def run(self):
if self.is_ar_drone_2:
video_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
video_socket.connect(
('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
video_socket.setblocking(0)
else:
video_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
video_socket.setblocking(0)
video_socket.bind(('', libardrone.ARDRONE_VIDEO_PORT))
video_socket.sendto("\x01\x00\x00\x00",
('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
nav_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
nav_socket.setblocking(0)
nav_socket.bind(('', libardrone.ARDRONE_NAVDATA_PORT))
nav_socket.sendto("\x01\x00\x00\x00",
('192.168.1.1', libardrone.ARDRONE_NAVDATA_PORT))
stopping = False
while not stopping:
inputready, outputready, exceptready = select.select(
[nav_socket, video_socket, self.com_pipe], [], [])
for i in inputready:
if i == video_socket:
while 1:
try:
data = video_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
if self.is_ar_drone_2:
self.ar2video.write(data)
# Sending is taken care of by the decoder
else:
w, h, image, t = arvideo.read_picture(data)
self.video_pipe.send(image)
elif i == nav_socket:
while 1:
try:
data = nav_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
navdata = libardrone.decode_navdata(data)
self.nav_pipe.send(navdata)
elif i == self.com_pipe:
_ = self.com_pipe.recv()
stopping = True
break
video_socket.close()
nav_socket.close()
def run(self):
if self.is_ar_drone_2:
video_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
video_socket.connect(('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
video_socket.setblocking(0)
else:
video_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
video_socket.setblocking(0)
video_socket.bind(('', libardrone.ARDRONE_VIDEO_PORT))
video_socket.sendto("\x01\x00\x00\x00", ('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
nav_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
nav_socket.setblocking(0)
nav_socket.bind(('', libardrone.ARDRONE_NAVDATA_PORT))
nav_socket.sendto("\x01\x00\x00\x00", ('192.168.1.1', libardrone.ARDRONE_NAVDATA_PORT))
stopping = False
while not stopping:
inputready, outputready, exceptready = select.select([nav_socket, video_socket, self.com_pipe], [], [])
for i in inputready:
if i == video_socket:
while 1:
try:
data = video_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
if self.is_ar_drone_2:
self.ar2video.write(data)
# Sending is taken care of by the decoder
else:
w, h, image, t = arvideo.read_picture(data)
self.video_pipe.send(image)
elif i == nav_socket:
while 1:
try:
data = nav_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
navdata = libardrone.decode_navdata(data)
self.nav_pipe.send(navdata)
elif i == self.com_pipe:
_ = self.com_pipe.recv()
stopping = True
break
video_socket.close()
nav_socket.close()
def run(self):
video_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
video_socket.setblocking(0)
video_socket.bind(('', libardrone.ARDRONE_VIDEO_PORT))
video_socket.sendto("\x01\x00\x00\x00",
(self.ip, libardrone.ARDRONE_VIDEO_PORT))
nav_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
nav_socket.setblocking(0)
nav_socket.bind(('', libardrone.ARDRONE_NAVDATA_PORT))
nav_socket.sendto("\x01\x00\x00\x00",
(self.ip, libardrone.ARDRONE_NAVDATA_PORT))
stopping = False
while not stopping:
inputready, outputready, exceptready = select.select(
[nav_socket, video_socket, self.com_pipe], [], [])
for i in inputready:
if i == video_socket:
while 1:
try:
data = video_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
w, h, image, t = arvideo.read_picture(data)
self.video_pipe.send(image)
elif i == nav_socket:
while 1:
try:
data = nav_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
navdata = libardrone.decode_navdata(data)
# print 'navdata being sent'
self.nav_pipe.send(navdata)
elif i == self.com_pipe:
_ = self.com_pipe.recv()
stopping = True
break
video_socket.close()
nav_socket.close()
def run(self):
video_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
video_socket.setblocking(0)
video_socket.bind(('', libardrone.ARDRONE_VIDEO_PORT))
video_socket.sendto("\x01\x00\x00\x00", (self.ip, libardrone.ARDRONE_VIDEO_PORT))
nav_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
nav_socket.setblocking(0)
nav_socket.bind(('', libardrone.ARDRONE_NAVDATA_PORT))
nav_socket.sendto("\x01\x00\x00\x00", (self.ip, libardrone.ARDRONE_NAVDATA_PORT))
stopping = False
while not stopping:
inputready, outputready, exceptready = select.select([nav_socket, video_socket, self.com_pipe], [], [])
for i in inputready:
if i == video_socket:
while 1:
try:
data = video_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
w, h, image, t = arvideo.read_picture(data)
self.video_pipe.send(image)
elif i == nav_socket:
while 1:
try:
data = nav_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
navdata = libardrone.decode_navdata(data)
# print 'navdata being sent'
self.nav_pipe.send(navdata)
elif i == self.com_pipe:
_ = self.com_pipe.recv()
stopping = True
break
video_socket.close()
nav_socket.close()
def run(self):
def _connect():
logging.warn('Connection to ardrone')
if self.is_ar_drone_2:
video_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
video_socket.connect(('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
video_socket.setblocking(0)
else:
video_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
video_socket.setblocking(0)
video_socket.bind(('', libardrone.ARDRONE_VIDEO_PORT))
video_socket.sendto("\x01\x00\x00\x00", ('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
nav_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
nav_socket.setblocking(0)
nav_socket.bind(('', libardrone.ARDRONE_NAVDATA_PORT))
nav_socket.sendto("\x01\x00\x00\x00", ('192.168.1.1', libardrone.ARDRONE_NAVDATA_PORT))
control_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
control_socket.connect(('192.168.1.1', libardrone.ARDRONE_CONTROL_PORT))
control_socket.setblocking(0)
time.sleep(1.0)
com_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
com_socket.connect(('127.0.0.1', 17482))
com_socket.setblocking(0)
logging.warn('Connection established')
return video_socket, nav_socket, control_socket, com_socket
def _disconnect(video_socket, nav_socket, control_socket):
logging.warn('Disconnection to ardrone streams')
video_socket.close()
nav_socket.close()
control_socket.close()
video_socket, nav_socket, control_socket, com_socket = _connect()
self.stopping = False
connection_lost = 1
reconnection_needed = False
while not self.stopping:
if reconnection_needed:
_disconnect(video_socket, nav_socket, control_socket)
video_socket, nav_socket, control_socket, com_socket = _connect()
reconnection_needed = False
inputready, outputready, exceptready = select.select([nav_socket, video_socket, com_socket, control_socket], [], [], 1.)
if len(inputready) == 0:
connection_lost += 1
reconnection_needed = True
for i in inputready:
if i == video_socket:
while 1:
try:
data = video_socket.recv(65536)
if self.is_ar_drone_2:
self.ar2video.write(data)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
# Sending is taken care of by the decoder
if not self.is_ar_drone_2:
w, h, image, t = arvideo.read_picture(data)
self._drone.set_image(image)
elif i == nav_socket:
while 1:
try:
data = nav_socket.recv(500)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
navdata, has_information = libardrone.decode_navdata(data)
if (has_information):
self._drone.set_navdata(navdata)
elif i == self.com_pipe:
_ = self.com_pipe.recv()
self.stopping = True
break
elif i == com_socket:
# print "got die!"
self.stopping = True
break
elif i == control_socket:
reconnection_needed = False
while not reconnection_needed:
try:
data = control_socket.recv(65536)
if len(data) == 0:
logging.warning('Received an empty packet on control socket')
reconnection_needed = True
else:
logging.warning("Control Socket says : %s", data)
except IOError:
break
_disconnect(video_socket, nav_socket, control_socket)
def run(self):
def _connect():
logging.warn('Connection to ardrone')
if self.is_ar_drone_2:
video_socket = socket.socket(socket.AF_INET,
socket.SOCK_STREAM)
video_socket.connect(
('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
video_socket.setblocking(0)
else:
video_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
video_socket.setblocking(0)
video_socket.bind(('', libardrone.ARDRONE_VIDEO_PORT))
video_socket.sendto(
"\x01\x00\x00\x00",
('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
nav_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM,
socket.IPPROTO_UDP)
nav_socket.setblocking(0)
nav_socket.bind(('', libardrone.ARDRONE_NAVDATA_PORT))
nav_socket.sendto("\x01\x00\x00\x00",
('192.168.1.1', libardrone.ARDRONE_NAVDATA_PORT))
control_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
control_socket.connect(
('192.168.1.1', libardrone.ARDRONE_CONTROL_PORT))
control_socket.setblocking(0)
logging.warn('Connection established')
return video_socket, nav_socket, control_socket
def _disconnect(video_socket, nav_socket, control_socket):
logging.warn('Disconnection to ardrone streams')
video_socket.close()
nav_socket.close()
control_socket.close()
video_socket, nav_socket, control_socket = _connect()
stopping = False
connection_lost = 1
reconnection_needed = False
while (not stopping) and (not self.stopped()):
if reconnection_needed:
_disconnect(video_socket, nav_socket, control_socket)
video_socket, nav_socket, control_socket = _connect()
reconnection_needed = False
inputready, outputready, exceptready = select.select(
[nav_socket, video_socket, self.com_pipe, control_socket], [],
[], 1.)
if len(inputready) == 0:
connection_lost += 1
reconnection_needed = True
for i in inputready:
if i == video_socket:
while 1:
try:
data = video_socket.recv(65536)
if self.is_ar_drone_2:
self.ar2video.write(data)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
# Sending is taken care of by the decoder
if not self.is_ar_drone_2:
w, h, image, t = arvideo.read_picture(data)
self._drone.set_image(image)
elif i == nav_socket:
while 1:
try:
data = nav_socket.recv(500)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
navdata, has_information = libardrone.decode_navdata(data)
if (has_information):
self._drone.set_navdata(navdata)
elif i == self.com_pipe:
_ = self.com_pipe.recv()
stopping = True
break
elif i == control_socket:
reconnection_needed = False
while not reconnection_needed:
try:
data = control_socket.recv(65536)
if len(data) == 0:
logging.warning(
'Received an empty packet on control socket'
)
reconnection_needed = True
else:
logging.warning("Control Socket says : %s",
data)
except IOError:
break
_disconnect(video_socket, nav_socket, control_socket)
