Beispiel #1
0
    def __init__(self, address="", use_wifi=False):
        """
        If you need BLE: Initialize with its BLE address - if you don't know the address, call findMambo
        and that will discover it for you.
        You can also connect to the wifi on the FPV camera.  Do not use this if the camera is not connected.  Also,
        ensure you have connected your machine to the wifi on the camera before attempting this or it will not work.
        :param address: unique address for this mambo (can be ignored if you are using wifi)
        :param use_wifi: set to True to connect with wifi instead of BLE
        """
        self.address = address
        self.use_wifi = use_wifi
        self.groundcam = None
        if (use_wifi):
            self.drone_connection = WifiConnection(self, drone_type="Mambo")
            # initialize groundcam
            self.groundcam = MamboGroundcam()
        else:
            if (BLEAvailable):
                self.drone_connection = BLEConnection(address, self)
            else:
                self.drone_connection = None
                color_print(
                    "ERROR: you are trying to use a BLE connection on a system that doesn't have BLE installed.",
                    "ERROR")
                return

        # intialize the command parser
        self.command_parser = DroneCommandParser()

        # initialize the sensors and the parser
        self.sensors = MinidroneSensors()
        self.sensor_parser = DroneSensorParser(drone_type="Minidrone")
Beispiel #2
0
class Minidrone:
    def __init__(self, address="", use_wifi=False):
        """
        If you need BLE: Initialize with its BLE address - if you don't know the address, call findMambo
        and that will discover it for you.
        You can also connect to the wifi on the FPV camera.  Do not use this if the camera is not connected.  Also,
        ensure you have connected your machine to the wifi on the camera before attempting this or it will not work.
        :param address: unique address for this mambo (can be ignored if you are using wifi)
        :param use_wifi: set to True to connect with wifi instead of BLE
        """
        self.address = address
        self.use_wifi = use_wifi
        self.groundcam = None
        if (use_wifi):
            self.drone_connection = WifiConnection(self, drone_type="Mambo")
            # initialize groundcam
            self.groundcam = MamboGroundcam()
        else:
            if (BLEAvailable):
                self.drone_connection = BLEConnection(address, self)
            else:
                self.drone_connection = None
                color_print(
                    "ERROR: you are trying to use a BLE connection on a system that doesn't have BLE installed.",
                    "ERROR")
                return

        # intialize the command parser
        self.command_parser = DroneCommandParser()

        # initialize the sensors and the parser
        self.sensors = MinidroneSensors()
        self.sensor_parser = DroneSensorParser(drone_type="Minidrone")

    def set_user_sensor_callback(self, function, args):
        """
        Set the (optional) user callback function for sensors.  Every time a sensor
        is updated, it calls this function.

        :param function: name of the function
        :param args: tuple of arguments to the function
        :return: nothing
        """
        self.sensors.set_user_callback_function(function, args)

    def update_sensors(self, data_type, buffer_id, sequence_number, raw_data,
                       ack):
        """
        Update the sensors (called via the wifi or ble connection)

        :param data: raw data packet that needs to be parsed
        :param ack: True if this packet needs to be ack'd and False otherwise
        """

        sensor_list = self.sensor_parser.extract_sensor_values(raw_data)
        if (sensor_list is not None):
            for sensor in sensor_list:
                (sensor_name, sensor_value, sensor_enum, header_tuple) = sensor
                if (sensor_name is not None):
                    self.sensors.update(sensor_name, sensor_value, sensor_enum)
                    # print(self.sensors)
                else:
                    color_print(
                        "data type %d buffer id %d sequence number %d" %
                        (data_type, buffer_id, sequence_number), "WARN")
                    color_print(
                        "This sensor is missing (likely because we don't need it)",
                        "WARN")

        if (ack):
            self.drone_connection.ack_packet(buffer_id, sequence_number)

    def connect(self, num_retries):
        """
        Connects to the drone and re-tries in case of failure the specified number of times.  Seamlessly
        connects to either wifi or BLE depending on how you initialized it

        :param: num_retries is the number of times to retry

        :return: True if it succeeds and False otherwise
        """

        # special case for when the user tries to do BLE when it isn't available
        if (self.drone_connection is None):
            return False

        connected = self.drone_connection.connect(num_retries)
        return connected

    def takeoff(self):
        """
        Sends the takeoff command to the mambo.  Gets the codes for it from the xml files.  Ensures the
        packet was received or sends it again up to a maximum number of times.

        :return: True if the command was sent and False otherwise
        """
        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "Piloting", "TakeOff")
        return self.drone_connection.send_noparam_command_packet_ack(
            command_tuple)

    def safe_takeoff(self, timeout):
        """
        Sends commands to takeoff until the mambo reports it is taking off

        :param timeout: quit trying to takeoff if it takes more than timeout seconds
        """

        start_time = time.time()
        # take off until it really listens
        while (self.sensors.flying_state != "takingoff"
               and (time.time() - start_time < timeout)):
            if (self.sensors.flying_state == "emergency"):
                return
            success = self.takeoff()
            self.smart_sleep(1)

        # now wait until it finishes takeoff before returning
        while ((self.sensors.flying_state not in ("flying", "hovering")
                and (time.time() - start_time < timeout))):
            if (self.sensors.flying_state == "emergency"):
                return
            self.smart_sleep(1)

    def land(self):
        """
        Sends the land command to the mambo.  Gets the codes for it from the xml files.  Ensures the
        packet was received or sends it again up to a maximum number of times.

        :return: True if the command was sent and False otherwise
        """
        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "Piloting", "Landing")
        return self.drone_connection.send_noparam_command_packet_ack(
            command_tuple)

    def is_landed(self):
        """
        Returns true if it is landed or emergency and False otherwise
        :return:
        """
        if (self.sensors.flying_state in ("landed", "emergency")):
            return True
        else:
            return False

    def safe_land(self, timeout):
        """
        Ensure the mambo lands by sending the command until it shows landed on sensors
        """
        start_time = time.time()

        while (self.sensors.flying_state not in ("landing", "landed")
               and (time.time() - start_time < timeout)):
            if (self.sensors.flying_state == "emergency"):
                return
            color_print("trying to land", "INFO")
            success = self.land()
            self.smart_sleep(1)

        while (self.sensors.flying_state != "landed"
               and (time.time() - start_time < timeout)):
            if (self.sensors.flying_state == "emergency"):
                return
            self.smart_sleep(1)

    def smart_sleep(self, timeout):
        """
        Don't call time.sleep directly as it will mess up BLE and miss WIFI packets!  Use this
        which handles packets received while sleeping

        :param timeout: number of seconds to sleep
        """
        self.drone_connection.smart_sleep(timeout)

    def hover(self):
        """
        Sends the command execute a flat trim to the mambo.  This is basically a hover command.
        Gets the codes for it from the xml files. Ensures the
        packet was received or sends it again up to a maximum number of times.

        :return: True if the command was sent and False otherwise
        """
        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "Piloting", "FlatTrim")
        # print command_tuple
        return self.drone_connection.send_noparam_command_packet_ack(
            command_tuple)

    def flip(self, direction):
        """
        Sends the flip command to the mambo.  Gets the codes for it from the xml files. Ensures the
        packet was received or sends it again up to a maximum number of times.
        Valid directions to flip are: front, back, right, left

        :return: True if the command was sent and False otherwise
        """
        fixed_direction = direction.lower()
        if (fixed_direction not in ("front", "back", "right", "left")):
            print("Error: %s is not a valid direction.  Must be one of %s" %
                  direction,
                  "front, back, right, or left",
                  file=sys.stderr)
            print("Ignoring command and returning", file=sys.stderr)
            return

        (command_tuple,
         enum_tuple) = self.command_parser.get_command_tuple_with_enum(
             "minidrone", "Animations", "Flip", fixed_direction)
        # print command_tuple
        # print enum_tuple

        return self.drone_connection.send_enum_command_packet_ack(
            command_tuple, enum_tuple)

    def turn_degrees(self, degrees):
        """
        Turn the mambo the specified number of degrees (-180, 180).  Degrees must be an integere
        so it is cast to an integer here.  If you send it a float, it will be rounded according to
        the rules of int()

        This is called cap in the xml but it means degrees per
        http://forum.developer.parrot.com/t/what-does-cap-stand-for/6213/2

        :param degrees: degrees to turn (-180 to 180)
        :return: True if the command was sent and False otherwise
        """
        degrees = int(degrees)
        if (degrees > 180):
            degrees = 180
            print("Degrees too large: setting to 180", file=sys.stderr)
        elif (degrees < -180):
            degrees = -180
            print("Degrees too large and negative: setting to -180",
                  file=sys.stderr)

        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "Animations", "Cap")
        return self.drone_connection.send_turn_command(command_tuple, degrees)

    def turn_on_auto_takeoff(self):
        """
        Turn on the auto take off (throw mode)
        :return: True if the command was sent and False otherwise
        """
        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "Piloting", "AutoTakeOffMode")

        return self.drone_connection.send_param_command_packet(
            command_tuple, param_tuple=[1], param_type_tuple=["u8"])

    def take_picture(self):
        """
        Ask the drone to take a picture also checks how many frames are on there, if there are ore than 35 it deletes one
        If connected via Wifi it
        If it is connected via WiFi it also deletes all frames on the Mambo once there are more than 35,
        since after there are 40 the next ones are ignored
        :return: True if the command was sent and False otherwise
        """
        if self.use_wifi:
            list = self.groundcam.get_groundcam_pictures_names()
            if len(list
                   ) > 35:  #if more than 35 pictures on the Mambo delete all
                print("deleting", file=sys.stderr)
                for file in list:
                    self.groundcam._delete_file(file)

        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "MediaRecord", "PictureV2")
        return self.drone_connection.send_noparam_command_packet_ack(
            command_tuple)

    def ask_for_state_update(self):
        """
        Ask for a full state update (likely this should never be used but it can be called if you want to see
        everything the mambo is storing)

        :return: nothing but it will eventually fill the MamboSensors with all of the state variables as they arrive
        """
        command_tuple = self.command_parser.get_command_tuple(
            "common", "Common", "AllStates")
        return self.drone_connection.send_noparam_command_packet_ack(
            command_tuple)

    def _ensure_fly_command_in_range(self, value):
        """
        Ensure the fly direct commands are in range and also ensures the values are integers (just rounds them)

        :param value: the value sent by the user
        :return: a value in the range -100 to 100
        """
        if (value < -100):
            return -100
        elif (value > 100):
            return 100
        else:
            return int(value)

    def fly_direct(self, roll, pitch, yaw, vertical_movement, duration=None):
        """
        Direct fly commands using PCMD.  Each argument ranges from -100 to 100.  Numbers outside that are clipped
        to that range.

        Note that the xml refers to gaz, which is apparently french for vertical movements:
        http://forum.developer.parrot.com/t/terminology-of-gaz/3146

        duration is optional: if you want it to fly for a specified period of time, set this to the number of
        seconds (fractions are fine) or use None to send the command once.  Note, if you do this, you will need
        an outside loop that sends lots of commands or your drone will not fly very far.  The command is not repeated
        inside the drone.  it executes once and goes back to hovering without new commands coming in.  But the option
        of zero duration allows for smoother flying if you want to do the control loop yourself.


        :param roll: roll speed in -100 to 100
        :param pitch: pitch speed in -100 to 100
        :param yaw: yaw speed in -100 to 100
        :param vertical_movement: vertical speed in -100 to 100
        :param duration: optional: seconds for a specified duration or None to send it once (see note above)
        :return:
        """

        my_roll = self._ensure_fly_command_in_range(roll)
        my_pitch = self._ensure_fly_command_in_range(pitch)
        my_yaw = self._ensure_fly_command_in_range(yaw)
        my_vertical = self._ensure_fly_command_in_range(vertical_movement)

        #print("roll is %d pitch is %d yaw is %d vertical is %d" % (my_roll, my_pitch, my_yaw, my_vertical))
        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "Piloting", "PCMD")

        if (duration is None):
            self.drone_connection.send_single_pcmd_command(
                command_tuple, my_roll, my_pitch, my_yaw, my_vertical)
        else:
            self.drone_connection.send_pcmd_command(command_tuple, my_roll,
                                                    my_pitch, my_yaw,
                                                    my_vertical, duration)

    def open_claw(self):
        """
        Open the claw - note not supposed under wifi since the camera takes the place of the claw

        :return: True if the command was sent and False otherwise (can include errors or asking to do this using wifi)
        """
        # not supposed under wifi since the camera takes the place of the claw
        if (self.use_wifi):
            return False

        # print "open claw"
        (command_tuple,
         enum_tuple) = self.command_parser.get_command_tuple_with_enum(
             "minidrone", "UsbAccessory", "ClawControl", "OPEN")
        # print command_tuple
        # print enum_tuple

        return self.drone_connection.send_enum_command_packet_ack(
            command_tuple, enum_tuple, self.sensors.claw_id)

    def close_claw(self):
        """
        Close the claw - note not supposed under wifi since the camera takes the place of the claw

        :return: True if the command was sent and False otherwise (can include errors or asking to do this using wifi)
        """

        # not supposed under wifi since the camera takes the place of the claw
        if (self.use_wifi):
            return False

        # print "close claw"
        (command_tuple,
         enum_tuple) = self.command_parser.get_command_tuple_with_enum(
             "minidrone", "UsbAccessory", "ClawControl", "CLOSE")
        # print command_tuple
        # print enum_tuple

        return self.drone_connection.send_enum_command_packet_ack(
            command_tuple, enum_tuple, self.sensors.claw_id)

    def set_max_vertical_speed(self, value):
        """
        Sets the maximum vertical speed in m/s.  Unknown what the true maximum is but
        we do ensure you only set positive values.

        :param value: maximum speed
        :return: True if the command was sent and False otherwise
        """

        if (value < 0):
            print(
                "Can't set a negative max vertical speed.  Setting to 1 m/s instead.",
                file=sys.stderr)
            value = 1

        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "SpeedSettings", "MaxVerticalSpeed")
        param_tuple = [value]
        param_type_tuple = ['float']
        return self.drone_connection.send_param_command_packet(
            command_tuple, param_tuple, param_type_tuple)

    def set_max_tilt(self, value):
        """
        Sets the maximum tilt in degrees.  Ensures you only set positive values.

        :param value: maximum tilt in degrees
        :return: True if the command was sent and False otherwise
        """

        if (value < 0):
            print(
                "Can't set a negative max horizontal speed.  Setting to 1 m/s instead.",
                file=sys.stderr)
            value = 1

        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "PilotingSettings", "MaxTilt")
        param_tuple = [value]
        param_type_tuple = ['float']
        return self.drone_connection.send_param_command_packet(
            command_tuple, param_tuple, param_type_tuple)

    def emergency(self):
        """
        Sends the emergency command to the mambo.  Gets the codes for it from the xml files.  Ensures the
        packet was received or sends it again up to a maximum number of times.

        :return: True if the command was sent and False otherwise
        """
        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "Piloting", "Emergency")
        self.drone_connection.send_noparam_command_packet_ack(command_tuple)

    def safe_emergency(self, timeout):
        """
        Sends emergency stop command  until the Mambo reports it is not flying anymore

        :param timeout: quit trying to emergency stop if it takes more than timeout seconds
        """

        start_time = time.time()
        # send emergency until it really listens
        while ((self.sensors.flying_state in ("flying", "hovering"))
               and (time.time() - start_time < timeout)):
            success = self.emergency()
            self.smart_sleep(1)

        # now wait until it touches ground before returning
        while ((self.sensors.flying_state != "landed")
               and (time.time() - start_time < timeout)):
            self.smart_sleep(1)

    def flat_trim(self):
        """
        Sends the flat_trim command to the mambo. Gets the codes for it from the xml files.
        """
        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "Piloting", "FlatTrim")
        self.drone_connection.send_noparam_command_packet_ack(command_tuple)

    def change_preferred_mode(self, mode='easy'):
        #Change preferred flying mode on Drone between "easy", "medium" and "difficult".

        (command_tuple,
         enum_tuple) = self.command_parser.get_command_tuple_with_enum(
             "minidrone", "PilotingSettings", "PreferredPilotingMode", mode)

        return self.drone_connection.send_enum_command_packet_ack(
            command_tuple, enum_tuple)

    def change_mode(self):
        #Change between "easy" piloting mode and "preferred" piloting mode.
        #This command only works while the drone is flying.
        command_tuple = self.command_parser.get_command_tuple(
            "minidrone", "Piloting", "TogglePilotingMode")
        return self.drone_connection.send_noparam_command_packet_ack(
            command_tuple)