def __init__(self,
replayLog=None,
speed=0.2,
skipConfigure=False,
metaLog=None,
console=None):
self.loggedVideoResult = None
self.lastImageResult = None
self.videoHighResolution = False
ARDrone2.__init__(self, replayLog, speed, skipConfigure, metaLog,
console)
if replayLog == None:
name = timeName("logs/src_cv2_", "log")
metaLog.write("cv2: " + name + '\n')
self.loggedVideoResult = SourceLogger(getOrNone, name).get
self.startVideo(wrapper,
g_queueResults,
record=True,
highResolution=self.videoHighResolution)
else:
assert metaLog
self.loggedVideoResult = SourceLogger(None,
metaLog.getLog("cv2:")).get
self.startVideo(record=True,
highResolution=self.videoHighResolution)
def createLoggedInput( self, prefix, function ):
if self.replay:
return SourceLogger( None, self.getLog( prefix ) )
else:
filename = "logs/" + prefix + datetime.datetime.now().strftime("_%y%m%d_%H%M%S.txt") # bin? txt? log??
self.f.write( prefix + ": " + filename + "\n")
self.f.flush()
return SourceLogger( function, filename )
def h264drone(replayLog, metaLog, desiredSpeed=1.0, timeout=5.0):
drone = ARDrone2(replayLog, metaLog=metaLog)
if replayLog:
for line in metaLog: # TODO refactoring
print "XXLINE", line.strip()
if line.startswith("h264:"):
loggedResult = SourceLogger(None, line.split()[1].strip()).get
break
drone.startVideo(record=False)
else:
name = timeName("logs/src_h264_", "log")
metaLog.write("h264: " + name + '\n')
loggedResult = SourceLogger(getOrNone, name).get
drone.startVideo(wrapper, queueResults, record=False)
if drone.userEmergencyLanding:
drone.reset()
try:
drone.wait(1.0)
drone.takeoff(enabledCorrections=False)
# TODO some flying
startTime = drone.time
vz = 0.0
while drone.time - startTime < timeout:
# print "SPEED", drone.vx
if drone.vx > desiredSpeed:
drone.moveXYZA(0.0, 0.0, vz, 0.0)
else:
drone.moveXYZA(drone.speed, 0.0, vz, 0.0)
tmp = loggedResult()
if tmp != None:
print "QUEUE", drone.time, tmp
frameNum, timestamp, (left, right, up, down) = tmp
vz = 0.0
if left + right < MAX_COUNT: # limited max number of movements in the whole image
if down > up + MIN_STEP:
# move up
vz = drone.speed
if up > down + MIN_STEP:
# move down
vz = -drone.speed
drone.land()
drone.wait(1.0)
except ManualControlException, e:
print "ManualControlException"
manualControl(drone)
if drone.ctrlState == 3: # CTRL_FLYING=3 ... i.e. stop the current motion
drone.hover(0.1)
drone.land()