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'}