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Bootcamp Complete?- Muhammad Awan #19

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7b9bbc2
Describe your changes here
muhammad-awan0 Sep 27, 2023
7bbf7f7
Bootcamp- Muhammad Awan
muhammad-awan0 Sep 30, 2023
5111130
Fixed changes :)
muhammad-awan0 Oct 23, 2023
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38 changes: 32 additions & 6 deletions modules/bootcamp/decision_simple_waypoint.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
from .. import commands
from .. import drone_report
from .. import drone_status
import math
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Nit: System-level module imports before local module imports with one empty space in between.

However, for this bootcamp, we're not allowing you to import any additional libraries. Try to do it without importing math.

Hint What's another way to compute the square root? (Also do you need to compare the square root?)

from .. import location
from ..private.decision import base_decision

Expand Down Expand Up @@ -37,8 +38,6 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float):
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# ============

# Add your own

# ============
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
# ============
Expand All @@ -61,6 +60,7 @@ def run(self,
put_output(command)
```
"""

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Nit: No spaces between docstring and code (remember to only change things inside the area indicated by the comments).

# Default command
command = commands.Command.create_null_command()

Expand All @@ -69,12 +69,38 @@ def run(self,
# ============

# Do something based on the report and the state of this class...

# Remove this when done
raise NotImplementedError

# Assuming 'commands' and 'drone_status' are imported modules
# and self.waypoint, report are provided context

status = report.status
pos = report.position
way_x = self.waypoint.location_x
way_y = self.waypoint.location_y
rel_dest_x = way_x - pos.location_x
rel_dest_y = way_y - pos.location_y

within_range = self.within_range_of(self.waypoint, pos)

if within_range and status == drone_status.DroneStatus.MOVING:
command = commands.Command.create_halt_command()

elif within_range and status == drone_status.DroneStatus.HALTED:
command = commands.Command.create_land_command()

elif not within_range and status == drone_status.DroneStatus.HALTED:
command = commands.Command.create_set_relative_destination_command(way_x, way_y)
Comment on lines +90 to +91
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Change this one to also be relative distance, think about the cases where the drone doesn't start simulation at (0, 0).


elif status == drone_status.DroneStatus.HALTED:
command = commands.Command.create_set_relative_destination_command(rel_dest_x, rel_dest_y)


# ============
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
# ============

return command

def within_range_of(self, l1: location.Location, l2: location.Location):
distance = math.sqrt((l1.location_x - l1.location_x)**2 + (l1.location_y - l2.location_x)**2)
return distance < self.acceptance_radius
Comment on lines +103 to +105
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Nit: Adding a type annotation for the return would help readability (you do not need to change anything here, just something to thing about).


43 changes: 33 additions & 10 deletions modules/bootcamp/decision_waypoint_landing_pads.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,8 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float):
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# ============

# Add your own
self.waypoint_found = False
self.landing_pad_found = False

# ============
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
Expand Down Expand Up @@ -68,13 +69,35 @@ def run(self,
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# ============

# Do something based on the report and the state of this class...

# Remove this when done
raise NotImplementedError

# ============
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
# ============
Comment on lines -76 to -78
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Make sure you're not deleting the comment guards, place your code inside of them. You're allowed to write helper functions outside of the comments.


if report.status == drone_status.DroneStatus.HALTED and not self.waypoint_found:
command = commands.Command.create_set_relative_destination_command(
self.waypoint.location_x,
self.waypoint.location_y
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Nit: Add a comma after each argument, including the last argument.

)
self.waypoint_found = True

elif report.status == drone_status.DroneStatus.HALTED and not self.landing_pad_found:
min_distance = float('inf')
closest_pad = None

for pad in landing_pad_locations:
distance = self.distance(report.position, pad)
if distance < min_distance:
min_distance = distance
closest_pad = pad

if closest_pad is not None:
command = commands.Command.create_set_relative_destination_command(
closest_pad.location_x - report.position.location_x,
closest_pad.location_y - report.position.location_y
)
self.landing_pad_found = True

elif report.status == drone_status.DroneStatus.HALTED and self.landing_pad_found:
command = commands.Command.create_land_command()
Comment on lines +96 to +97
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While the bootcamp specifies that the drone will always complete its movement, what if this wasn't guaranteed and it could halt on its own at any random time? (You do not need to change anything here, just something to think about).


return command

def distance(self, l1: location.Location, l2: location.Location):
return (l1.location_x - l2.location_x)**2 + (l1.location_y - l2.location_y)**2

26 changes: 18 additions & 8 deletions modules/bootcamp/detect_landing_pad.py
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Expand Up @@ -8,10 +8,8 @@
import numpy as np
import torch
import ultralytics

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Nit: One empty line between importing installed modules and importing local modules (remember to not modify anything outside of the area indicated by the comments).

from .. import bounding_box


# This is just an interface
# pylint: disable=too-few-public-methods
class DetectLandingPad:
Expand Down Expand Up @@ -86,32 +84,44 @@ def run(self, image: np.ndarray) -> "tuple[list[bounding_box.BoundingBox], np.nd
# * conf
# * device
# * verbose
predictions = ...
predictions = self.__model.predict(source=image,conf=0.7,device=self.__DEVICE,verbose=False)

# Get the Result object
prediction = ...
prediction = predictions[0]

# Plot the annotated image from the Result object
# Include the confidence value
image_annotated = ...
image_annotated = prediction.plot(conf=0.7)
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You've already set the confidence above - how do you tell it to use the confidence here?


# Get the xyxy boxes list from the Boxes object in the Result object
boxes_xyxy = ...
boxes_xyxy = prediction.boxes.xyxy

# Detach the xyxy boxes to make a copy,
# move the copy into CPU space,
# and convert to a numpy array
boxes_cpu = ...
boxes_cpu = boxes_xyxy.detach().cpu().numpy()

# Loop over the boxes list and create a list of bounding boxes
# Loop over the boxes list and create a list of bounding boxes
bounding_boxes = []
for box in boxes_cpu:
result, new_box = bounding_box.BoundingBox.create(np.array(box))
if result:
bounding_boxes.append(new_box)
else:
return []

return bounding_boxes, image_annotated



# Hint: .shape gets the dimensions of the numpy array
# for i in range(0, ...):
# Create BoundingBox object and append to list
# result, box = ...
Comment on lines 118 to 121
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Delete commented out or unreachable code. Git and GitHub will keep track of it if we need it again.


# Remove this when done
raise NotImplementedError


# ============
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
Expand Down
25 changes: 2 additions & 23 deletions requirements.txt
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Original file line number Diff line number Diff line change
@@ -1,28 +1,7 @@
# BOOTCAMPERS TO COMPLETE.

# This file lists the required Python packages to install.

# Packages listed in alphabetical order
numpy
opencv-python
pytest

# PyTorch
--extra-index-url https://download.pytorch.org/whl/cu117

# ============
# ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
# ============

# Based on: https://pytorch.org/get-started/previous-versions/#wheel-1
# If you are on MacOS, remove +cu117
# Otherwise, you can keep as is, or use +cpu if you
# have a CUDA capable GPU but don't want to use it
torch==1.13.1+cu117
torchvision==0.14.1+cu117

# ============
# ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
# ============

torch==1.13.1
torchvision==0.14.1
ultralytics