def Record_Transmit(Dr_Obj):
Mr_IP = '192.168.8.240' # Master IP
drone(stop_recording(cam_id=0))
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
drone(start_recording(cam_id=0))
print(colored( ("Recording Started"), "blue"))
time.sleep(2)
drone(stop_recording(cam_id=0))
photo_saved.wait()
print(colored( ("Recording Completed"), "blue"))
print(colored( ("Starting transfer to Drone Computer"), "green"))
media_id = photo_saved.received_events().last().args["media_id"]
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(colored( ("File transfer to Drone Computer in progress"), "green"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(colored( ("File transfer to Drone computer completed !!"), "green"))
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect(hostname= Mr_IP, username = '******',password ='******',port= 22)
sftp_client = ssh.open_sftp()
#rem_path = '/home/spacetrex/Results/'+ media_id+'.MP4'
rem_path = '/home/spacetrex/Results/ANAFI_2.MP4'
loc_path = download_path
print(colored( ("Starting transfer to Master Computer"), "cyan"))
sftp_client.put(loc_path, rem_path)
sftp_client.close()
ssh.close()
print(colored( ("File transfer to Master computer completed !!"), "cyan"))
def camera_callback(self, msg):
if msg.action & 0b001: # take picture
self.drone(
camera.take_photo(cam_id=0)
) # https://developer.parrot.com/docs/olympe/arsdkng_camera.html#olympe.messages.camera.take_photo
if msg.action & 0b010: # start recording
self.drone(camera.start_recording(cam_id=0)).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_camera.html#olympe.messages.camera.start_recording
if msg.action & 0b100: # stop recording
self.drone(camera.stop_recording(cam_id=0)).wait(
) # https://developer.parrot.com/docs/olympe/arsdkng_camera.html#olympe.messages.camera.stop_recording
self.drone(
gimbal.
set_target( # https://developer.parrot.com/docs/olympe/arsdkng_gimbal.html#olympe.messages.gimbal.set_target
gimbal_id=0,
control_mode='position', # {'position', 'velocity'}
yaw_frame_of_reference='none',
yaw=0.0,
pitch_frame_of_reference=self.
gimbal_frame, # {'absolute', 'relative', 'none'}
pitch=msg.pitch,
roll_frame_of_reference=self.
gimbal_frame, # {'absolute', 'relative', 'none'}
roll=msg.roll))
self.drone(
camera.
set_zoom_target( # https://developer.parrot.com/docs/olympe/arsdkng_camera.html#olympe.messages.camera.set_zoom_target
cam_id=0,
control_mode='level', # {'level', 'velocity'}
target=msg.zoom)) # [1, 3]
def Setup_Photo_mode(drone):
drone(stop_recording(cam_id=0)).wait()
drone(set_autorecord(cam_id=0, state="inactive")).wait()
drone(set_camera_mode(cam_id=0, value="photo")).wait()
# For the file_format: jpeg is the only available option
# dng is not supported in burst mode
drone(
set_exposure_settings(
cam_id=0,
mode="automatic_prefer_iso_sensitivity",
shutter_speed="shutter_1_over_10000",
iso_sensitivity="iso_1200",
max_iso_sensitivity="iso_1200",
)
).wait()
drone(
set_photo_mode(
cam_id=0,
mode="single",
format="rectilinear",
file_format="jpeg",
burst="burst_14_over_4s",
bracketing="preset_1ev",
capture_interval=0.0,
)
).wait()
def Record_Transmit(Dr_Obj):
Mr_IP = '192.168.8.240' # Master IP
drone(stop_recording(cam_id=0))
Setup_Video_mode(drone)
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
drone(start_recording(cam_id=0))
print(colored(("Recording Started"), "blue"))
time.sleep(2)
drone(stop_recording(cam_id=0))
photo_saved.wait()
print(colored(("Recording Completed"), "blue"))
print(colored(("Starting transfer to Drone Computer"), "green"))
media_id = photo_saved.received_events().last().args["media_id"]
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(colored(("File transfer to Drone Computer in progress"),
"green"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(
colored(("File transfer to Drone computer completed !!"), "green"))
def function_11():
drone(
stop_recording(cam_id=0, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))
>> f.write("drone(")
>> f.write("\n")
>> f.write(" stop_recording(cam_id=0, _timeout=10, _no_expect=False, _float_tol=(1e-07, 1e-09))")
>> f.write("\n")
>> f.write(")")
>> f.write("\n")
)
def __init__(self, D_IP, nm, lr):
self.name = nm
loc = "/home/spacetrex/code/Logs/"
tck = str(round(time.time()))
lf_nm = loc + nm + tck
self.D_IP = D_IP
#self.drone = olympe.Drone(self.D_IP, loglevel=7, logfile=open(lf_nm, "a+"))
self.drone = olympe.Drone(self.D_IP, loglevel=0)
self.drone.connection()
self.drone(stop_recording(cam_id=0)).wait()
self.drone(set_camera_mode(cam_id=0, value="recording")).wait()
self.loop_rate = lr # Set loop rate (Hz)
self.X_tol = 0.5 # Position tolerance (m)
self.V_tol = 0.1 # Velocity tolerance(m/s)
self.yw_tol = 2.0 * pi / 180.0 # Yaw rate tolerance (rads)
self.Tt_MX = 10 # Max tilt setting for yaw and pitch (deg)
self.Tl_Mx = 4 # Max vertical speed (m/s)
self.YR_MX = 22 # Max yaw rate (deg/s)
self.GB_MX = 50 # Max gimbal rate (deg/s)
self.thr_vec = [self.Tt_MX, self.Tt_MX, self.Tl_Mx,
self.YR_MX] # Drone settings
self.gn_mat = [3.6, 18.0, 3.6, 18.0, 5.0, 9.0, 2.0] # Controller Gains
#self.gn_mat = [6, 18, 4, 5, 11, 2]
self.ANAFI_IP = D_IP # Real Drone
# Drone web server URL
self.ANAFI_URL = "http://{}/".format(self.ANAFI_IP)
self.ANAFI_MEDIA_API_URL = self.ANAFI_URL + "api/v1/media/medias/"
# Set Rotation Speed
maxYawRate = self.drone(MaxRotationSpeed(self.YR_MX)).wait()
if maxYawRate.success():
print(colored(("Max Yaw rate set to: ", self.YR_MX), "green"))
elif maxYawRate.timedout():
print(colored(("Yaw rate action failed"), "green"))
else:
print(colored(("Yaw rate action in progress"), "green"))
# Set Gimbal Speed
max_GMB_Rate = self.drone(
set_max_speed(gimbal_id=0,
yaw=self.GB_MX / 5,
pitch=self.GB_MX,
roll=self.GB_MX / 5)).wait()
if max_GMB_Rate.success():
print(
colored(("Max gimbal pitch rate set to: ", self.GB_MX),
"green"))
elif max_GMB_Rate.timedout():
print(colored(("gimbal rate action failed"), "green"))
else:
print(colored(("gimbal rate action in progress"), "green"))
def record_and_fetch(Dr_Obj, X_Tar, ran_V, rec_Vid):
Pose_Topic = "/vicon/anafi_2/odom"
pose_subscriber = rospy.Subscriber(Pose_Topic, Odometry, poseCallback)
global x, y, z, vx, vy, vz, wx, wy, wz, roll, pitch, yaw
rec_Vid = 0
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
X_St = [x, y, z, vx, vy, vz, roll, pitch, yaw]
DT = np.array(X_Tar) - np.array(X_St[0:3])
r_tar = vec_mag(DT)
if r_tar <= 1.001 * ran_V and rec_Vid == 0:
print(colored(("Recording Started"), "blue"))
drone(start_recording(cam_id=0))
elif r_tar <= 1.001 * ran_V and rec_Vid == 1:
print(colored(("Recording In Progress"), "blue"))
elif r_tar > .001 * ran_V and rec_Vid == 2:
print(colored(("Recording Completed"), "blue"))
drone(stop_recording(cam_id=0))
photo_saved = drone(
recording_progress(result="stopped", _policy="wait"))
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
print(media_id)
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"],
stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(colored(("File Transfer in progress"), "blue"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(colored(("File Transfer Completed !!!!!!!!!!"), "green"))
rec_Vid = 2
def Setup_Video_mode(drone):
drone(stop_recording(cam_id=0)).wait()
drone(set_camera_mode(cam_id=0, value="recording")).wait()
drone(set_autorecord(cam_id=0, state="inactive")).wait()
drone(
set_recording_mode(
cam_id=0,
mode="standard",
resolution="res_uhd_4k",
framerate="fps_30",
hyperlapse="ratio_15",
)
).wait(_timeout=2.).success()
def take_Map_Video_Move(drone, th_mov, th_R0, dxm):
# take a photo burst and get the associated media_id
xc, yc, zc = R3_Mat_Cords(th_R0, dxm)
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
# drone(
# MaxRotationSpeed(1)
# >> MaxRotationSpeedChanged(current=1, _policy='wait')
# ).wait()
#drone(setAutonomousFlightMaxRotationSpeed(1e-7)).wait()
drone(start_recording(cam_id=0) & moveBy(xc, yc, zc, th_mov)).wait()
drone(stop_recording(cam_id=0)).wait()
print('Action Completed')
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
print(media_id)
# download the photos associated with this media id
os.chdir("/home/rnallapu/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print('Hello')
print(download_path)
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
#shutil.copy2(download_path, "/home/rnallapu/code/Photos/")
shutil.copy2(download_path, Res_dir)
def test_asyncaction():
with olympe.Drone(DRONE_IP) as drone:
drone.connect()
# Start a flying action asynchronously
flyingAction = drone(
TakeOff() >> FlyingStateChanged(state="hovering", _timeout=5) >>
moveBy(10, 0, 0, 0) >> FlyingStateChanged(state="hovering",
_timeout=5) >> Landing())
# Start video recording while the drone is flying
if not drone(start_recording(cam_id=0)).wait().success():
assert False, "Cannot start video recording"
# Send a gimbal pitch velocity target while the drone is flying
cameraAction = drone(
gimbal.set_target(
gimbal_id=0,
control_mode="velocity",
yaw_frame_of_reference="none",
yaw=0.0,
pitch_frame_of_reference="none",
pitch=0.1,
roll_frame_of_reference="none",
roll=0.0,
)).wait()
if not cameraAction.success():
assert False, "Cannot set gimbal velocity target"
# Wait for the end of the flying action
if not flyingAction.wait().success():
assert False, "Cannot complete the flying action"
# Stop video recording while the drone is flying
if not drone(stop_recording(cam_id=0)).wait().success():
assert False, "Cannot stop video recording"
# Leaving the with statement scope: implicit drone.disconnect() but that
# is still a good idea to perform the drone disconnection explicitly
drone.disconnect()
def Drone_Map_Opn2(Dr_Obj, X_Ref, X_Tar, ran_V, Tp, vyT, X_End):
Mr_IP = '192.168.8.240' # Master IP
drone(stop_recording(cam_id=0))
thr_vec = Dr_Obj.thr_vec
X_tol = Dr_Obj.X_tol
yw_tol = Dr_Obj.yw_tol
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
Drone_Move_Orient(Dr_Obj, X_Ref)
print(colored(("Moved home, executing map command!"), "green"))
time.sleep(0.5)
X_Ref2 = X_Ref
y0 = X_Ref[1]
global x, y, z, vx, vy, vz, wx, wy, wz, roll, pitch, yaw
Pose_Topic = "/vicon/anafi_5/odom"
lr = 20
print(colored(("Loop Rate: ", lr, " Hz"), "magenta"))
print(colored(("Travel Time: ", Tp, " s"), "magenta"))
print(colored(("Velocity: ", vyT, " m/s"), "magenta"))
looprate = rospy.Rate(lr)
dt = 1.0 / lr
X_tol = 0.1
gn_mat = [5.5, 18, 4.3, 2, 12, 1.3] # Controller Gains
rec_Vid = 0
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
for t in np.arange(0, Tp + dt, dt):
pose_subscriber = rospy.Subscriber(Pose_Topic, Odometry, poseCallback)
X_St = [x, y, z, vx, vy, vz, roll, pitch, yaw]
X_Ref[1] = y0 + vyT * t
X_Ref[4] = vyT
X_Ref[8] = wrapTo2Pi(atan2(-y, -x))
DT = np.array(X_Tar) - np.array(X_St[0:3])
r_tar = vec_mag(DT)
th0 = asin(DT[2] / r_tar) * 180 / pi
gimbal_target(drone, th0)
drone_center(drone, X_St, X_Ref, gn_mat, thr_vec, X_tol, yw_tol)
print(colored(("Distance to target: ", r_tar), "red"))
print(colored(("Record Status: ", rec_Vid), "red"))
print(colored(("Distance threshhold: ", 1.01 * ran_V), "blue"))
# print(colored(("Gimbal angle computed: ", th0),"blue"))
if r_tar <= 1.01 * ran_V and rec_Vid == 0:
rec_Vid = 1
drone(start_recording(cam_id=0))
print(colored(("Recording Started"), "blue"))
elif r_tar > 1.01 * ran_V and rec_Vid == 1:
rec_Vid = 2
print(colored(("Recording Completed"), "blue"))
drone(stop_recording(cam_id=0))
photo_saved.wait()
looprate.sleep()
print(colored(("Current Time: ", t, "sec"), "cyan"))
print(colored(("Targetted End Y: ", X_Ref[1], "m/s"), "cyan"))
print(colored(("Achieved End Y: ", X_St[1], "m/s"), "cyan"))
drone_center(drone, X_St, X_End, gn_mat, thr_vec, X_tol, yw_tol)
drone(Landing()).wait()
if rec_Vid == 2:
print(colored(("Starting transfer to drone computer!"), "green"))
media_id = photo_saved.received_events().last().args["media_id"]
print(colored((media_id), "green"))
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"],
stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(
colored(("File transfer to drone computer in progress"),
"green"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(colored(("File transfer to drone computer !!"), "green"))
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect(hostname=Mr_IP,
username='******',
password='******',
port=22)
sftp_client = ssh.open_sftp()
loc_path = download_path
rem_path = '/home/spacetrex/Results/ANAFI_5.MP4'
print(colored(("Starting transfer to Master Computer"), "cyan"))
sftp_client.put(loc_path, rem_path)
sftp_client.close()
ssh.close()
print(
colored(("File transfer to Master computer completed !!"), "cyan"))
else:
print(colored(("No Recording obtained!!"), "red"))
print(
colored(("Mapping done!! Holding drone at Final Desitination!"),
"green"))
colored(('Invalid action selected, please select again! \n'),
"red"))
def listener():
rospy.init_node('anafi_5_listener', anonymous=True)
#this topic needs to be changed for each computer
rospy.Subscriber("anafi_5/master", Int16, callback)
rospy.spin()
if __name__ == '__main__':
try:
signal(SIGINT, Drone_land)
global Dr_cl
Dr_IP = "192.168.42.1" # Real Drone
Dr_cl = Anafi_drone(Dr_IP)
drone = Dr_cl.drone
drone(stop_recording(cam_id=0))
x0 = 5
print('\x1bc')
X_Ref = Drone_Actns_5(x0, drone)
listener()
except rospy.ROSInterruptException:
rospy.loginfo("node terminated")
# Start video recording while the drone is flying
if not drone(start_recording(cam_id=0)).wait().success():
raise RuntimeError("Cannot start video recording")
# Send a gimbal pitch velocity target while the drone is flying
cameraAction = drone(gimbal.set_target(
gimbal_id=0,
control_mode="velocity",
yaw_frame_of_reference="none",
yaw=0.0,
pitch_frame_of_reference="none",
pitch=0.1,
roll_frame_of_reference="none",
roll=0.0,
)).wait()
if not cameraAction.success():
raise RuntimeError("Cannot set gimbal velocity target")
# Wait for the end of the flying action
if not flyingAction.wait().success():
print(drone.get_state(FlyingStateChanged)['state'])
raise RuntimeError("Cannot complete the flying action")
# Stop video recording while the drone is flying
if not drone(stop_recording(cam_id=0)).wait().success():
raise RuntimeError("Cannot stop video recording")
# Leaving the with statement scope: implicit drone.disconnection()
def Drone_Map_Opn2(Dr_Obj, X_Ref, X_Tar, ran_V):
drone(stop_recording(cam_id=0))
thr_vec = Dr_Obj.thr_vec
X_tol = Dr_Obj.X_tol
yw_tol = Dr_Obj.yw_tol
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
Drone_Move_Orient(Dr_Obj, X_Ref)
print(colored(("Moved home, executing map command!"), "green"))
time.sleep(0.5)
X_Ref2 = X_Ref
y0 = X_Ref[1]
global x, y, z, vx, vy, vz, wx, wy, wz, roll, pitch, yaw
# Pose_Topic = "/vicon/anafi_2/odom"
vyT = -0.15
Tp = 30
lr = 35
looprate = rospy.Rate(lr)
dt = 1.0 / lr
X_tol = 0.1
gn_mat = [5, 15, 4, 4, 12, 1.8] # Controller Gains
rec_Vid = 0
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
for t in np.arange(0, Tp + dt, dt):
pose_subscriber = rospy.Subscriber(Pose_Topic, Odometry, poseCallback)
X_St = [x, y, z, vx, vy, vz, roll, pitch, yaw]
X_Ref[1] = y0 + vyT * t
X_Ref[4] = vyT
X_Ref[8] = wrapTo2Pi(atan2(-y, -x))
Yaw_Ref_D = X_Ref[8] * 180 / pi
DT = np.array(X_Tar) - np.array(X_St[0:3])
r_tar = vec_mag(DT)
Er = np.array(X_Ref[0:3]) - np.array(X_St[0:3])
er = vec_mag(Er)
th0 = asin(DT[2] / r_tar) * 180 / pi
Yaw_D = yaw * 180 / pi
yw_er = abs(Yaw_Ref_D - Yaw_D)
gimbal_target(drone, th0)
drone_center(drone, X_St, X_Ref, gn_mat, thr_vec, X_tol, yw_tol)
print(" ")
print(colored(("Reference tracking error: ", er), "yellow"))
print(colored(("Yaw tracking Error: ", yw_er), "yellow"))
print(colored(("Z desired: ", X_Ref[2]), "green"))
print(colored(("Z achieved: ", z), "green"))
print(colored(("Distance to target: ", r_tar), "red"))
print(colored(("Record Status: ", rec_Vid), "red"))
print(colored(("Distance threshhold: ", 1.01 * ran_V), "blue"))
print(colored(("Gimbal angle computed: ", th0), "blue"))
if r_tar <= 1.01 * ran_V and rec_Vid == 0:
rec_Vid = 1
drone(start_recording(cam_id=0))
print(colored(("Recording Started"), "blue"))
elif r_tar > 1.01 * ran_V and rec_Vid == 1:
rec_Vid = 2
print(colored(("Recording Completed"), "blue"))
drone(stop_recording(cam_id=0))
photo_saved.wait()
looprate.sleep()
time.sleep(0.5)
# X_Ref2[1] = -2.0
# Drone_Move_Orient(Dr_Obj, X_Ref2)
drone(Landing()).wait()
print(colored(("Starting Transfer"), "green"))
# photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
# photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
print(colored((media_id), "green"))
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(colored(("File Transfer in progress"), "blue"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(colored(("File Transfer Completed !!!!!!!!!!"), "green"))
print(
colored(("Mapping done !! Holding drone at Final Desitination!"),
"green"))
