def __init__(self,
test_flying,
mambo_addr,
use_wifi=True,
use_vision=True):
"""
Constructor for the Drone Superclass.
When writing your code, you may redefine __init__() to have additional
attributes for use in processing elsewhere. If you do this, be sure to
call super().__init__() with relevant args in order properly
initialize all mambo-related things.
test_flying: bool : run flight code if True
mambo_addr: str : BLE address of drone
use_wifi: bool : connect with WiFi instead of BLE if True
use_vision: bool : turn on DroneVisionGUI module if True
"""
self.test_flying = test_flying
self.use_wifi = use_wifi
self.use_vision = use_vision
self.mamboAddr = mambo_addr
self.mambo = Mambo(self.mamboAddr, use_wifi=self.use_wifi)
self.mambo.set_user_sensor_callback(self.sensor_cb, args=None)
if self.use_vision:
self.mamboVision = DroneVisionGUI(
self.mambo,
is_bebop=False,
buffer_size=200,
user_code_to_run=self.flight_func,
user_args=None)
self.mamboVision.set_user_callback_function(
self.vision_cb, user_callback_args=None)
def execute(self):
super().takeoff()
mamboVision = DroneVisionGUI(self.mambo,
is_bebop=False,
buffer_size=200,
user_code_to_run=DemoSquare.pint,
user_args=(self.mambo, ))
mamboVision.open_video()
print('opened video')
super().land()
def __init__(self, testFlying, mamboAddr, use_wifi):
self.bb = [0, 0, 0, 0]
self.bb_threshold = 4000
self.bb_trigger = False
self.testFlying = testFlying
self.mamboAddr = mamboAddr
self.use_wifi = use_wifi
self.mambo = Mambo(self.mamboAddr, self.use_wifi)
self.mamboVision = DroneVisionGUI(
self.mambo,
is_bebop=False,
buffer_size=200,
user_code_to_run=self.mambo_fly_function,
user_args=None)
bebop.pan_tilt_camera_velocity(pan_velocity=0, tilt_velocity=-2, duration=4)
# land
bebop.safe_land(5)
print("Finishing demo and stopping vision")
bebopVision.close_video()
# disconnect nicely so we don't need a reboot
print("disconnecting")
bebop.disconnect()
if __name__ == "__main__":
# make my bebop object
bebop = Bebop()
# connect to the bebop
success = bebop.connect(5)
if (success):
# start up the video
bebopVision = DroneVisionGUI(bebop, is_bebop=True, user_code_to_run=demo_user_code_after_vision_opened, user_args=(bebop,))
userVision = UserVision(bebopVision)
bebopVision.set_user_callback_function(userVision.save_pictures, user_callback_args=None)
bebopVision.open_video()
else:
print("Error connecting to bebop. Retry")
# remember to set True/False for the wifi depending on if you are using the wifi or the BLE to connect
# the address can be empty if you are using wifi
mambo = Bebop()
print("trying to connect to mambo now")
success = mambo.connect(num_retries=3)
print("connected: %s" % success)
if (success):
# get the state information
print("sleeping")
mambo.smart_sleep(1)
mambo.ask_for_state_update()
mambo.smart_sleep(1)
# setup the extra window to draw the markers in
cv2.namedWindow("ExampleWindow")
cv2.namedWindow("dst")
print("Preparing to open vision")
mambo.pan_tilt_camera_velocity(-90, 0, 1)
mamboVision = DroneVisionGUI(
mambo,
is_bebop=True,
buffer_size=200,
user_code_to_run=demo_mambo_user_vision_function,
user_args=(mambo, ))
mamboVision.set_user_callback_function(
draw_second_pictures, user_callback_args=(mamboVision, ))
mamboVision.open_video()
print("disconnecting")
mambo.disconnect()
if __name__ == "__main__":
# make my mambo object
# remember to set True/False for the wifi depending on if you are using the wifi or the BLE to connect
# the address can be empty if you are using wifi
mambo = Mambo(address="", use_wifi=True)
print("trying to connect to mambo now")
success = mambo.connect(num_retries=3)
print("connected: %s" % success)
if (success):
# get the state information
print("sleeping")
mambo.smart_sleep(1)
mambo.ask_for_state_update()
mambo.smart_sleep(1)
# setup the extra window to draw the markers in
cv2.namedWindow("ExampleWindow")
print("Preparing to open vision")
mamboVision = DroneVisionGUI(mambo, Model.MAMBO, buffer_size=200,
user_code_to_run=demo_mambo_user_vision_function, user_args=(mambo, ))
mamboVision.set_user_callback_function(draw_second_pictures, user_callback_args=(mamboVision, ))
mamboVision.open_video()
while bebop_vision.vision_running:
img = bebop_vision.get_latest_valid_picture()
if img is not None:
instruction = qr_manager.read_qr_code(img)
if instruction is not None:
if instruction == "take_off":
bebop.safe_takeoff(5)
elif instruction == "land":
bebop.safe_land(5)
bebop_vision.close_video()
elif instruction in instructions:
values = instructions[instruction]
bebop.move_relative(values[0], values[1], values[2],
values[3])
bebop.disconnect()
if __name__ == "__main__":
BEBOP = Bebop(drone_type="Bebop")
SUCCESS = BEBOP.connect(20)
INSTRUCTIONS = file_manager.get_navigation_instructions()
if SUCCESS:
BEBOP_VISION = DroneVisionGUI(
BEBOP,
is_bebop=True,
user_code_to_run=demo_user_code_after_vision_opened,
user_args=(BEBOP, INSTRUCTIONS))
BEBOP_VISION.open_video()
else:
print("Error connecting to bebop. Retry")
drone = Bebop()
success = drone.connect(5)
drone.set_picture_format('jpeg') # 영상 포맷 변경
is_bebop = True
height = 480
width = 856
elif drone_type == 'm':
mamboAddr = "58:FB:84:3B:12:62"
drone = Mambo(mamboAddr, use_wifi=True)
success = drone.connect(num_retries=3)
is_bebop = False
height = 360
width = 640
# drone.set_max_tilt()
if (success):
# get the state information
print("sleeping")
drone.smart_sleep(1)
drone.ask_for_state_update()
drone.smart_sleep(1)
print("Preparing to open vision")
status = input("Input 't' if you want to TAKE-OFF or not : ")
droneVision = DroneVisionGUI(drone, is_bebop=is_bebop, buffer_size=200, user_code_to_run=control_and_collect,
user_args=(drone, status, height, width, num_classes))
userVision = UserVision(droneVision)
# droneVision.set_user_callback_function(userVision.save_pictures, user_callback_args=None)
droneVision.open_video()
bebopVision.close_video()
# disconnect nicely so we don't need a reboot
print("disconnecting")
bebop.disconnect()
if __name__ == "__main__":
# make my bebop object
bebop = Bebop()
# connect to the bebop
success = bebop.connect(5)
if (success):
# start up the video
bebopVision = DroneVisionGUI(
bebop,
Model.BEBOP,
user_code_to_run=demo_user_code_after_vision_opened,
user_args=(bebop, ),
user_draw_window_fn=draw_current_photo)
userVision = UserVision(bebopVision)
bebopVision.set_user_callback_function(userVision.save_pictures,
user_callback_args=None)
bebopVision.open_video()
else:
print("Error connecting to bebop. Retry")
print("Disconnecting Anafi")
anafi.disconnect()
if __name__ == "__main__":
anafi = Anafi()
print("Connecting to Anafi...")
if anafi.connect(num_retries=3):
print("Connected to Anafi")
# Update state info
anafi.smart_sleep(1)
anafi.ask_for_state_update()
anafi.smart_sleep(1)
print("Preparing to open video stream")
anafi_vision = DroneVisionGUI(
anafi,
Model.ANAFI,
buffer_size=200,
user_code_to_run=demo_anafi_user_vision,
user_args=(anafi, ),
)
user_vision = UserVision(anafi_vision)
anafi_vision.set_user_callback_function(user_vision.save_pictures,
user_callback_args=None)
print("Opening video stream")
anafi_vision.open_video()
vision = threading.Thread(target=qr_tracking, args=(bebopVision, bebop), daemon=True)
vision.start()
vision.join()
print("Stopping!")
bebopVision.close_exit()
# disconnect nicely so we don't need a reboot
print("disconnecting")
bebop.disconnect()
if __name__ == "__main__":
# make my bebop object
bebop = Bebop()
print("Battery level:"+str(bebop.sensors.battery))
# connect to the bebop
success = bebop.connect(5)
if success:
# start up the video
bebopVision = DroneVisionGUI(bebop, is_bebop=True, user_code_to_run=user_code,
user_args=(bebop, ))
userVision = UserVision(bebopVision)
bebopVision.set_user_callback_function(userVision.save_pictures, user_callback_args=None)
bebopVision.open_video()
else:
print("Error connecting to bebop. Retry")
bebop.smart_sleep(1)
with concurrent.futures.ThreadPoolExecutor() as executor: #ne sort pas du contexte manager tant que tout les programmes n' ont pas fini.
thread_1 = executor.submit(controles)
thread_2 = executor.submit(depth_display)
position = thread_1.result()
bebop.smart_sleep(3)
if bebop.safe_land(5): #n' enleve le controle à l'utilisateur que si le drone a bien atteri.
pygame.quit()
vc.release()
bebop.disconnect()
############# MAIN
if __name__ == "__main__":
global bebop
bebop = Bebop()
success = bebop.connect(5)
if (success):
bebop.set_video_framerate("24_FPS")
bebop.set_video_resolutions("rec720_stream720")
bebop.set_video_stream_mode("high_reliability_low_framerate")
bebopVision = DroneVisionGUI(bebop, is_bebop=True, user_code_to_run = vol_final, user_args=(bebop, ), user_draw_window_fn=draw_current_photo)
userVision = UserVision(bebopVision)
bebopVision.open_video()
else:
print("Error connecting to bebop. Retry")
drone = Bebop()
success = drone.connect(5)
drone.set_picture_format('jpeg') # 영상 포맷 변경
is_bebop = True
elif drone_type == 'm':
mamboAddr = "64:E5:99:F7:22:4A"
drone = Mambo(mamboAddr, use_wifi=True)
success = drone.connect(num_retries=3)
is_bebop = False
if (success):
# get the state information
print("sleeping")
drone.smart_sleep(1)
drone.ask_for_state_update()
drone.smart_sleep(1)
print("Preparing to open vision")
status = input("Input 't' if you want to TAKE OFF or not : ")
droneVision = DroneVisionGUI(drone,
is_bebop=is_bebop,
buffer_size=200,
user_code_to_run=tracking_target,
user_args=(drone, status, q))
yolnir = Yolnir(droneVision)
droneVision.set_user_callback_function(yolnir.detect_target,
user_callback_args=None)
droneVision.open_video()
bebop.safe_land(10)
##########################################################
bebop.safe_land(10)
print("disconnecting")
bebop.disconnect()
if __name__ == "__main__":
# make my bebop object
bebop = Bebop()
# connect to the bebop
success = bebop.connect(5)
if (success):
# start up the video
bebopVision = DroneVisionGUI(
bebop,
is_bebop=True,
user_code_to_run=demo_user_code_after_vision_opened,
user_args=(bebop, ),
user_draw_window_fn=None)
userVision = UserVision(bebopVision)
bebopVision.set_user_callback_function(userVision.save_pictures,
user_callback_args=None)
bebopVision.open_video()
else:
print("Error connecting to bebop. Retry")
