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feat: add support for waylines & waypoints in drone flight plans #23

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merged 1 commit into from
Dec 19, 2024
Merged

feat: add support for waylines & waypoints in drone flight plans #23

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20 changes: 14 additions & 6 deletions drone_flightplan/waypoints.py
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Original file line number Diff line number Diff line change
Expand Up @@ -238,9 +238,10 @@ def create_waypoint(
generate_3d: bool = False,
no_fly_zones: dict = None,
take_off_point: list[float] = None,
mode: str = "waylines",
) -> str:
"""
Create waypoints for a given project area based on specified parameters.
Create waypoints or waylines for a given project area based on specified parameters.

Parameters:
project_area (dict): GeoJSON dictionary representing the project area.
Expand All @@ -252,6 +253,7 @@ def create_waypoint(
generate_each_points (bool): Flag True to generate individual waypoints, False for waylines.
generate_3d (bool): Flag to determine if 3D waypoints should be generated.
no_fly_zones (dict, optional): GeoJSON dictionary representing no-fly zones.
mode (str): "waypoints" for individual points, "waylines" for path lines.
Returns:
geojson: waypoints generated within the project area in the geojson format

Expand Down Expand Up @@ -316,14 +318,17 @@ def create_waypoint(

# Conditionally add takeoff point if available
if take_off_point:

# Get the first and last point of the initial path
first_path_point = initial_path[0]["coordinates"]
last_path_point = initial_path[-1]["coordinates"]

# Calculate distances from the takeoff point
distance_to_first = calculate_distance(Point(transformer_to_3857(*take_off_point)), first_path_point)
distance_to_last = calculate_distance(Point(transformer_to_3857(*take_off_point)), last_path_point)
distance_to_first = calculate_distance(
Point(transformer_to_3857(*take_off_point)), first_path_point
)
distance_to_last = calculate_distance(
Point(transformer_to_3857(*take_off_point)), last_path_point
)
if distance_to_last < distance_to_first:
initial_path.reverse()

Expand Down Expand Up @@ -353,8 +358,11 @@ def create_waypoint(
]
)

# If generating waylines, just add two points at each end
waypoints = remove_middle_points(path) if not generate_each_points else path
# If mode is "waylines", simplify to only start and end points
if mode == "waylines":
waypoints = remove_middle_points(path)
else:
waypoints = path

# If no-fly zones are provided, exclude points that fall inside no-fly zones
if no_fly_zones:
Expand Down