def __init__(self, ip=ARDRONE_IP, port=ARDRONE_COMMAND_PORT):
self.comwdg_interval = COMWDG_INTERVAL
self.address = (ip, port)
self.s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.cv = threading.Condition()
self.thread = Namespace(is_alive=lambda: False)
self.start()
class ARDroneAt:
def __init__(self, ip=ARDRONE_IP, port=ARDRONE_COMMAND_PORT):
self.comwdg_interval = COMWDG_INTERVAL
self.address = (ip, port)
self.s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.cv = threading.Condition()
self.thread = Namespace(is_alive=lambda: False)
self.start()
def start(self):
if not self.thread.is_alive():
self.thread = threading.Thread(target=self.loop)
self.thread.daemon = True
self.stopped = False
self.monad_command = translator()
self.thread.start()
def stop(self):
self.stopped = True
self.cv.notify()
def loop(self):
with self.cv:
while True:
self.cv.wait(self.comwdg_interval)
if self.stopped:
break
self.monad_command, msg = self.monad_command()
if DEBUG and not msg.startswith('AT*COMWDG'):
print(msg[:-1].replace('\r', '\n'))
self.s.sendto(msg, self.address)
self.cv.notify()
def push(self, cmd, *args, **kwargs):
with self.cv:
self.monad_command = self.monad_command(cmd, *args, **kwargs)
def send(self, cmd, *args, **kwargs):
with self.cv:
self.push(cmd, *args, **kwargs)
self.cv.notify()
self.cv.wait()
__call__ = send
