alt-virtual-anchoring-behaviour

#!/usr/bin/env python

import boatdclient

from navigate import Navigator

points = boatdclient.get_current_waypoints()


class VirtualAnchoringBehaviour(Navigator):
    def __init__(self):
        super(VirtualAnchoringBehaviour, self).__init__(enable_tacking=True,
                                                        enable_cross_track_minimization=False)
        self.current_point = 0
        self.anchoring_triangle = [points[0],
                                   points[1],
                                   points[2]]
        self.set_target(self.anchoring_triangle[0])
                                  
        self.waypoint_checkoff_distance = 3

    def check_new_target(self):
        distance = self.boat.position.distance_to(self.target)
        if distance <= self.waypoint_checkoff_distance:
            print ('distance from point:', distance)
            if self.current_point >= 2:
                self.current_point = 0
            else:
                self.current_point += 1
            return self.anchoring_triangle[self.current_point]
        else:
            print ('distance to point', distance)
            return None

if __name__ == '__main__':
    behaviour = VirtualAnchoringBehaviour()
    behaviour.run()