class Brain:
def __init__(self, sensors=None, actuators=None, handler=None):
self.drone = DroneWrapper()
self.handler = handler
# self.drone.takeoff()
def update_frame(self, frame_id, data):
self.handler.update_frame(frame_id, data)
def execute(self):
img_frontal = self.drone.get_frontal_image()
img_ventral = self.drone.get_ventral_image()
# Both the above images are cv2 images
self.update_frame('frame_0', img_frontal)
self.update_frame('frame_1', img_ventral)
class HAL:
IMG_WIDTH = 320
IMG_HEIGHT = 240
def __init__(self):
rospy.init_node("HAL")
self.image = None
self.drone = DroneWrapper(name="rqt")
# Explicit initialization functions
# Class method, so user can call it without instantiation
@classmethod
def initRobot(cls):
new_instance = cls()
return new_instance
# Get Image from ROS Driver Camera
def get_frontal_image(self):
image = self.drone.get_frontal_image()
image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
return image_rgb
def get_ventral_image(self):
image = self.drone.get_ventral_image()
image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
return image_rgb
def get_position(self):
pos = self.drone.get_position()
return pos
def get_velocity(self):
vel = self.drone.get_velocity()
return vel
def get_yaw_rate(self):
yaw_rate = self.drone.get_yaw_rate()
return yaw_rate
def get_orientation(self):
orientation = self.drone.get_orientation()
return orientation
def get_roll(self):
roll = self.drone.get_roll()
return roll
def get_pitch(self):
pitch = self.drone.get_pitch()
return pitch
def get_yaw(self):
yaw = self.drone.get_yaw()
return yaw
def get_landed_state(self):
state = self.drone.get_landed_state()
return state
def set_cmd_pos(self, x, y, z, yaw):
self.drone.set_cmd_pos(x, y, z, yaw)
def set_cmd_vel(self, vx, vy, vz, yaw_rate):
self.drone.set_cmd_vel(vx, vy, vz, yaw_rate)
def set_cmd_mix(self, vx, vy, z, yaw_rate):
self.drone.set_cmd_mix(vx, vy, z, yaw_rate)
def takeoff(self, h=3):
self.drone.takeoff(h)
def land(self):
self.drone.land()
class HAL:
IMG_WIDTH = 320
IMG_HEIGHT = 240
def __init__(self):
rospy.init_node("HAL")
self.image = None
self.cat = DroneWrapper(name="rqt", ns="cat/")
self.mouse = DroneWrapper(name="rqt", ns="mouse/")
# Explicit initialization functions
# Class method, so user can call it without instantiation
@classmethod
def initRobot(cls):
new_instance = cls()
return new_instance
def start_mouse(self, path_level):
print("MOUSE", path_level)
self.mouse.takeoff(h=5)
# while True:
# v = path_obfuscated(path_level)
# if v is not None:
# vx, vy, vz, yaw = v
# self.mouse.set_cmd_vel(vx, vy, vz, yaw)
# else:
# print("[Mouse] Path {} not available".format(path_level))
# break
# Get Image from ROS Driver Camera
def getFrontalImage(self):
image = self.cat.get_frontal_image()
image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
return image_rgb
def getVentralImage(self):
image = self.cat.get_ventral_image()
image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
return image_rgb
def get_position(self):
pos = self.cat.get_position()
return pos
def get_velocity(self):
vel = self.cat.get_velocity()
return vel
def get_yaw_rate(self):
yaw_rate = self.cat.get_yaw_rate()
return yaw_rate
def get_orientation(self):
orientation = self.cat.get_orientation()
return orientation
def get_roll(self):
roll = self.cat.get_roll()
return roll
def get_pitch(self):
pitch = self.cat.get_pitch()
return pitch
def get_yaw(self):
yaw = self.cat.get_yaw()
return yaw
def get_landed_state(self):
state = self.cat.get_landed_state()
return state
def set_cmd_pos(self, x, y, z, yaw):
self.cat.set_cmd_pos(x, y, z, yaw)
def set_cmd_vel(self, vx, vy, vz, yaw_rate):
self.cat.set_cmd_vel(vx, vy, vz, yaw_rate)
def set_cmd_mix(self, vx, vy, z, yaw_rate):
self.cat.set_cmd_mix(vx, vy, z, yaw_rate)
def takeoff(self, h=3):
self.cat.takeoff(h)
def land(self):
self.cat.land()
class HAL:
IMG_WIDTH = 320
IMG_HEIGHT = 240
def __init__(self):
rospy.init_node("HAL")
self.image = None
self.drone = DroneWrapper(name="rqt")
# Explicit initialization functions
# Class method, so user can call it without instantiation
@classmethod
def initRobot(cls):
new_instance = cls()
return new_instance
# Get Image from ROS Driver Camera
def get_frontal_image(self):
image = self.drone.get_frontal_image()
image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
return image_rgb
def get_ventral_image(self):
image = self.drone.get_ventral_image()
image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
return image_rgb
def get_position(self):
pos = self.drone.get_position()
return pos
def get_velocity(self):
vel = self.drone.get_velocity()
return vel
def get_yaw_rate(self):
yaw_rate = self.drone.get_yaw_rate()
return yaw_rate
def get_orientation(self):
orientation = self.drone.get_orientation()
return orientation
def get_roll(self):
roll = self.drone.get_roll()
return roll
def get_pitch(self):
pitch = self.drone.get_pitch()
return pitch
def get_yaw(self):
yaw = self.drone.get_yaw()
return yaw
def get_landed_state(self):
state = self.drone.get_landed_state()
return state
def set_cmd_pos(self, x, y, z, yaw):
self.drone.set_cmd_pos(x, y, z, yaw)
def set_cmd_vel(self, vx, vy, vz, yaw_rate):
self.drone.set_cmd_vel(vx, vy, vz, yaw_rate)
def set_cmd_mix(self, vx, vy, z, yaw_rate):
self.drone.set_cmd_mix(vx, vy, z, yaw_rate)
def takeoff(self, h=3):
self.drone.takeoff(h)
def land(self):
self.drone.land()
def init_beacons(self):
self.beacons = []
self.beacons.append(Beacon('beacon1', np.array([0, 5, 0]), False, False))
self.beacons.append(Beacon('beacon2', np.array([5, 0, 0]), False, False))
self.beacons.append(Beacon('beacon3', np.array([0, -5, 0]), False, False))
self.beacons.append(Beacon('beacon4', np.array([-5, 0, 0]), False, False))
self.beacons.append(Beacon('beacon5', np.array([10, 0, 0]), False, False))
self.beacons.append(Beacon('initial', np.array([0, 0, 0]), False, False))
def get_next_beacon(self):
for beacon in self.beacons:
if beacon.is_reached() == False:
return beacon
return None