ref: test version

main.py

@@ -29,27 +29,28 @@ def main():
     # make_global_photo('map.jpg')
 
     # Получаем траекторию от пользователя
-    points = get_trajectory_points('map.jpg')
-    print(points)
+    # points = get_trajectory_points('map.jpg')
+    # print(points)
 #     points = [np.float64(0.5443937502226799), np.float64(0.4030424838774785)], [np.float64(0.18517133490120316), np.float64(0.4586935604608052)], [np.float64(0.1641887171838272), np.float64(0.5586383510594329)], [np.float64(0.587198290366127), 
 # np.float64(0.5699957136274587)]
+    points = [[np.float64(0.481445897070552), np.float64(0.49958006570569835)], [np.float64(0.5485902737661552), np.float64(0.4325716265543457)], [np.float64(0.5376793125531197), np.float64(0.6052035375883389)], [np.float64(0.34044270600978543), np.float64(0.6052035375883389)], [np.float64(0.34044270600978543), np.float64(0.3689703961734008)], [np.float64(0.6333600493443542), np.float64(0.3224052096444948)], [np.float64(0.6686108471095458), np.float64(0.5518239335186174)]]
 
     # Для каждой точки сделаем приближенный снимок
     yandexMap = YandexMap()
     keypoints: list[(any, any)] = []
 
-    plt.ion()
-    for i in range(len(points)):
-        point = points[i]
-        yandexMap.scroll(point[0], point[1], 5, True)
-        sleep(1)
-        img = yandexMap.make_screenshot(point[0], point[1], 0.2, 0.2)
-        Path('chunks').mkdir(exist_ok=True)
-        cv2.imwrite(Path('.') / 'chunks' / f'chunk_{i}.png', img)
-        plt.subplot(1, len(points), i+1)
-        plt.imshow(img)
-        plt.pause(0.25)
-        yandexMap.scroll(point[0], point[1], 5, False)
+    # plt.ion()
+    # for i in range(len(points)):
+    #     point = points[i]
+    #     yandexMap.scroll(point[0], point[1], 5, True)
+    #     sleep(1)
+    #     img = yandexMap.make_screenshot(point[0], point[1], 0.2, 0.2)
+    #     Path('chunks').mkdir(exist_ok=True)
+    #     cv2.imwrite(Path('.') / 'chunks' / f'chunk_{i}.png', img)
+    #     plt.subplot(1, len(points), i+1)
+    #     plt.imshow(img)
+    #     plt.pause(0.25)
+    #     yandexMap.scroll(point[0], point[1], 5, False)
 
     plt.tight_layout()
 
@@ -81,9 +82,9 @@ def main():
 
     # Начнём симуляцию полёта с первой точки
     yandexMap.scroll(points[0][0], points[0][1], 5, True)
-    sleep(1)
+    sleep(0.2)
     yandexMap.make_as_center(*points[0])
-    sleep(5)
+    sleep(1)
 
     vis_manager = VisualizationManager()
     width, height = yandexMap.get_size()
@@ -97,11 +98,11 @@ def main():
 
     photo = simulator.get_photo()
     command = pilot.handle(photo)
-    print("DEBUG SIZE:", yandexMap.get_size())
-    print("DEBUG SIZE:", photo.size)
 
     vis_manager.update_display()
-    vis_manager.pause(5)
+    vis_manager.pause(1)
+
+    vis_manager.set_target_points(points_coords)
 
     for i in range(10000000000):
         photo = simulator.get_photo()
@@ -116,11 +117,17 @@ def main():
         if command.stop:
             break
 
+        vis_manager.set_target_index(pilot.target_idx)
+        vis_manager.update_drone_trajectory(pilot.x, pilot.y)
+        vis_manager.update_global_map(simulator.current_x, simulator.current_y)
+        vis_manager.update_error_plot(i, pilot.x, pilot.y, simulator.current_x, simulator.current_y)
+
         simulator.handle(command.dangle, command.velocity)
+
         vis_manager.update_display()
         vis_manager.pause(0.2)
-    vis_manager.pause(50)
-    sleep(30)
+
+    vis_manager.show_final()
 
 if __name__ == "__main__":
     main()