From 7e76d92c01880995544ee13c809d4412fa401182 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Tue, 6 Sep 2022 15:36:51 +0200
Subject: [PATCH] Adding return home.
---
src/pyutil/jsonutil.py | 10 ++++++----
1 file changed, 6 insertions(+), 4 deletions(-)
diff --git a/src/pyutil/jsonutil.py b/src/pyutil/jsonutil.py
index f51ae59..2a43eca 100644
--- a/src/pyutil/jsonutil.py
+++ b/src/pyutil/jsonutil.py
@@ -842,7 +842,8 @@ def json_basic_geoloc_reset(ns, command, node_uuid="", use_alias=False, use_lock
}
return jobj;
-def json_basic_search_area(ns, geopoints, speed, target_size=2.0, node_uuid="", use_alias=False, use_lock=False, camera_data_recording=False, laser_data_recording=False, coverage_side=10.0, height=20.0, sensor_type="laser"):
+def json_basic_search_area(ns, geopoints, speed, target_size=2.0, node_uuid="", use_alias=False, use_lock=False, camera_data_recording=False, laser_data_recording=False, coverage_side=10.0, height=20.0, sensor_type="laser",
+ go_home=False):
jobj = {
"children": [],
"common_params": get_common_params (ns, use_alias, node_uuid, use_lock=use_lock),
@@ -855,7 +856,8 @@ def json_basic_search_area(ns, geopoints, speed, target_size=2.0, node_uuid="",
"coverage-side": coverage_side,
"height": height,
"camera-data-recording": camera_data_recording,
- "laser-data-recording": laser_data_recording
+ "laser-data-recording": laser_data_recording,
+ "go-home": go_home
}
}
return jobj;
@@ -1253,9 +1255,9 @@ def json_search_position(ns, lat, lon, alt, speed, radius=25.0, node_uuid="", us
jobj["children"].append(json_basic_search_position(ns, lat, lon, alt, speed, radius=radius, use_alias=use_alias, node_uuid=node_uuid, use_lock=use_lock))
return jobj;
-def json_search_area(ns, geopoints, speed, target_size=2.0, node_uuid="", use_alias=False, use_lock=False, camera_data_recording=False, laser_data_recording=False, height=20.0, coverage_side=10.0, sensor_type="laser"):
+def json_search_area(ns, geopoints, speed, target_size=2.0, node_uuid="", use_alias=False, use_lock=False, camera_data_recording=False, laser_data_recording=False, height=20.0, coverage_side=10.0, sensor_type="laser", go_home=False):
jobj = json_basic_seq(ns, use_alias=use_alias)
- jobj["children"].append(json_basic_search_area(ns, geopoints, speed, target_size=target_size, use_alias=use_alias, node_uuid=node_uuid, use_lock=use_lock, camera_data_recording=camera_data_recording, laser_data_recording=laser_data_recording, coverage_side=coverage_side, height=height, sensor_type=sensor_type))
+ jobj["children"].append(json_basic_search_area(ns, geopoints, speed, target_size=target_size, use_alias=use_alias, node_uuid=node_uuid, use_lock=use_lock, camera_data_recording=camera_data_recording, laser_data_recording=laser_data_recording, coverage_side=coverage_side, height=height, sensor_type=sensor_type, go_home=go_home))
return jobj;
def json_search_area2(ns, unit1, unit2, geopoints1, geopoints2, speed, target_size=2.0, node_uuid="", use_alias=False, use_lock=False):
--
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