def __init__(self):
self.homelocation = 1
rospy.init_node('drone_pilot')
self.wppub = rospy.Publisher('/wp_cords', PoseArray, queue_size=60)
self.msgpub = PoseArray()
self.gui_status = rospy.Publisher('status_msg',
String,
queue_size=1,
latch=True)
self.takeoff = rospy.Publisher('activation',
Int32,
queue_size=1,
latch=True)
self.progress = rospy.Publisher('/progbar', Int16, queue_size=1)
rospy.Subscriber('whycon/poses', PoseArray, self.get_pose)
rospy.Subscriber('/qr', String, self.setqr)
rospy.Subscriber('drone_init', Int32, self.set_guicommand)
self.counter = 0
self.takeoffland = -1
self.cruize = 18.0
self.drone_x = 0.0
self.drone_y = 0.0
self.drone_z = 24.0
self.home_x = 0.0
self.home_y = 0.0
self.wp_x = 0.0
self.wp_y = 0.0
self.wp_z = 0.0
#self.authenticationflag = 0 # Do not remove to be uncommented when feature of invalid QR is to be used
self.coordinatespub = [0.0, 0.0, 30.0]
pose = Pose()
pose.position = Point(*self.coordinatespub)
self.msgpub.poses.append(pose)
self.startrun = 0
self.startend = 1
self.coordinates = csvio.csvread(
'/home/' + getpass.getuser() +
'/catkin_ws/src/shravas/src/coordinates.csv')
self.coordinates1 = nofly.main(self.coordinates)
#csvio.csvwrite(self.coordinates1,'/home/'+getpass.getuser()+'/catkin_ws/src/shravas/src/coords.csv')
#print(self.coordinates)
#print(self.coordinates1)
for index in range(len(self.coordinates)):
self.coordinates[index]['x'] = float(self.coordinates[index]['x'])
self.coordinates[index]['y'] = float(self.coordinates[index]['y'])
self.coordinates[index]['z'] = float(self.coordinates[index]['z'])
self.coordinates[index]['delivery'] = int(
self.coordinates[index]['delivery'])
#self.coordinates=[{"x":0,"y":0,"Z":0,"qr":0,"delivery":0},{"x":-8.0,"y":4.0,"Z":20,"qr":"QuadDrop","delivery":2},{"x":0.7,"y":-0.63,"Z":20,"qr":"WANK","delivery":1},{"x":0,"y":0,"Z":0,"qr":0,"delivery":-1}]
self.qr_pub = "no code"
self.start_time = 0.0
self.end_time = 0.0
def auth(uname, password):
password = encrypt(password)
list = csvio.csvread('/home/' + getpass.getuser() +
'/catkin_ws/src/shravas/src/dat.csv')
for index in list:
if (index['uname'] == uname and index['password'] == password):
return 1
else:
return -1
def __init__(self):
self.homelocation = 1
rospy.init_node('drone_pilot')
self.msgpub = PoseArray()
self.posepos = Pose()
self.wppub = rospy.Publisher('/wp_cords', PoseArray, queue_size=60)
self.gui_status = rospy.Publisher('status_msg',
String,
queue_size=1,
latch=True)
self.takeoff = rospy.Publisher('activation',
Int32,
queue_size=1,
latch=True)
self.progress = rospy.Publisher('/progbar', Int16, queue_size=1)
rospy.Subscriber('whycon/poses', PoseArray, self.get_pose)
rospy.Subscriber('/qr', String, self.setqr)
rospy.Subscriber('drone_init', Int32, self.set_guicommand)
self.cruize = 15.0
self.delivery_z = 18.0
self.counter = 0
self.takeoffland = -100
self.drone_x = 0.0
self.drone_y = 0.0
self.drone_z = 24.0
self.home_x = 0.0
self.home_y = 0.0
self.startend = 2
#self.authenticationflag = 0 # Do not remove to be uncommented when feature of invalid QR is to be used
self.coordinatespub = [0.0, 0.0, 30.0]
self.create_pose_array()
self.coordinates = csvio.csvread(
'/home/' + getpass.getuser() +
'/catkin_ws/src/shravas/src/coordinates.csv')
self.coordinates1 = nofly.main(self.coordinates)
print(self.coordinates)
print(self.coordinates1)
for index in range(len(self.coordinates)):
self.coordinates[index]['x'] = float(self.coordinates[index]['x'])
self.coordinates[index]['y'] = float(self.coordinates[index]['y'])
self.coordinates[index]['z'] = float(self.coordinates[index]['z'])
self.coordinates[index]['delivery'] = int(
self.coordinates[index]['delivery'])
self.qr_pub = "no code"
if(co.x==s.x and co.y==s.y):
print("path plannning not possible")
sys.exit(1)
elif (co.x==d.x and co.y==d.y):
rwp.append({'y':d.y,'x':d.x,'delivery':int(wp[i]['delivery']),'z':float(wp[i]['z']),'qr':wp[i]['qr']})
elif((co.x!=s.x and co.y!=s.y) or (co.x!=d.x and co.y!=d.y)):
#print("inserting")
rwp.append({'y':co.y,'x':co.x,'delivery':-2,'z':float(wp[i]['z']),'qr':''})
rwp.append({'y':d.y,'x':d.x,'delivery':int(wp[i]['delivery']),'z':float(wp[i]['z']),'qr':wp[i]['qr']})
return rwp
#csvwrite(rwp,"outputcsv.csv")
#print(wp.x,wp.y)
if __name__ == '__main__':
'''
Function Name: __main__
Logic: For testing purposes only
'''
#wp=[{"x":-8.52,"y":0.14,"z":0,"qr":0,"delivery":0},{"x":-4.4,"y":2.94,"z":20,"qr":"QuadDrop","delivery":2},{"x":0.7,"y":-0.63,"z":20,"qr":"WANK","delivery":1},{"x":0,"y":0,"z":0,"qr":0,"delivery":-1}]
#cir=nofl(-6.7,1.5,2.0)
wp=csvio.csvread('/home/walst/catkin_ws/src/shravas/src/coordinates.csv')
rs=main(wp)
for i in range(len(wp)):
print(wp[i])
print("\n\n")
for i in range(len(rs)):
print(rs[i])
#print(rs[1]['x'],rs[1]['y'])
global pathh
pathh = "/home/" + getpass.getuser() + "/catkin_ws/src/shravas/src/"
global wificard
wc = os.listdir('/sys/class/net/')
wificard = "wlo1"
#wificard = "wlp2s0"
#for i in range(len(wc)):
# if(wc[i]!='lo'):
# wificard=str(wc[i])
# else:
# wificard="wlo1"
global delidat, ls
ls = csvio.csvread(pathh + "coordinates.csv")
delidat = csvio.csvread(pathh + "deliverydata.csv")
drobj = rospy.Publisher('/drone_init', Int32, queue_size=1)
eng = rospy.Publisher('/eng_init', Int32, queue_size=1)
def start():
drobj.publish(1)
def emstop():
drobj.publish(0)
def callback():