from pyardrone import ARDrone
from contextlib import suppress
drone = ARDrone()
drone.navdata_ready.wait()
with suppress(KeyboardInterrupt):
while True:
print(drone.state)
drone.close()
class Ui_Form(object):
def __init__(self):
self.logger = Logger()
self.drone = ARDrone(connect=True)
self.drone.send(at.CONFIG('general:navdata_demo', True))
# self.drone.navdata_ready.wait()
# self.drone.state.video_thread_on = 0
def setupUi(self, Form):
Form.setObjectName("GameOfDrones GUI")
Form.resize(500, 300)
Form.setMouseTracking(False)
self.gridLayout_5 = QtWidgets.QGridLayout(Form)
self.gridLayout_5.setObjectName("gridLayout_5")
self.gridLayout = QtWidgets.QGridLayout()
self.gridLayout.setObjectName("gridLayout")
self.resetButton = QtWidgets.QPushButton(Form)
# self.resetButton.setEnabled(False)
self.resetButton.setObjectName("resetButton")
self.gridLayout.addWidget(self.resetButton, 2, 0, 1, 1)
self.takeoffButton = QtWidgets.QPushButton(Form)
self.takeoffButton.setEnabled(False)
self.takeoffButton.setObjectName("takeoffButton")
self.gridLayout.addWidget(self.takeoffButton, 0, 0, 1, 1)
self.landButton = QtWidgets.QPushButton(Form)
self.landButton.setEnabled(True)
self.landButton.setObjectName("landButton")
self.gridLayout.addWidget(self.landButton, 1, 0, 1, 1)
self.gridLayout_5.addLayout(self.gridLayout, 2, 5, 1, 1)
self.gridLayout_6 = QtWidgets.QGridLayout()
self.gridLayout_6.setObjectName("gridLayout_6")
self.label = QtWidgets.QLabel(Form)
self.label.setLayoutDirection(QtCore.Qt.LeftToRight)
self.label.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignTrailing
| QtCore.Qt.AlignVCenter)
self.label.setObjectName("label")
self.gridLayout_6.addWidget(self.label, 1, 0, 1, 1)
self.xVelLabel = QtWidgets.QLabel(Form)
self.xVelLabel.setObjectName("xVelLabel")
self.gridLayout_6.addWidget(self.xVelLabel, 1, 1, 1, 1)
self.yVelLabel = QtWidgets.QLabel(Form)
self.yVelLabel.setObjectName("yVelLabel")
self.gridLayout_6.addWidget(self.yVelLabel, 2, 1, 1, 1)
self.label_3 = QtWidgets.QLabel(Form)
self.label_3.setLayoutDirection(QtCore.Qt.LeftToRight)
self.label_3.setAlignment(QtCore.Qt.AlignRight
| QtCore.Qt.AlignTrailing
| QtCore.Qt.AlignVCenter)
self.label_3.setObjectName("label_3")
self.gridLayout_6.addWidget(self.label_3, 2, 0, 1, 1)
self.zVelLabel = QtWidgets.QLabel(Form)
self.zVelLabel.setObjectName("zVelLabel")
self.gridLayout_6.addWidget(self.zVelLabel, 3, 1, 1, 1)
self.label_5 = QtWidgets.QLabel(Form)
self.label_5.setLayoutDirection(QtCore.Qt.LeftToRight)
self.label_5.setAlignment(QtCore.Qt.AlignRight
| QtCore.Qt.AlignTrailing
| QtCore.Qt.AlignVCenter)
self.label_5.setObjectName("label_5")
self.gridLayout_6.addWidget(self.label_5, 3, 0, 1, 1)
spacerItem = QtWidgets.QSpacerItem(20, 40,
QtWidgets.QSizePolicy.Minimum,
QtWidgets.QSizePolicy.Expanding)
self.gridLayout_6.addItem(spacerItem, 4, 1, 1, 1)
spacerItem1 = QtWidgets.QSpacerItem(20, 40,
QtWidgets.QSizePolicy.Minimum,
QtWidgets.QSizePolicy.Expanding)
self.gridLayout_6.addItem(spacerItem1, 0, 1, 1, 1)
self.gridLayout_5.addLayout(self.gridLayout_6, 0, 1, 1, 1)
self.gridLayout_2 = QtWidgets.QGridLayout()
self.gridLayout_2.setObjectName("gridLayout_2")
self.cwButton = QtWidgets.QPushButton(Form)
self.cwButton.setObjectName("cwButton")
self.gridLayout_2.addWidget(self.cwButton, 0, 2, 1, 1)
self.leftButton = QtWidgets.QPushButton(Form)
self.leftButton.setObjectName("leftButton")
self.gridLayout_2.addWidget(self.leftButton, 2, 0, 1, 1)
self.rightButton = QtWidgets.QPushButton(Form)
self.rightButton.setObjectName("rightButton")
self.gridLayout_2.addWidget(self.rightButton, 2, 2, 1, 1)
self.backwardButton = QtWidgets.QPushButton(Form)
self.backwardButton.setObjectName("backwardButton")
self.gridLayout_2.addWidget(self.backwardButton, 3, 1, 1, 1)
self.ccwButton = QtWidgets.QPushButton(Form)
self.ccwButton.setObjectName("ccwButton")
self.gridLayout_2.addWidget(self.ccwButton, 0, 0, 1, 1)
self.forwardButton = QtWidgets.QPushButton(Form)
self.forwardButton.setObjectName("forwardButton")
self.gridLayout_2.addWidget(self.forwardButton, 1, 1, 1, 1)
self.gridLayout_5.addLayout(self.gridLayout_2, 2, 1, 1, 1)
self.gridLayout_3 = QtWidgets.QGridLayout()
self.gridLayout_3.setObjectName("gridLayout_3")
self.decreaseAltButton = QtWidgets.QPushButton(Form)
self.decreaseAltButton.setObjectName("decreaseAltButton")
self.gridLayout_3.addWidget(self.decreaseAltButton, 2, 0, 1, 1)
self.increaseAltButton = QtWidgets.QPushButton(Form)
self.increaseAltButton.setObjectName("increaseAltButton")
self.gridLayout_3.addWidget(self.increaseAltButton, 1, 0, 1, 1)
self.gridLayout_5.addLayout(self.gridLayout_3, 2, 3, 1, 1)
spacerItem2 = QtWidgets.QSpacerItem(20, 40,
QtWidgets.QSizePolicy.Minimum,
QtWidgets.QSizePolicy.Expanding)
self.gridLayout_5.addItem(spacerItem2, 0, 5, 1, 1)
spacerItem3 = QtWidgets.QSpacerItem(40, 20,
QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Minimum)
self.gridLayout_5.addItem(spacerItem3, 2, 2, 1, 1)
spacerItem4 = QtWidgets.QSpacerItem(40, 20,
QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Minimum)
self.gridLayout_5.addItem(spacerItem4, 2, 0, 1, 1)
spacerItem5 = QtWidgets.QSpacerItem(40, 20,
QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Minimum)
self.gridLayout_5.addItem(spacerItem5, 2, 8, 1, 1)
spacerItem6 = QtWidgets.QSpacerItem(40, 20,
QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Minimum)
self.gridLayout_5.addItem(spacerItem6, 2, 4, 1, 1)
self.saveButton = QtWidgets.QPushButton(Form)
self.saveButton.setObjectName("saveButton")
self.gridLayout_5.addWidget(self.saveButton, 2, 7, 1, 1)
self.saveButton.setEnabled(False)
self.batteryLabel = QtWidgets.QLabel(Form)
self.batteryLabel.setObjectName("batteryLabel")
self.gridLayout_5.addWidget(self.batteryLabel, 0, 8, 1, 1)
self.label_2 = QtWidgets.QLabel(Form)
self.label_2.setAlignment(QtCore.Qt.AlignRight
| QtCore.Qt.AlignTrailing
| QtCore.Qt.AlignVCenter)
self.label_2.setObjectName("label_2")
self.gridLayout_5.addWidget(self.label_2, 0, 7, 1, 1)
spacerItem7 = QtWidgets.QSpacerItem(20, 40,
QtWidgets.QSizePolicy.Minimum,
QtWidgets.QSizePolicy.Expanding)
self.gridLayout_5.addItem(spacerItem7, 1, 7, 1, 1)
self.retranslateUi(Form)
self.ccwButton.clicked.connect(self.ccw)
self.takeoffButton.clicked.connect(self.takeoff)
self.saveButton.clicked.connect(self.save)
self.resetButton.clicked.connect(self.reset)
self.rightButton.clicked.connect(self.right)
self.leftButton.clicked.connect(self.move_left)
self.landButton.clicked.connect(self.land)
self.increaseAltButton.clicked.connect(self.increase_alt)
self.forwardButton.clicked.connect(self.forward)
self.decreaseAltButton.clicked.connect(self.decrease_alt)
self.cwButton.clicked.connect(self.cw)
self.backwardButton.clicked.connect(self.backward)
Form.destroyed.connect(self.quit)
QtCore.QMetaObject.connectSlotsByName(Form)
self.toggleButtonEnabled()
def forward(self):
self.drone.move(forward=1)
print("moving drone forward")
def backward(self):
self.drone.move(backward=1)
print("moving drone backward")
def right(self):
self.drone.move(right=1)
print("moving drone right")
def move_left(self):
self.drone.move(left=1)
print("moving drone left")
def cw(self):
self.drone.move(cw=1)
print("rotating clockwise")
def ccw(self):
self.drone.move(ccw=1)
print("rotating counter-clockwise")
def increase_alt(self):
self.drone.move(up=1)
print("increasing altitude")
def decrease_alt(self):
self.drone.move(down=1)
print("decreasing altitude")
def takeoff(self):
try:
print("takeoff")
self.toggleButtonEnabled()
self.drone.takeoff()
except:
print('Not connected to a drone')
return
if self.drone.navdata:
self.toggleButtonEnabled()
self.logger = Logger()
self.begin_log()
print("taking off")
def land(self):
self.toggleButtonEnabled()
while self.drone.state.fly_mask:
self.drone.land()
self.logger.currently_logging = False
print("landing")
def save(self):
self.logger.saveFile()
def at_ref(self, emergency=False):
p = 0b10001010101000000000000000000
if emergency:
p += 0b0100000000
at("REF", self, [p])
def reset(self):
self.at(self.at_ref, False, True)
self.at(self.at_ref, False, False)
print("drone reset")
def begin_log(self):
"Starts the thread and runs log_data below"
self.logger.currently_logging = True
log_thread = Thread(target=self.log_data)
log_thread.start()
def log_data(self):
"Writes data to the CSV every .25 seconds"
while self.logger.currently_logging:
self.logger.writer([
self.logger.time, self.drone.navdata.demo.vx,
self.drone.navdata.demo.vy, self.drone.navdata.demo.vz,
self.drone.navdata.demo.theta, self.drone.navdata.demo.phi,
self.drone.navdata.demo.psi, self.drone.navdata.demo.altitude
])
sleep(.25)
self.logger.time += .25
def retranslateUi(self, Form):
_translate = QtCore.QCoreApplication.translate
Form.setWindowTitle(_translate("GameOfDrones GUI", "GameOfDrones GUI"))
self.resetButton.setToolTip(
_translate("Form",
"<html><head/><body><p>Reset (P)</p></body></html>"))
self.resetButton.setText(_translate("Form", "Reset"))
self.resetButton.setShortcut(_translate("Form", "P"))
self.takeoffButton.setToolTip(
_translate("Form",
"<html><head/><body><p>Take off (T)</p></body></html>"))
self.takeoffButton.setText(_translate("Form", "Takeoff"))
self.takeoffButton.setShortcut(_translate("Form", "T"))
self.landButton.setToolTip(
_translate("Form",
"<html><head/><body><p>Land (L)</p></body></html>"))
self.landButton.setText(_translate("Form", "Land"))
self.landButton.setShortcut(_translate("Form", "L"))
# self.label.setText(_translate("Form", "X Velocity:"))
# self.xVelLabel.setText(_translate("Form", "TextLabel"))
# self.yVelLabel.setText(_translate("Form", "TextLabel"))
# self.label_3.setText(_translate("Form", "Y Velocity:"))
# self.zVelLabel.setText(_translate("Form", "TextLabel"))
# self.label_5.setText(_translate("Form", "Z Velocity:"))
self.cwButton.setToolTip(
_translate(
"Form",
"<html><head/><body><p>Rotate the drone clockwise (E)</p></body></html>"
))
self.cwButton.setText(_translate("Form", "Clockwise"))
self.cwButton.setShortcut(_translate("Form", "E"))
self.leftButton.setToolTip(
_translate(
"Form",
"<html><head/><body><p>Move the drone left (A)</p></body></html>"
))
self.leftButton.setText(_translate("Form", "Left"))
self.leftButton.setShortcut(_translate("Form", "A"))
self.rightButton.setToolTip(
_translate(
"Form",
"<html><head/><body><p>Move the drone right (D)</p></body></html>"
))
self.rightButton.setText(_translate("Form", "Right"))
self.rightButton.setShortcut(_translate("Form", "D"))
self.backwardButton.setToolTip(
_translate(
"Form",
"<html><head/><body><p>Move the drone backward (S)</p></body></html>"
))
self.backwardButton.setText(_translate("Form", "Backward"))
self.backwardButton.setShortcut(_translate("Form", "S"))
self.ccwButton.setToolTip(
_translate(
"Form",
"<html><head/><body><p>Rotate the drone counter clockwise (Q)</p></body></html>"
))
self.ccwButton.setText(_translate("Form", "AntiClockwise"))
self.ccwButton.setShortcut(_translate("Form", "Q"))
self.forwardButton.setToolTip(
_translate(
"Form",
"<html><head/><body><p>Move the drone forward (W)</p></body></html>"
))
self.forwardButton.setText(_translate("Form", "Forward"))
self.forwardButton.setShortcut(_translate("Form", "W"))
self.decreaseAltButton.setToolTip(
_translate(
"Form",
"<html><head/><body><p>Decrease the drone\'s altitude (C)</p></body></html>"
))
self.decreaseAltButton.setText(_translate("Form", "Decrease Altitude"))
self.decreaseAltButton.setShortcut(_translate("Form", "C"))
self.increaseAltButton.setToolTip(
_translate(
"Form",
"<html><head/><body><p>Increase the drone\'s altitude (space)</p></body></html>"
))
self.increaseAltButton.setText(_translate("Form", "Increase Altitude"))
self.increaseAltButton.setShortcut(_translate("Form", "Space"))
self.saveButton.setText(_translate("Form", "Save"))
# self.batteryLabel.setText(_translate("Form", "TextLabel"))
# self.label_2.setText(_translate("Form", "Battery:"))
def quit(self):
self.drone.close()
self.logger.currently_logging = False
# sys.exit(app.exec_());
def toggleButtonEnabled(self):
self.ccwButton.setEnabled(not self.ccwButton.isEnabled())
self.cwButton.setEnabled(not self.cwButton.isEnabled())
self.forwardButton.setEnabled(not self.forwardButton.isEnabled())
self.rightButton.setEnabled(not self.rightButton.isEnabled())
self.leftButton.setEnabled(not self.leftButton.isEnabled())
self.backwardButton.setEnabled(not self.backwardButton.isEnabled())
self.increaseAltButton.setEnabled(
not self.increaseAltButton.isEnabled())
self.decreaseAltButton.setEnabled(
not self.decreaseAltButton.isEnabled())
self.landButton.setEnabled(not self.landButton.isEnabled())
self.takeoffButton.setEnabled(not self.takeoffButton.isEnabled())
self.saveButton.setEnabled(not self.saveButton.isEnabled())
def update_labels(self):
self.xVelLabel.setText(self.drone.navdata.demo.vx)
self.yVelLabel.setText(self.drone.navdata.demo.vy)
self.zVelLabel.setText(self.drone.navdata.demo.vz)
self.batteryLabel.setText(
self.drone.navdata.demo.vbat_flying_percentage)
class ConfigTest(unittest.TestCase):
def setUp(self):
self.drone = ARDrone(connect=False)
self.drone.get_raw_config = mock.Mock(
spec=self.drone.get_raw_config,
return_value=config_file_example,
)
self.drone.send = mock.Mock(spec=self.drone.send)
def tearDown(self):
self.drone.close()
def test_read_config_by_attribute(self):
self.assertEqual(self.drone.config.some.config, True)
self.assertEqual(self.drone.config.a.number, 3.71)
self.assertEqual(self.drone.config.i.am, 'tired')
def test_read_config_by_getitem(self):
self.assertEqual(self.drone.config['some:config'], True)
self.assertEqual(self.drone.config['a:number'], 3.71)
self.assertEqual(self.drone.config['i:am'], 'tired')
def test_set_config_by_attribute(self):
self.drone.config.a.b = 100
self.assertEqual(self.drone.config.a.b, 100)
self.assertEqual(self.drone.config['a:b'], 100)
def test_set_config_by_setitem(self):
self.drone.config['a:b'] = 200
self.assertEqual(self.drone.config.a.b, 200)
self.assertEqual(self.drone.config['a:b'], 200)
def test_set_config_sends_command(self):
self.drone.config.a.b = 32
self.drone.send.assert_called_once_with(at.CONFIG('a:b', 32))
def test_config_is_lazy(self):
self.assertFalse(self.drone.get_raw_config.call_count)
def test_config_is_cached(self):
self.drone.config.some.config
self.drone.config.i.am
self.assertEqual(self.drone.get_raw_config.call_count, 1)
def test_config_is_lazy_after_cache_cleared(self):
self.drone.config.some.config
self.drone.config.clear_cache()
self.assertEqual(self.drone.get_raw_config.call_count, 1)
def test_config_is_updated_again_after_cache_cleared(self):
self.drone.config.some.config
self.drone.config.clear_cache()
self.drone.config.some.config
self.assertEqual(self.drone.get_raw_config.call_count, 2)
def test_manually_set_config_is_cached(self):
self.drone.config.some.config = 1
self.drone.config.some.config
self.assertFalse(self.drone.get_raw_config.call_count)
def test_config_category_repr(self):
reprs = repr(self.drone.config.QzEw)
self.assertIn('ConfigCategory', reprs)
self.assertIn('QzEw', reprs)
class ConfigTest(unittest.TestCase):
def setUp(self):
self.drone = ARDrone(connect=False)
self.drone.get_raw_config = mock.Mock(
spec=self.drone.get_raw_config,
return_value=config_file_example,
)
self.drone.send = mock.Mock(spec=self.drone.send)
def tearDown(self):
self.drone.close()
def test_read_config_by_attribute(self):
self.assertEqual(self.drone.config.some.config, True)
self.assertEqual(self.drone.config.a.number, 3.71)
self.assertEqual(self.drone.config.i.am, 'tired')
def test_read_config_by_getitem(self):
self.assertEqual(self.drone.config['some:config'], True)
self.assertEqual(self.drone.config['a:number'], 3.71)
self.assertEqual(self.drone.config['i:am'], 'tired')
def test_set_config_by_attribute(self):
self.drone.config.a.b = 100
self.assertEqual(self.drone.config.a.b, 100)
self.assertEqual(self.drone.config['a:b'], 100)
def test_set_config_by_setitem(self):
self.drone.config['a:b'] = 200
self.assertEqual(self.drone.config.a.b, 200)
self.assertEqual(self.drone.config['a:b'], 200)
def test_set_config_sends_command(self):
self.drone.config.a.b = 32
self.drone.send.assert_called_once_with(at.CONFIG('a:b', 32))
def test_config_is_lazy(self):
self.assertFalse(self.drone.get_raw_config.call_count)
def test_config_is_cached(self):
self.drone.config.some.config
self.drone.config.i.am
self.assertEqual(self.drone.get_raw_config.call_count, 1)
def test_config_is_lazy_after_cache_cleared(self):
self.drone.config.some.config
self.drone.config.clear_cache()
self.assertEqual(self.drone.get_raw_config.call_count, 1)
def test_config_is_updated_again_after_cache_cleared(self):
self.drone.config.some.config
self.drone.config.clear_cache()
self.drone.config.some.config
self.assertEqual(self.drone.get_raw_config.call_count, 2)
def test_manually_set_config_is_cached(self):
self.drone.config.some.config = 1
self.drone.config.some.config
self.assertFalse(self.drone.get_raw_config.call_count)
def test_config_category_repr(self):
reprs = repr(self.drone.config.QzEw)
self.assertIn('ConfigCategory', reprs)
self.assertIn('QzEw', reprs)
import cv2
from pyardrone import ARDrone
import logging
logging.basicConfig(level=logging.DEBUG)
client = ARDrone()
client.video_ready.wait()
try:
while True:
cv2.imshow('im', client.frame)
if cv2.waitKey(10) == ord(' '):
break
finally:
client.close()
