ergebnissen.
|
|
Unterstützt Normal-Modus (sequenziell) und Sport-Modus (simultan/LR).
|
|
"""
|
|
def __init__(self):
|
|
self.last_sent_rc = [0, 0, 0, 0]
|
|
self.smooth_face = None
|
|
self.search_start = time.time()
|
|
self.status = "INITIALIZING"
|
|
|
|
# Speicher für verloren gegangene Ziele
|
|
self.last_target_side = 0
|
|
self.lost_time = 0
|
|
|
|
def calculate(self,
|
|
faces: List[Tuple],
|
|
is_manual: bool,
|
|
is_sport: bool, # NEU: Sport-Modus Flag
|
|
emergency_stop: bool,
|
|
is_locked: bool,
|
|
locked_person: Tuple,
|
|
current_height: float,
|
|
target_altitude: float,
|
|
tof: int,
|
|
zones: Dict[str, bool],
|
|
zone_scores: Dict[str, float],
|
|
manual_rc: Tuple[int, int, int, int]) -> Tuple[Tuple[int, int, int, int], str]:
|
|
|
|
lr, fb, ud, yv = 0, 0, 0, 0
|
|
|
|
if len(faces) > 0:
|
|
target = max(faces, key=lambda f: f[2] * f[3])
|
|
if self.smooth_face is None: self.smooth_face = target
|
|
else:
|
|
self.smooth_face = tuple(int(self.smooth_face[i]*0.8 + target[i]*0.2) for i in range(4))
|
|
else:
|
|
self.smooth_face = None
|
|
|
|
if emergency_stop:
|
|
self.status = "EMERGENCY STOP"
|
|
return (0, 0, 0, 0), self.status
|
|
|
|
# Hindernisvermeidung
|
|
center_blocked = zones["CENTER"] or tof < Config.OBSTACLE_TOF_CM
|
|
if center_blocked:
|
|
self.status = "AVOIDING OBSTACLE"
|
|
yv = 80 if zone_scores["LEFT"] < zone_scores["RIGHT"] else -80
|
|
fb = -30
|
|
return self._smooth(0, fb, 0, yv)
|
|
|
|
if is_manual:
|
|
self.status = "MANUAL CONTROL"
|
|
lr, fb, m_ud, yv = manual_rc
|
|
if abs(m_ud) > 0: ud = m_ud
|
|
return self._smooth(lr, fb, ud, yv)
|
|
|
|
# AI LOGIC
|
|
if is_locked:
|
|
if locked_person is not None:
|
|
self.search_start = time.time()
|
|
self.lost_time = 0
|
|
(x, y, w, h) = locked_person
|
|
center_x = x + w // 2
|
|
err_x = center_x - (Config.WIDTH // 2)
|
|
|
|
self.last_target_side = 1 if err_x > 0 else -1
|
|
|
|
if is_sport:
|
|
# SPORT MODUS: Alles gleichzeitig + LR-Strafing
|
|
yv = int(np.clip(Config.SPORT_YAW_GAIN * err_x, -100, 100))
|
|
fb = int(np.clip(Config.SPORT_FB_GAIN * (Config.TARGET_PERSON_SIZE - w), -100, 100))
|
|
lr = int(np.clip(Config.SPORT_LR_GAIN * err_x, -60, 60))
|
|
self.status = "SPORT PURSUIT: FULL AXIS"
|
|
else:
|
|
# NORMAL MODUS: Sequenziell (Drehen ODER Fliegen)
|
|
if abs(err_x) > Config.FACE_DEADZONE:
|
|
yv = int(np.clip(Config.YAW_GAIN * err_x, -50, 50))
|
|
fb = 0
|
|
self.status = "PURSUIT: AIMING"
|
|
else:
|
|
yv = 0
|
|
fb = int(np.clip(Config.FORWARD_GAIN * (Config.TARGET_PERSON_SIZE - w), -80, 80))
|
|
self.status = "PURSUIT: APPROACHING"
|
|
else:
|
|
# Target verloren
|
|
if self.lost_time == 0: self.lost_time = time.time()
|
|
elapsed = time.time() - self.lost_time
|
|
|
|
search_speed = 60 if is_sport else 40
|
|
if elapsed < 10.0:
|
|
yv = search_speed * self.last_target_side
|
|
self.status = f"LOST TARGET: SCANNING {'RIGHT' if self.last_target_side > 0 else 'LEFT'}"
|
|
else:
|
|
self.status = "TARGET LOST: PATROL"
|
|
yv = 30
|
|
|
|
elif self.smooth_face is not None:
|
|
(x, y, w, h) = self.smooth_face
|
|
err_x = (x + w // 2) - (Config.WIDTH // 2)
|
|
yv = int(np.clip(Config.YAW_GAIN * err_x, -40, 40))
|
|
self.status = "AWAITING LOCK"
|
|
else:
|
|
# Patrouille
|
|
elapsed = (time.time() - self.search_start) % 8.0
|
|
if elapsed < 3.0:
|
|
self.status = "PATROL: ADVANCE"
|
|
fb = 35
|
|
else:
|
|
self.status = "PATROL: SCAN"
|
|
yv = 35
|
|
|
|
return self._smooth(lr, fb, ud, yv)
|
|
|
|
def _smooth(self, lr, fb, ud, yv):
|
|
alpha = Config.SMOOTHING_ALPHA
|
|
slr = int(self.last_sent_rc[0] * (1-alpha) + lr * alpha)
|
|
sfb = int(self.last_sent_rc[1] * (1-alpha) + fb * alpha)
|
|
sud = int(self.last_sent_rc[2] * (1-alpha) + ud * alpha)
|
|
syv = int(self.last_sent_rc[3] * (1-alpha) + yv * alpha)
|
|
|
|
if abs(slr) < 3: slr = 0
|
|
if abs(sfb) < 3: sfb = 0
|
|
if abs(sud) < 3: sud = 0
|
|
if abs(syv) < 3: syv = 0
|
|
|
|
self.last_sent_rc = [slr, sfb, sud, syv]
|
|
return (slr, sfb, sud, syv), self.status
|