class Bebop:
def __init__(self):
"""
Create a new Bebop object. Assumes you have connected to the Bebop's wifi
"""
self.drone_connection = WifiConnection(self, drone_type="Bebop")
# intialize the command parser
self.command_parser = DroneCommandParser()
# initialize the sensors and the parser
self.sensors = BebopSensors()
self.sensor_parser = DroneSensorParser(drone_type="Bebop")
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
"""
#print("data type is %d buffer id is %d sequence number is %d " % (data_type, buffer_id, sequence_number))
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 disconnect(self):
"""
Disconnect the BLE connection. Always call this at the end of your programs to
cleanly disconnect.
:return: void
"""
self.drone_connection.disconnect()
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 bebop is storing)
:return: nothing but it will eventually fill the sensors 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 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(
"ardrone3", "Piloting", "TakeOff")
self.drone_connection.send_noparam_command_packet_ack(command_tuple)
def safe_takeoff(self, timeout):
"""
Sends commands to takeoff until the Bebop 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 bebop. 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(
"ardrone3", "Piloting", "Landing")
return self.drone_connection.send_noparam_command_packet_ack(
command_tuple)
def emergency_land(self):
"""
Sends the land command to the bebop on the high priority/emergency channel.
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(
"ardrone3", "Piloting", "Landing")
return self.drone_connection.send_noparam_high_priority_command_packet(
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 Bebop 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 _ensure_fly_command_in_range(self, value):
"""
Ensure the fly direct commands are in range
: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 value
def fly_direct(self, roll, pitch, yaw, vertical_movement, duration):
"""
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
:param roll:
:param pitch:
:param yaw:
:param vertical_movement:
: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(
"ardrone3", "Piloting", "PCMD")
self.drone_connection.send_pcmd_command(command_tuple, my_roll,
my_pitch, my_yaw, my_vertical,
duration)
def flip(self, direction):
"""
Sends the flip command to the bebop. 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")
print("Ignoring command and returning")
return
(command_tuple,
enum_tuple) = self.command_parser.get_command_tuple_with_enum(
"ardrone3", "Animations", "Flip", fixed_direction)
# print command_tuple
# print enum_tuple
return self.drone_connection.send_enum_command_packet_ack(
command_tuple, enum_tuple)
def start_video_stream(self):
"""
Sends the start stream command to the bebop. The bebop will start streaming
RTP packets on the port defined in wifiConnection.py (55004 by default).
The packets can be picked up by opening an approriate SDP file in a media
player such as VLC, MPlayer, FFMPEG or OpenCV.
:return: nothing
"""
command_tuple = self.command_parser.get_command_tuple(
"ardrone3", "MediaStreaming", "VideoEnable")
param_tuple = [1] # Enable
param_type_tuple = ['u8']
self.drone_connection.send_param_command_packet(
command_tuple, param_tuple, param_type_tuple)
def stop_video_stream(self):
"""
Sends the stop stream command to the bebop. The bebop will stop streaming
RTP packets.
:return: nothing
"""
command_tuple = self.command_parser.get_command_tuple(
"ardrone3", "MediaStreaming", "VideoEnable")
param_tuple = [0] # Disable
param_type_tuple = ['u8']
self.drone_connection.send_param_command_packet(
command_tuple, param_tuple, param_type_tuple)
def set_video_stream_mode(self, mode='low_latency'):
"""
Set the video mode for the RTP stream.
:param: mode: one of 'low_latency', 'high_reliability' or 'high_reliability_low_framerate'
:return: True if the command was sent and False otherwise
"""
# handle case issues
fixed_mode = mode.lower()
if (fixed_mode not in ("low_latency", "high_reliability",
"high_reliability_low_framerate")):
print(
"Error: %s is not a valid stream mode. Must be one of %s" %
(mode,
"low_latency, high_reliability or high_reliability_low_framerate"
))
print("Ignoring command and returning")
return False
(command_tuple,
enum_tuple) = self.command_parser.get_command_tuple_with_enum(
"ardrone3", "MediaStreaming", "VideoStreamMode", mode)
return self.drone_connection.send_enum_command_packet_ack(
command_tuple, enum_tuple)
def pan_tilt_camera(self, tilt_degrees, pan_degrees):
"""
Send the command to pan/tilt the camera by the specified number of degrees in pan/tilt
Note, this only seems to work in small increments. Use pan_tilt_velocity to get the camera to look
straight downward
:param tilt_degrees: tilt degrees
:param pan_degrees: pan degrees
:return:
"""
command_tuple = self.command_parser.get_command_tuple(
"ardrone3", "Camera", "OrientationV2")
self.drone_connection.send_param_command_packet(
command_tuple,
param_tuple=[tilt_degrees, pan_degrees],
param_type_tuple=['float', 'float'],
ack=False)
def pan_tilt_camera_velocity(self,
tilt_velocity,
pan_velocity,
duration=0):
"""
Send the command to tilt the camera by the specified number of degrees per second in pan/tilt.
This function has two modes. First, if duration is 0, the initial velocity is sent and
then the function returns (meaning the camera will keep moving). If it is greater than 0,
the command executes for that amount of time and then sends a stop command to the camera
and then returns.
:param tilt_degrees: tile change in degrees per second
:param pan_degrees: pan change in degrees per second
:param duration: seconds to run the command for
:return:
"""
command_tuple = self.command_parser.get_command_tuple(
"ardrone3", "Camera", "Velocity")
self.drone_connection.send_param_command_packet(
command_tuple,
param_tuple=[tilt_velocity, pan_velocity],
param_type_tuple=['float', 'float'],
ack=False)
if (duration > 0):
# wait for the specified duration
start_time = time.time()
while (time.time() - start_time < duration):
self.drone_connection.smart_sleep(0.1)
# send the stop command
self.drone_connection.send_param_command_packet(
command_tuple,
param_tuple=[0, 0],
param_type_tuple=['float', 'float'],
ack=False)
class Bebop:
def __init__(self):
"""
Create a new Bebop object. Assumes you have connected to the Bebop's wifi
"""
self.drone_connection = WifiConnection(self, drone_type="Bebop")
# intialize the command parser
self.command_parser = DroneCommandParser()
# initialize the sensors and the parser
self.sensors = BebopSensors()
self.sensor_parser = DroneSensorParser(drone_type="Bebop")
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 disconnect(self):
"""
Disconnect the BLE connection. Always call this at the end of your programs to
cleanly disconnect.
:return: void
"""
self.drone_connection.disconnect()
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 bebop is storing)
:return: nothing but it will eventually fill the sensors 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 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(
"ardrone3", "Piloting", "TakeOff")
self.drone_connection.send_noparam_command_packet_ack(command_tuple)
def safe_takeoff(self, timeout):
"""
Sends commands to takeoff until the Bebop 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(
"ardrone3", "Piloting", "Landing")
return self.drone_connection.send_noparam_command_packet_ack(
command_tuple)
def safe_land(self, timeout):
"""
Ensure the Bebop 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 _ensure_fly_command_in_range(self, value):
"""
Ensure the fly direct commands are in range
: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 value
def fly_direct(self, roll, pitch, yaw, vertical_movement, duration):
"""
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
:param roll:
:param pitch:
:param yaw:
:param vertical_movement:
: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(
"ardrone3", "Piloting", "PCMD")
self.drone_connection.send_pcmd_command(command_tuple, my_roll,
my_pitch, my_yaw, my_vertical,
duration)
def flip(self, direction):
"""
Sends the flip command to the bebop. 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")
print("Ignoring command and returning")
return
(command_tuple,
enum_tuple) = self.command_parser.get_command_tuple_with_enum(
"ardrone3", "Animations", "Flip", fixed_direction)
# print command_tuple
# print enum_tuple
return self.drone_connection.send_enum_command_packet_ack(
command_tuple, enum_tuple)