208 lines
10 KiB
Python
208 lines
10 KiB
Python
import time
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import math
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from enum import Enum
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class MissionState(Enum):
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INIT = 0 # 初始化/等待连接
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ARMING = 1 # 解锁中
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TAKEOFF = 2 # 自动起飞中
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NAVIGATING = 3 # 航点巡航导航
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HOLD_TASK = 4 # 到达航点后的原地搜索/悬停
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VISUAL_TRACKING = 5 # 🎯 视觉追踪中（由视觉主循环接管控制权）
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RETURNING = 6 # 返航中
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LANDING = 7 # 自动降落中
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FINISHED = 8 # 任务结束/已上锁
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HOLD_FINAL = 9 # 结束巡点后原地悬停（当 return_to_home 为 False 时使用）
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class FailsafeTriggered(Exception):
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"""自定义安全异常：当安全员人工介入切出自控模式时抛出，用于暴力熔断主循环"""
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pass
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class MissionManager:
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def __init__(self, drone, waypoints, target_altitude=1.5, arrival_radius=0.3, hold_duration=5.0,
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return_to_home=True):
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"""
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:param drone: 实例化的 DroneController 底层驱动对象
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:param waypoints: 航点列表 [{'x': 1.0, 'y': 2.0, 'z': -1.5, 'yaw': 0}, ... ]
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:param target_altitude: 默认起飞高度（米，NED中向上为负值）
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:param arrival_radius: 航点到达判定半径（米）
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:param hold_duration: 抵达巡点后，没有发现目标时的最大搜寻/悬停时间（秒）
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:param return_to_home: 航点巡完后是否返航，False则在最后一个点原地悬停
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"""
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self.drone = drone
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self.waypoints = waypoints
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self.target_altitude = target_altitude if target_altitude < 0 else -target_altitude
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self.arrival_radius = arrival_radius
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self.hold_duration = hold_duration
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self.return_to_home = return_to_home
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self.state = MissionState.INIT
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self.current_wp_index = 0
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# 计时器定义
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self.hold_start_time = 0.0
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self.tracking_start_time = 0.0
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# 起始点（Home）坐标缓存
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self.home_x = 0.0
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self.home_y = 0.0
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self.home_z = 0.0
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def _is_tracking_task_complete(self):
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"""
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🛠️ 预留接口：判断视觉追踪任务是否完成
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你可以根据需求修改内部逻辑。例如：
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- 当前：假设持续追踪 5 秒视为完成任务。
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- 后续扩展：可以引入与目标的物理距离、传感器状态等。
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"""
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tracking_duration = time.time() - self.tracking_start_time
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target_hold_time = 5.0 # 默认设定5秒
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if tracking_duration >= target_hold_time:
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return True
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return False
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def update(self, target_detected=False):
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"""
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状态机高频核心业务逻辑，由外部主循环驱动
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:param target_detected: 当前帧是否发现了视觉追踪目标
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"""
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# 0. 越权检查（最强人肉兜底）：只要切出自主控制模式，立刻暴力熔断
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if self.state not in [MissionState.INIT, MissionState.FINISHED]:
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if self.drone.current_mode not in ['GUIDED', 'OFFBOARD']:
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print(f"\n⚠️ [Failsafe] 检测到飞控模式被切为: {self.drone.current_mode}! 外部人工强行接管，熔断任务！")
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self.state = MissionState.FINISHED
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raise FailsafeTriggered("安全员强行接管")
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# 1. INIT: 等待飞控连接并获取当前位置作为 Home 点
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if self.state == MissionState.INIT:
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if self.drone.is_connected:
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print("[INIT] 飞控已连上。获取当前坐标为起始点...")
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self.home_x, self.home_y, self.home_z = self.drone.local_position
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print(f"[INIT] 起始点坐标: ({self.home_x:.2f}, {self.home_y:.2f}, {self.home_z:.2f})")
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print("[INIT] 正在下发 GUIDED/OFFBOARD 模式并尝试解锁...")
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target_mode = 'GUIDED' if 'guided' in self.drone.current_mode.lower() or True else 'OFFBOARD'
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self.drone.set_mode(target_mode)
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self.drone.arm()
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self.state = MissionState.ARMING
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# 2. ARMING: 监测解锁状态
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elif self.state == MissionState.ARMING:
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if self.drone.is_armed and self.drone.current_mode in ['GUIDED', 'OFFBOARD']:
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print("\n[解锁成功] 正在下发自动起飞指令...")
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# 下发位置到期望高度
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self.drone.send_target_position(self.home_x, self.home_y, self.target_altitude, 0)
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self.state = MissionState.TAKEOFF
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# 3. TAKEOFF: 自动起飞爬升判定
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elif self.state == MissionState.TAKEOFF:
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current_z = self.drone.local_position[2]
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# 持续发送起飞点位置，激活控制链路
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self.drone.send_target_position(self.home_x, self.home_y, self.target_altitude, 0)
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# NED 坐标系下 Z 为负数，判断是否接近目标高度
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if abs(current_z - self.target_altitude) < self.arrival_radius:
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print("\n[起飞完成] 达到预定高度。开始前往第 1 个巡航航点...")
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self.state = MissionState.NAVIGATING
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self.current_wp_index = 0
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# 4. NAVIGATING: 航点导航巡航
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elif self.state == MissionState.NAVIGATING:
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if not self.waypoints or self.current_wp_index >= len(self.waypoints):
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# 航点全部飞完
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if self.return_to_home:
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print("\n[巡航完成] 所有航点已巡视完毕。正在返回起始点上方...")
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self.state = MissionState.RETURNING
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else:
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print("\n[巡航完成] 所有航点已巡视完毕。根据配置切换至末端就地悬停...")
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self.state = MissionState.HOLD_FINAL
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return
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# 获取当前目标航点
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wp = self.waypoints[self.current_wp_index]
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self.drone.send_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
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# 计算水平及高度距离
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dx = wp['x'] - self.drone.local_position[0]
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dy = wp['y'] - self.drone.local_position[1]
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dz = wp['z'] - self.drone.local_position[2]
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dist_xyz = math.sqrt(dx ** 2 + dy ** 2 + dz ** 2)
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print(
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f"\n\r[巡航中] 前往航点 [{self.current_wp_index + 1}/{len(self.waypoints)}] | 距离目标: {dist_xyz:.2f}m",
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end="", flush=True)
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if dist_xyz < self.arrival_radius:
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print(f"\n[到达航点 {self.current_wp_index + 1}] 进入原地悬停与视觉检索阶段...")
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self.state = MissionState.HOLD_TASK
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self.hold_start_time = time.time()
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# 5. HOLD_TASK: 抵达巡点后的搜索悬停阶段
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elif self.state == MissionState.HOLD_TASK:
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# 优先判定视觉：如果在巡点悬停搜寻期间，视觉发现了目标
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if target_detected:
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print("\n🎯 [目标锁定] 视觉检测到目标！立刻中断悬停，切入 [视觉追踪] 状态！")
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self.state = MissionState.VISUAL_TRACKING
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self.tracking_start_time = time.time()
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return
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# 如果没有发现目标，则保持航点位置，并检查悬停是否超时
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wp = self.waypoints[self.current_wp_index]
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self.drone.send_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
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elapsed_time = time.time() - self.hold_start_time
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print(f"\r[检索中] 保持航点中... 剩余搜寻时间: {max(0.0, self.hold_duration - elapsed_time):.1f}s", end="",
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flush=True)
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if elapsed_time >= self.hold_duration:
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print(f"\n[未发现目标] 搜寻超时。放弃当前点，前往下一个航点...")
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self.current_wp_index += 1
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self.state = MissionState.NAVIGATING
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# 6. VISUAL_TRACKING: 🎯 视觉闭环追踪状态（核心新增）
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elif self.state == MissionState.VISUAL_TRACKING:
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# 在此状态下，高层状态机【不主动发送】绝对位置坐标，把控制权完全让渡给主循环的 PID 速度控制
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# 我们只需要在这里进行任务结束判定
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print(f"\r[追踪中] 正在执行AI视觉闭环精准追踪... 计时: {time.time() - self.tracking_start_time:.1f}s",
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end="", flush=True)
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if self._is_tracking_task_complete():
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print("\n✅ [任务完成] 当前目标追踪任务圆满完成！重置追踪器，继续执行航点巡航...")
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self.current_wp_index += 1 # 切换到下一个航点
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self.state = MissionState.NAVIGATING
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# 7. RETURNING: 自动返航至起始点上方
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elif self.state == MissionState.RETURNING:
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self.drone.send_target_position(self.home_x, self.home_y, self.target_altitude, 0)
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dist_to_home = math.sqrt((self.home_x - self.drone.local_position[0]) ** 2 +
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(self.home_y - self.drone.local_position[1]) ** 2)
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print(f"\r[返航中] 正在飞回起始点位置 | 剩余水平距离: {dist_to_home:.2f}m", end="", flush=True)
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if dist_to_home < self.arrival_radius:
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print("\n[到达] 已安全返回起始点上方。正在下发自动降落指令 (LAND)...")
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if self.drone.set_mode('LAND'):
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self.state = MissionState.LANDING
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else:
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print("⚠️ 降落模式切换失败，正在重新下发...")
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# 8. LANDING: 自动降落中
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elif self.state == MissionState.LANDING:
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print(f"\r[降落中] 当前高度: {self.drone.local_position[2]:+.2f}m | 解锁状态: {self.drone.is_armed}",
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end="", flush=True)
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if not self.drone.is_armed:
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print("\n[完结] 无人机已安全着陆并自动上锁。整个任务流结束。")
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self.state = MissionState.FINISHED
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# 9. HOLD_FINAL: 末端就地悬停
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elif self.state == MissionState.HOLD_FINAL:
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final_wp = self.waypoints[-1] if self.waypoints else {'x': self.home_x, 'y': self.home_y,
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'z': self.target_altitude, 'yaw': 0}
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self.drone.send_target_position(final_wp['x'], final_wp['y'], final_wp['z'], final_wp['yaw'])
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print(
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f"\r[挂起] 无人机保持在最终航点悬停。坐标:({final_wp['x']}, {final_wp['y']}, {final_wp['z']}) | 等待人工接管中...",
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end="", flush=True) |