def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
#Mock Methods
self.shot.updateMountStatus = Mock()
self.shot.initLookAtMeController = Mock()
self.shot.initOrbitController = Mock()
self.shot.initLeashController = Mock()
self.shot.initFreeLookController = Mock()
self.shot.updateMountStatus = Mock()
self.shot.updateAppOptions = Mock()
self.shot.setButtonMappings = Mock()
#Setup Attributes
self.shot.followState = FOLLOW_WAIT
self.shot.rawROI = location_helpers.newLocationFromAzimuthAndDistance(
self.shot.vehicle.location.global_relative_frame,
self.ARBITRARY_HEADING, self.DISTANCE)
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
shotmgr.buttonManager = Mock()
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
# rawROI
self.ROI = LocationGlobalRelative(37.873168, -122.302062,
0) #sample ROI, used throughout
self.shot.rawROI = self.ROI
# mock methods
self.shot.initState = Mock()
location_helpers.calcYawPitchFromLocations = Mock()
location_helpers.calcYawPitchFromLocations.return_value = (0.0, 0.0)
#roiDeltaTime
self.shot.roiDeltaTime = 0.04 # 25Hz (guess)
#init vars
self.shot.roiVelocity = Vector3()
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
vehicle.attitude.yaw = math.radians(30)
vehicle.mount_status[0] = -45
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
shotmgr.getParam.return_value = 0 # so mock doesn't do lazy binds
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
#roi
self.tempROI = LocationGlobalRelative(37.873168, -122.302062, 0)
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
self.shot.camYaw = float(1.111333)
self.shot.camPitch = float(2.55556666)
self.shot.camDir = 1
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
sampleData = struct.pack('<IIddf', app_packet.SOLO_MESSAGE_LOCATION,
20, 37.873168, -122.302062, 0)
self.shot.socket.recvfrom = Mock(
side_effect=[(sampleData, '127.0.0.1'), socket.timeout])
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
#Neutral sticks
throttle = 0.0
roll = 0.0
pitch = 0.0
yaw = 0.0
self.channels = [throttle, roll, pitch, yaw, 0.0, 0.0, 0.0, 0.0]
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
# mock methods
location_helpers.getDistanceFromPoints = Mock()
location_helpers.calcAzimuthFromPoints = Mock()
location_helpers.getDistanceFromPoints.return_value = 10.0
location_helpers.calcAzimuthFromPoints.return_value = 0.0
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
shotmgr.getParam.return_value = 0 # so mock doesn't do lazy binds
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
# Mock the functions
self.shot.checkSocket = Mock()
self.shot.filterROI = Mock()
# Mock Attributes
self.shot.rawROI = LocationGlobalRelative(37.873168, -122.302062, 0)
self.shot.filteredROI = LocationGlobalRelative(37.873168, -122.302062,
0)
self.shot.roiVelocity = Vector3(0, 0, 0)
self.shot.camYaw = 0.0
# Mock the pointing functions
self.shot.handleFreeLookPointing = Mock()
self.shot.handleFollowPointing = Mock()
self.shot.handleLookAtMePointing = Mock()
#Mock the pathHandler object
self.shot.pathHandler = mock.create_autospec(pathHandler.PathHandler)
self.shot.pathHandler.cruiseSpeed = 0
#Mock the pathController object
self.shot.pathController = mock.create_autospec(OrbitController)
self.shot.pathController.move.return_value = (LocationGlobalRelative(
37.873168, -122.302062, 0), Vector3(1, 1, 1))
#Neutral sticks
throttle = 0.0
roll = 0.0
pitch = 0.0
yaw = 0.0
self.channels = [throttle, roll, pitch, yaw, 0.0, 0.0, 0.0, 0.0]
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
self.shot.camYaw = 0 #init to zero. Can be permuted below.
#Neutral sticks, unless permuted in the methods below
throttle = 0.0
roll = 0.0
pitch = 0.0
yaw = 0.0
self.channels = [throttle, roll, pitch, yaw, 0.0, 0.0, 0.0, 0.0]
def setUp(self):
#Create a mock vehicle object
vehicle = mock.create_autospec(Vehicle)
#Create a mock shotManager object
shotmgr = mock.create_autospec(ShotManager)
shotmgr.rcMgr = Mock(specs=['remapper'])
#Run the shot constructor
self.shot = follow.FollowShot(vehicle, shotmgr)
self.shot.pathHandler = mock.create_autospec(pathHandler.PathHandler)
self.shot.pathHandler.cruiseSpeed = 0
#Mock the pathController object
self.shot.followState = FOLLOW_ORBIT
self.shot.pathController = mock.create_autospec(OrbitController)
self.shot.ROIAltitudeOffset = 0.0
self.shot.ROIAltitudeOffset = 0.0
def triggerShot(self, shot):
# invalid shot!
if shot not in shots.SHOT_NAMES:
logger.log(
"[triggerShot]: Error, trying to trigger an invalid shot! %d" %
(shot))
return
self.currentShot = shot
"""
ok, this is hacky.
Because of the delay in mode reporting from pixhawk,
If we change shots while we're in guided to another shot,
our shot auto-exit protection will kick in and boot us out
of our new shot. This prevents that by making sure we're
not in guided so that protection doesn't kick in.
"""
if self.lastMode == "GUIDED":
self.lastMode = "changing"
if self.currentShot == shots.APP_SHOT_NONE:
del self.curController
self.curController = None
self.enableManualGimbalControl()
# stop any stick remapping
self.remapper.enableRemapping(False)
if self.vehicle.mode.name == "GUIDED":
self.vehicle.mode = VehicleMode("LOITER")
logger.log(
"setting vehicle to loiter because we're exiting a shot")
else:
logger.log("Didn't set loiter because mode was %s" %
(self.vehicle.mode.name))
# set a decent speed so RTLs don't go super slowly
# this is needed because nothing resets the DO_CHANGE_SPEED from the shots
speed = self.getParam("WPNAV_SPEED",
DEFAULT_WPNAV_SPEED_VALUE) / 100.0
msg = self.vehicle.message_factory.command_long_encode(
0,
1, # target system, target component
mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, # frame
0, # confirmation
1,
speed,
-1, # params 1-3
0.0,
0.0,
0.0,
0.0) # params 4-7 (not used)
# send command to vehicle
self.vehicle.send_mavlink(msg)
self.vehicle.flush()
elif self.currentShot == shots.APP_SHOT_SELFIE:
self.initStreamRates()
self.curController = selfie.SelfieShot(self.vehicle, self)
elif self.currentShot == shots.APP_SHOT_ORBIT:
self.initStreamRates()
self.curController = orbit.OrbitShot(self.vehicle, self)
elif self.currentShot == shots.APP_SHOT_CABLECAM:
self.initStreamRates()
self.curController = cable_cam.CableCamShot(self.vehicle, self)
elif self.currentShot == shots.APP_SHOT_FOLLOW:
self.initStreamRates()
self.curController = follow.FollowShot(self.vehicle, self)
elif self.currentShot == shots.APP_SHOT_MULTIPOINT:
self.initStreamRates()
self.curController = multipoint.MultipointShot(self.vehicle, self)
elif self.currentShot == shots.APP_SHOT_PANO:
self.initStreamRates()
self.curController = pano.PanoShot(self.vehicle, self)
#send back a response
packet = struct.pack('<IIi', app_packet.SOLO_MESSAGE_GET_CURRENT_SHOT,
4, shot)
self.sendPacket(packet)
self.buttonManager.setButtonMappings()
self.buttonManager.setArtooShot(shot)
logger.log("[triggerShot]: Entered shot: %s" % shots.SHOT_NAMES[shot])
