31 lines
1.2 KiB
Python
31 lines
1.2 KiB
Python
from agent.config.settings import settings
|
|
from core.uas_control.controllers.robot_dog_controller import RobotDogController
|
|
from core.uas_control.controllers.uav_controller import UAVController
|
|
from core.uas_control.protocols.mavlink_adapter import MAVLinkAdapter
|
|
from core.uas_control.protocols.ros_adapter import ROSAdapter
|
|
from core.uas_control.protocols.simulation_adapter import SimulationAdapter
|
|
|
|
uas_type = settings.device.type
|
|
protocol = settings.device.protocol
|
|
device_id = settings.device.device_id
|
|
|
|
if protocol == "mavlink":
|
|
adapter = MAVLinkAdapter(device_id=device_id, **settings.device.params)
|
|
elif protocol == "ros":
|
|
adapter = ROSAdapter(device_id=device_id, **settings.device.params)
|
|
else:
|
|
adapter = SimulationAdapter(device_id=device_id, **settings.device.params)
|
|
|
|
if uas_type == "uav":
|
|
controller = UAVController(device_id=device_id, adapter=adapter)
|
|
elif uas_type == "robot_dog":
|
|
controller = RobotDogController(device_id=device_id, adapter=adapter)
|
|
else:
|
|
controller = UAVController(device_id=device_id, adapter=adapter)
|
|
|
|
# results, errors = [], []
|
|
# controller.command_result.connect(lambda r: results.append(r))
|
|
# controller.error_occurred.connect(lambda m: errors.append(m))
|
|
# assert controller.connect(), "连接应成功"
|
|
|