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Commit c2097995 authored by Tommy Persson's avatar Tommy Persson
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Adding pick-up executor.

parent fcbd04b6
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...@@ -44,6 +44,9 @@ parser.add_option ("", "--climb", action="store_true", dest="climb", help="Climb ...@@ -44,6 +44,9 @@ parser.add_option ("", "--climb", action="store_true", dest="climb", help="Climb
parser.add_option ("", "--takeoff", action="store_true", dest="takeoff", help="Take off") parser.add_option ("", "--takeoff", action="store_true", dest="takeoff", help="Take off")
parser.add_option ("", "--throwtakeoff", action="store_true", dest="throwtakeoff", help="Throw Take off") parser.add_option ("", "--throwtakeoff", action="store_true", dest="throwtakeoff", help="Throw Take off")
parser.add_option ("", "--land", action="store_true", dest="land", help="Land") parser.add_option ("", "--land", action="store_true", dest="land", help="Land")
parser.add_option ("", "--pickup", action="store_true", dest="pickup", help="Pick Up Payload")
parser.add_option ("", "--lookat", action="store_true", dest="lookat", help="LookAt") parser.add_option ("", "--lookat", action="store_true", dest="lookat", help="LookAt")
parser.add_option ("", "--stop-lookat", action="store_true", dest="stop_lookat", help="Stop LookAt") parser.add_option ("", "--stop-lookat", action="store_true", dest="stop_lookat", help="Stop LookAt")
parser.add_option ("", "--testlookat", action="store_true", dest="testlookat", help="Test LookAt") parser.add_option ("", "--testlookat", action="store_true", dest="testlookat", help="Test LookAt")
...@@ -115,6 +118,13 @@ def land(ns, unit): ...@@ -115,6 +118,13 @@ def land(ns, unit):
(res, reason, timing) = mo.delegation_process(tree, options.exectree) (res, reason, timing) = mo.delegation_process(tree, options.exectree)
return (res, reason, timing) return (res, reason, timing)
def pickup(ns, unit):
pickup = Node("pick-up", {"execunit": unit, "do-not-ask-for-help": True})
tree = Node("seq", {"execunit": unit}, [pickup])
mo = MissionObject("pickup", ns, options.display, options.verbose)
(res, reason, timing) = mo.delegation_process(tree, options.exectree)
return (res, reason, timing)
def climb (ns, unit, z): def climb (ns, unit, z):
p = wtogp (0, 0, z) p = wtogp (0, 0, z)
print(p) print(p)
...@@ -602,6 +612,9 @@ if __name__ == "__main__": ...@@ -602,6 +612,9 @@ if __name__ == "__main__":
if options.land: if options.land:
res = land(ns, unit) res = land(ns, unit)
if options.pickup:
res = pickup(ns, unit)
if options.climb: if options.climb:
res = climb (ns, unit, options.z) res = climb (ns, unit, options.z)
......
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