Custom Algorithms

Learn how to develop and integrate custom algorithms into the JuHai USV system.

Plugin Architecture

JuHai system supports extending functionality through plugins.

Create Plugin

from jhusv.plugin import Plugin

class MyCustomPlugin(Plugin):
    def __init__(self):
        super().__init__(
            name="my_custom_plugin",
            version="1.0.0"
        )

    def on_load(self):
        """Called when plugin is loaded"""
        self.logger.info("Plugin loaded")

    def on_telemetry(self, data):
        """Receive telemetry data"""
        # Process telemetry data
        pass

    def on_sensor_data(self, sensor_type, data):
        """Receive sensor data"""
        # Process sensor data
        pass

Register Plugin

from jhusv import PluginManager

manager = PluginManager()
manager.register(MyCustomPlugin())

Custom Navigation Algorithms

Implement Path Planning

from jhusv.navigation import PathPlanner

class AStarPlanner(PathPlanner):
    def plan(self, start, goal, obstacles):
        """
        A* path planning algorithm

        Args:
            start: Start coordinates (lat, lon)
            goal: Goal coordinates (lat, lon)
            obstacles: List of obstacles

        Returns:
            path: List of path points
        """
        # Implement A* algorithm
        path = self._astar_search(start, goal, obstacles)
        return path

For more algorithm development guides, refer to the developer documentation.