main.py

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# This material is based upon work supported by the Under Secretary of Defense for 
# Research and Engineering under Air Force Contract No. FA8702-15-D-0001. Any opinions,
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# © 2023 Massachusetts Institute of Technology.

# Subject to FAR52.227-11 Patent Rights - Ownership by the contractor (May 2014)

# The software/firmware is provided to you on an As-Is basis

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# DFARS 252.227-7014 as detailed above. Use of this work other than as specifically
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import argparse, os
from Drones.UnityDrone.UnityDrone import UnityDrone
from Drones.Spot.SpotDrone import SpotDrone
from Drones.SenseDrone.SenseDrone import SenseDrone
from DroneController import DroneController
from Drones.GeneralSupport.Exceptions.WrongDrone import WrongDrone


"""
This script launches the application, determines 
the system being utilized, and spins off  
threads pertaining to system action, and system 
connectivity
"""

if __name__ == '__main__':
    # Create a mapping between drone names and their respective classes
    droneMapping = {
          "UnityDrone": UnityDrone,
          "SpotDrone": SpotDrone, 
          "SenseDrone": SenseDrone
    }

    parser = argparse.ArgumentParser()

    defaultWorkerAddress = os.environ.get('WORKER_ADDRESS')

    defaultInterfaceAddress = os.environ.get('INTERFACE_ADDRESS')

    parser.add_argument('--worker_address', 
      type=str, default=defaultWorkerAddress)
    
    parser.add_argument('--interface_address', 
      type=str, default=defaultInterfaceAddress)
    
    parser.add_argument('--platform', type=str, 
      default="UnityDrone", choices=list(droneMapping.keys()))

    parser.add_argument('--drone_view', 
      type=bool, default=False)
    
    parser.add_argument('--manual_control', 
      type=bool, default=False)
    
    parser.add_argument('--run_perpetually', 
      type=bool, default=True)
    
    args = parser.parse_args()

    # Sets the parent class
    platform = droneMapping[args.platform]
    workerAddress = args.worker_address
    interfaceAddress = args.interface_address
    showDroneView = args.drone_view
    manualControlOnly = args.manual_control
    perpetualRun = args.run_perpetually

    print(("The worker server address is {}\n"
          +"The interface server address is {}").
          format(workerAddress,interfaceAddress))
    
    systemRuns = 0

    while True:
        drone = None
        try:
          #instantiates the drone, waits for connections to be approved
          drone = DroneController(platform)(workerAddress, 
                        interfaceAddress, manualControlOnly)
          systemRuns += 1
        except WrongDrone as e:
           platform = droneMapping[e.nameOfDroneOnServer]
           print(e)
        except Exception as e:
           print(f"The Error is {e}")