class App:
def __init__(self, car, inputs, droneClass):
self.car = car
self.inputs = inputs
self.drone = None
self.droneClass = droneClass
self.isTicking = False
atexit.register(self.destroy)
def start(self):
if self.droneClass:
self.drone = MyARDrone(self.droneClass())
# JRTODO - for connection check, might need to wait a few sec
# if self.drone.connected():
print "[DEBUG] Connected to Drone"
self.drone.reset()
# else:
# print "[ERROR] Not connected to drone. Is the wifi connected?"
# import sys
# sys.exit(1)
else:
print "[DEBUG] No drone class selected. Not connecting to drone."
if self.car:
self.car.connect()
print "[DEBUG] Connected to Car"
self.cs = DroneStateControl(self.inputs, self.drone)
self.car.registerListener(self.cs.received_input)
def startTicking(self, args=None):
self.isTicking = True
if self.drone:
while self.isTicking:
self.cs.tick()
time.sleep(STATE_TICK_SPEED)
else:
print "[WARNING] No drone connected, so not ticking drone states."
while self.isTicking:
time.sleep(0.001)
print "NO TICK"
def destroy(self):
print "---------------- SHUTDOWN ---------------- "
self.isTicking = False
if self.drone:
self.drone.land()
self.drone.halt()
if self.car:
self.car.disconnect()
def start(self):
if self.droneClass:
self.drone = MyARDrone(self.droneClass())
# JRTODO - for connection check, might need to wait a few sec
# if self.drone.connected():
print "[DEBUG] Connected to Drone"
self.drone.reset()
# else:
# print "[ERROR] Not connected to drone. Is the wifi connected?"
# import sys
# sys.exit(1)
else:
print "[DEBUG] No drone class selected. Not connecting to drone."
if self.car:
self.car.connect()
print "[DEBUG] Connected to Car"
self.cs = DroneStateControl(self.inputs, self.drone)
self.car.registerListener(self.cs.received_input)
