def appendWaypoint(request):
waypoint = request['body']['waypoint']
vehicle = request['vehicle']
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
if waypoint['action'] == 'takeoff':
commands.takeoff(vehicle, waypoint['alt'], cmds)
elif waypoint['action'] == 'goto':
commands.goto(waypoint['lat'], waypoint['lng'], waypoint['alt'], cmds)
elif waypoint['action'] == 'land':
commands.land(waypoint['lat'], waypoint['lng'], cmds)
elif waypoint['action'] == 'landv':
commands.landVertical(cmds)
elif waypoint['action'] == 'rtl':
commands.rtl(cmds)
cmds.upload()
commands.startmission(
vehicle) #comando necessario caso o veiculo esteja no solo
#if cmds.next == 0: #estes comandos estao sendo testados para tratar o problema 2.
# print 'next = 0'
# cmds.next = cmds.count
#if cmds.next == cmds.count - 1:
# print 'next = count -1'
# cmds.next = cmds.count
return {'status-append-waypoint': 'ok'}
def setMission(request):
mission = request['body']['mission']
vehicle = request['vehicle']
cmds = vehicle.commands
cmds.clear()
for item in mission:
if item['action'] == 'takeoff':
commands.takeoff(vehicle, item['alt'], cmds)
elif item['action'] == 'waypoint':
commands.goto(item['lat'], item['lng'], item['alt'], cmds)
elif item['action'] == 'land':
commands.land(item['lat'], item['lng'], item['alt'], cmds)
elif item['action'] == 'rtl':
commands.rtl(cmds)
cmds.upload()
commands.startmission(vehicle)
return {'status-set-mission': 'ok'}
def setWaypoint(request):
waypoint = request['body']['waypoint']
vehicle = request['vehicle']
cmds = vehicle.commands
cmds.clear()
cmds.next = 0
if waypoint['action'] == 'takeoff':
commands.takeoff(vehicle, waypoint['alt'], cmds)
elif waypoint['action'] == 'goto':
commands.goto(waypoint['lat'], waypoint['lng'], waypoint['alt'], cmds)
elif waypoint['action'] == 'land':
commands.land(waypoint['lat'], waypoint['lng'], cmds)
elif waypoint['action'] == 'landv':
commands.landVertical(cmds)
elif waypoint['action'] == 'rtl':
commands.rtl(cmds)
cmds.upload()
commands.startmission(
vehicle) #comando necessario caso o veiculo esteja no solo
return {'status-set-waypoint': 'ok'}
def setWaypoint(request):
point = request['body']['waypoint']
vehicle = request['vehicle']
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
finished = True if cmds.next == cmds.count else False
print "finished status:"
print finished
if point['action'] == 'takeoff':
commands.takeoff(vehicle, point['alt'], cmds)
elif point['action'] == 'waypoint':
commands.goto(point['lat'], point['lng'], point['alt'], cmds)
elif point['action'] == 'land':
commands.land(point['lat'], point['lng'], point['alt'], cmds)
elif point['action'] == 'rtl':
commands.rtl(cmds)
cmds.upload()
if finished:
commands.startmission(vehicle)
return {'status-set-waypoint': 'ok'}
def appendMission(request):
mission = request['body']['mission']
vehicle = request['vehicle']
cmds = vehicle.commands
cmds.download()
cmds.wait_ready()
for item in mission:
if item['action'] == 'takeoff':
commands.takeoff(vehicle, item['alt'], cmds)
elif item['action'] == 'goto':
commands.goto(item['lat'], item['lng'], item['alt'], cmds)
elif item['action'] == 'land':
commands.land(item['lat'], item['lng'], cmds)
elif item['action'] == 'landv':
commands.landVertical(cmds)
elif item['action'] == 'rtl':
commands.rtl(cmds)
cmds.upload()
commands.startmission(
vehicle) #comando necessario caso o veiculo esteja no solo
return {'status-append-mission': 'ok'}
# get width and height of camera
width = camera.get(cv2.CAP_PROP_FRAME_WIDTH)
height = camera.get(cv2.CAP_PROP_FRAME_HEIGHT)
# find center of camera
width / 2, height / 2
dX = cX - width / 2
dY = cY - height / 2
# find distance
dist = math.sqrt((dX * dX) + (dY * dY))
return (dX, dY, dist)
if __name__ == "__main__":
format = "%(asctime)s: %(message)s"
logging.basicConfig(format=format, level=logging.INFO, datefmt="%H:%M:%S")
found = False
rv = False
exitProgram = False
camera = cv2.VideoCapture('tcp://192.168.1.1:5555')
fly.takeoff()
while exitProgram == False:
print("Flying...")
async_detect = pool.apply_async(detectImage, (camera, found))
rv = async_detect.get()
print("Found:", rv)
dist = calculateDistance(rv[1], rv[2])
async_fly = pool.apply_async(flyDrone, (rv[0], rv[1], rv[2]))
found = async_fly.get()
exitProgram = preview(camera)
fly.land()
print("Stopped...")