Work on search

src/delcommand.py

@@ -77,6 +77,7 @@ parser.add_option ("", "--pathtest", action="store_true", dest="pathtest", help=
 parser.add_option ("", "--pathtest2", action="store_true", dest="pathtest2", help="Debug path flying")
 parser.add_option ("", "--pathtest3", action="store_true", dest="pathtest3", help="Debug path flying")
 parser.add_option ("", "--pathtest4", action="store_true", dest="pathtest4", help="Debug path flying")
+parser.add_option ("", "--search-area", action="store_true", dest="search_area", help="Test search area")
 parser.add_option ("", "--search-areas", action="store_true", dest="search_areas", help="Test search areas")
 parser.add_option ("", "--n-areas", action="store", type="int", dest="n_areas", default=3, help="Specify number of areas to search")
 parser.add_option ("", "--paper-scenario1", action="store_true", dest="paper_scenario1", help="Paper Scenario 1")
@@ -368,6 +369,33 @@ def get_area(x0, y0, r):
     ]
     return res
 
+def get_hang_path():
+    alt = 44.7
+    gps = [
+        GeoPoint(57.75966144938757, 16.68103467533825, alt),
+        GeoPoint(57.759489691043505, 16.68019771793411, alt),
+        GeoPoint(57.758384692843755, 16.68003676458714, alt),
+        GeoPoint(57.75612894701629, 16.680413100382026, alt),
+        GeoPoint(57.756107577478524, 16.681514382122586, alt),
+        GeoPoint(57.756257163977445, 16.682034988036325, alt),
+        GeoPoint(57.757282883292056, 16.683356526124967, alt),
+        GeoPoint(57.75844746680692, 16.683136269776885, alt),
+        GeoPoint(57.75967611515345, 16.682155127862572, alt),
+        GeoPoint(57.75982568688258, 16.681514382122586, alt)
+    ]
+    return gps
+
+def search_area(ns, unit):
+    alt = 29.8
+    gps = get_hang_path()
+    sa = Node("search-area", {"execunit": unit, "area": gps, "target-type": "human", "target-size": 4.0, "area-type": "field"})
+    tree = Node("seq", {"execution-ns": unit})
+    tree.add_child(sa)
+    mo = MissionObject("search_area", ns, options.display, options.verbose)
+    (res, reason, timing) = mo.delegation_process(tree, options.exectree)
+    return (res, reason, timing)
+
+
 def search_areas(ns, unit):
     abort = Node("abort", {"execunit": unit})
     a1 = get_area(-150, 0, 50)
@@ -382,7 +410,7 @@ def search_areas(ns, unit):
     tree = Node("seq", {"execution-ns": unit})
     # tree.add_child(abort)
     tree.add_child(sa)
-    mo = MissionObject("search_area", ns, options.display, options.verbose)
+    mo = MissionObject("search_areas", ns, options.display, options.verbose)
     (res, reason, timing) = mo.delegation_process(tree, options.exectree)
     return (res, reason, timing)
 
@@ -630,6 +658,9 @@ if __name__ == "__main__":
     if options.pathtest4:
         res = pathtest4(ns)
 
+    if options.search_area:
+        res = search_area(ns, unit)
+
     if options.search_areas:
         res = search_areas(ns, unit)