Python无人机配送模拟代码解析

这篇博客文章将解析一段Python无人机配送模拟代码, 该代码展示了如何使用Python与飞行模拟器进行交互, 实现无人机的路径规划和订单配送。

代码功能

这段代码模拟了一个简单的无人机配送系统, 主要功能包括:

连接飞行模拟器: 代码使用 rflysim 模块与飞行模拟器建立连接, 并获取无人机的位置信息。
获取障碍区信息: 代码从模拟器中获取障碍区信息, 并打印出来供参考。
接收和处理订单: 代码模拟了接收订单的过程, 并根据订单信息规划无人机的飞行路径。
控制无人机飞行: 代码根据规划的路径控制无人机飞行,并在到达指定位置后执行取货和送货操作。
完成订单: 代码模拟了完成订单的过程, 并将订单状态更新为已完成。

代码解析

import time                                     # 用于时间控制
import math                                     # 用于数学计算
from geopy.distance import distance             # 用于计算地理距离

#from rflysim.client import VehicleClient   # 用于与飞行模拟器通信
#from rflysim import Position      # 用于表示位置信息

def print_orders(orders):    # 打印订单信息
    for order_id, order_info in orders.items():
        print(f'
{order_id:}')
        print(f'  time_limit: {order_info.time_limit}')
        print(f'  fee: {order_info.fee}')
        print(f'  fine: {order_info.fine}')
        r_l = order_info.receipt_location
        print(f'  receipt : {r_l.points}, {r_l.radius}, {r_l.zone_type}')
        s_l = order_info.shipping_location
        print(f'  shipping: {s_l.points}, {s_l.radius}, {s_l.zone_type}')
        print(f'= ' * 32)
    print('')

def print_area(areas):    # 打印区域信息
    print(f'Areas:')
    for area_id, area in areas.items():
        print(f'
{area_id}:
')
        print(f'  id: {area.zone_id}')
        print(f'  radius: {area.radius}')
        print(f'  points: {area.points}')
        print(f'  start time: {area.start_time}')
        print(f'  end time: {area.end_time}')
    print('')

def main():       # 主函数
   # client = VehicleClient(ip='39.105.208.89', id = 663)# 创建飞行模拟器客户端对象
    # client = VehicleClient(660)
   # client.enable_rflysim()# 启用与飞行模拟器的通信
    while True:   # 获取无人机位置信息
      #  pos = client.get_vehicle_pos()
        if len(list(pos.keys())) < 1:
            time.sleep(3)
            continue
        break

    # 获取障碍区
    client.logger.info(f'Get areas')
    areas = client.get_area()
    print_area(areas)

    # 只控制一架飞机
    vehicle_id = list(pos.keys())[0]

    client.logger.info(f'Waiting for orders..')
    while True:
        order_info = client.get_order_info()
        if len(list(order_info.keys())) < 1:
            continue
        # print_orders(order_info)
        for order_id, order in order_info.items():
            if order.status == 'enable':
                break
        break

    if not client.take_order(vehicle_id, order_id):
        client.logger.warn(f'Take order[{order_id}] by [{vehicle_id}] failed..')

    sl = Position(
        order.shipping_location.points[0],
        order.shipping_location.points[1],
        30
    )
    rl = Position(
        order.receipt_location.points[0],
        order.receipt_location.points[1],
        30
    )
    path = [sl, rl]
    client.set_vehicle_path(vehicle_id, path)

    # tmp_id = list(pos.keys())[1]
    # for id, p in pos.items():
    #     if id == vehicle_id:
    #         continue
    #     if p.z < 1:
    #         continue
    #     client.set_vehicle_pos(id, Position(x=areas[74].points[0], y=areas[74].points[1], z=30))

    while True:
        pos = client.get_vehicle_pos()
        if len(list(pos.keys())) < 1:
            time.sleep(1)
            continue
        cur_pos = pos[vehicle_id]
        dist = _get_distance(cur_pos, sl)
        if dist < float(order.shipping_location.radius):
            client.logger.info(f'Get into shipping location, order done..')
            if not client.pick_up(vehicle_id, order_id):
                client.logger.error(f'Faield to pick order {order_id} from vehicle {vehicle_id}')
            if not client.set_vehicle_pos(vehicle_id, rl):
                client.logger.error(f'Failed to set vehivle {vehicle_id} to [{sl.x}, {sl.y}]')
            break
        client.logger.info(f'On the way to shipping location, current location: [{cur_pos.x}, {cur_pos.y}, {cur_pos.z}], distance: {dist}')
        time.sleep(1)

    while True:
        pos = client.get_vehicle_pos()
        if len(list(pos.keys())) < 1:
            time.sleep(1)
            continue
        cur_pos = pos[vehicle_id]
        dist = _get_distance(cur_pos, rl)
        if dist < float(order.receipt_location.radius):
            client.logger.info(f'Get into receipt location, going to shipping location..')
            if not client.finish_order(vehicle_id, order_id):
                client.logger.error(f'Faield to finsh order {order_id} from vehicle {vehicle_id}')
            break
        client.logger.info(f'On the way to receipt location, current location: [{cur_pos.x}, {cur_pos.y}, {cur_pos.z}], distance: {dist}')
        time.sleep(1)

def _get_distance(start, end):  # 计算两点之间的距离
    # return math.sqrt((start.x - end.x) ** 2 + (start.y - end.y) ** 2)
    return distance((start.y, start.x), (end.y, end.x)).meters

if __name__ == '__main__':
    main()

代码说明

代码中使用 # 对每一行进行了注释, 方便理解代码的功能.
代码中使用 rflysim 模块与飞行模拟器进行交互, 您需要先安装该模块才能运行代码.
代码中部分功能需要根据您的实际需求进行修改, 例如订单信息、路径规划算法等.

希望这篇博客文章能够帮助您理解这段Python无人机配送模拟代码!