def SendKeepAlive(self):
while 1:
watchDog = ControlMessage()
watchDog.CommandWatchDog()
self.SendCommand(watchDog)
# Sleep for 2000 ms and then send an is alive message
#time.sleep(2000.0/1000000.0)
time.sleep(5000.0 / 1000000.0)
def TakeOff(self):
# Create Messages
trim = ControlMessage()
trim.CommandFtrim()
config = ControlMessage()
config.CommandConfig("control:altitude_max", "20000")
ref_msg = ControlMessage()
ref_msg.CommandDroneState(True)
# Doing command
self.makeCommand(trim)
self.makeCommand(config)
self.makeCommand(ref_msg)
def __receiveNavMessages(self):
self.nav_socket.sendto("\x01\x00\x00\x00",
('192.168.1.1', ARDRONE_NAVDATA_PORT))
configure = ControlMessage()
configure.CommandConfig("general:navdata_demo", "TRUE")
self.sendCommand(configure)
print 'start get nav messages'
while 1:
try:
is_good_data = True
data = self.nav_socket.recv(ARDRONE_NAVDATA_SIZE)
except IOError as e:
# we consumed every packet from the socket and
# continue with the last one
time.sleep(1)
is_good_data = False
print "I/O error({0}): {1}".format(e.errno, e.strerror)
if is_good_data:
navdata = NavdataMessage()
navdata.decode(data)
self.gotNavdataMessage(navdata)
def TurnRight(self):
msg = ControlMessage()
msg.CommandTurnRight()
self.makeCommand(msg)
def MoveBackword(self):
msg = ControlMessage()
msg.CommandMoveBackword()
self.makeCommand(msg)
def MoveForward(self):
msg = ControlMessage()
msg.CommandMoveForward()
self.makeCommand(msg)
def MoveDown(self):
msg = ControlMessage()
msg.CommandMoveDown()
self.makeCommand(msg)
def MoveRight(self):
msg = ControlMessage()
msg.CommandMoveRight()
self.makeCommand(msg)
def CommandHover(self):
msg = ControlMessage()
msg.CommandHover()
self.makeCommand(msg)
def Land(self):
ref_msg = ControlMessage()
ref_msg.CommandDroneState(False)
self.makeCommand(ref_msg)
def SendCommand(self, ControlMessage):
self.seq += 1
message = ControlMessage.Encode(self.seq)
self.sock.sendto("\x01\x00\x00\x00",
("192.168.1.1", ARDRONE_COMMAND_PORT))
self.sock.sendto(message, ("192.168.1.1", ARDRONE_COMMAND_PORT))