def _pollData(self):
while self.connected:
self.writeData(Command.getCmd_poll(LLSTATUS, IMUCALC, GPS, GPSADV, CAM))
if self.__onMission:
print "POLL CURWAY"
self.writeData(Command.getCmd_poll(CURWAY))
time.sleep(self.__pollIntervall)
def setCamAngle(self, pitch, roll, request):
LOG.log_app_info("Setting angle to (pitch/roll): (" + str(pitch) + "/" + str(roll) + ")")
key = "CAM"
if not self.__pending_acks.has_key(key):
self.__pending_acks[key] = request
self.writeData(Command.getCmd_setCam(pitch, roll))
else:
self.abstractUAV.ack_error(request, 1, "already pending action")
def comeHome(self, request):
"""flies to the current home-position"""
command = Command.getCmd_comeHome()
self.writeData(command)
key = "COMEHOME"
if not self.__pending_acks.has_key(key):
self.__pending_acks[key] = request
self.__onMission = True ## FIXME: curway checking?
LOG.log_app_info(key)
def endFlight(self, request):
""" ends a flight"""
command = Command.getCmd_endFlight()
self.writeData(command)
key = "ENDFLIGHT"
if not self.__pending_acks.has_key(key):
self.__pending_acks[key] = request
self.__onMission = True ## FIXME: curway checking?
LOG.log_app_info(key)
def launch(self, target, request):
""" Setting the current home-position"""
command = Command.getCmd_launch()
self.writeData(command)
key = "LAUNCH"
if not self.__pending_acks.has_key(key):
self.__pending_acks[key] = request
self.__onMission = True ## FIXME: curway checking?
LOG.log_app_info(key)
def goto(self, target, request):
"""keeping the target but moving to a different point for resuming"""
maxSpeed= 10 ## in m/s
timeToStay=1 ## in s
acc=2 ## in m
lng=float(target["lon"])
lat=float(target["lat"])
heading=float(target["heading"])
height=float(target["alt"])
command = Command.getCmd_goto(maxSpeed,timeToStay,acc,lng,lat,heading,height)
self.writeData(command)
key = "GOTO"
if not self.__pending_acks.has_key(key):
self.__pending_acks[key] = request
self.__onMission = True ## FIXME: curway checking?
LOG.log_app_info(key)
def setTarget(self, target, request):
self._target = target
## setting cam
pitch = float(request.get("body","cam", "pitch"))
roll = float(request.get("body","cam", "roll"))
self.setCamAngle(pitch, roll, request)
## setting waypoint FIXME: setting some values not statically
LOG.log_app_info("Setting target.")
maxSpeed= 10 ## in m/s
timeToStay=1 ## in s
acc=2 ## in m
lng=float(target["lon"])
lat=float(target["lat"])
heading=float(target["heading"])
height=float(target["alt"])
flags = str(request.get("body", "cam", "trigger")).lower() == "true"
command = Command.getCmd_uploadTarget(maxSpeed, timeToStay, acc, lng, lat, heading, height, flags)
self.writeData(command)
key = "WPT"
if not self.__pending_acks.has_key(key):
self.__pending_acks[key] = request
self.__onMission = True
def trigger(self, request):
message = Command.getCmd_triggerCam()
LOG.log_app_info("Triggering CAM")
self.writeData(message, request)