def main():
pygame.init()
cam = cv2.VideoCapture('tcp://192.168.1.1:5555')
running2 = True
W2, H2 = 320,240
W, H = 640, 290
screen = pygame.display.set_mode((W, H))
drone = libardrone.ARDrone()
clock = pygame.time.Clock()
running = True
while running:
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.KEYUP:
drone.hover()
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
drone.reset()
running = False
# takeoff / land
elif event.key == pygame.K_RETURN:
drone.takeoff()
elif event.key == pygame.K_SPACE:
drone.land()
# emergency
elif event.key == pygame.K_BACKSPACE:
drone.reset()
# forward / backward
try:
image_grid_array = []
size_of_grid = 9
grid_length = 3
try:
frame = None
while running2:
# get current frame of video
running2, frame = cam.read()
if running2:
cv2.imshow('frame', frame)
image_grid_array.extend(crop(frame, size_of_grid))
Ps = 0
Pl = .5
Pr = .2
i = 1
canRead = write_to_filelock('droneRead.txt', "1", 'w')
for image in image_grid_array:
cv2.imwrite("test_img.jpeg", image)
canRead = 0
# Test for I/O file close permissions
while canRead == 0:
canRead = write_to_filelock('canRead.txt', "1", 'w')
# To run this in python 3.5 we will need to run a script that uses the "env"
# wrapper
# Once the pipeline is established, have the thread continuousely generate new samples
#
# can definitely recursion this size_of grid /2 + 1
canRead = 0
while (canRead == 0):
canRead = write_to_filelock('DroneRead.txt', "0", 'r')
canRead = 0
while (canRead == 0):
try:
canRead = write_to_filelock('out.txt', "0", 'r')
collision = float(canRead)
except:
collision = 0
print("COLLISION: -1")
canRead = 0
while (canRead == 0):
canRead = write_to_filelock('DroneRead.txt', "0", 'w')
print("Drone Read active")
if i % grid_length < (size_of_grid / 2 + 1):
Pl += collision
elif i % grid_length == (size_of_grid / 2 + 1):
Ps += collision
else:
Pr += collision
event = 1
print("we got to the good part: all images from grid read")
# Will need to comment out the other parts
# forward / backward
if Pr and Pl > Ps:
drone.move_forward()
else:
if Pr <= Pl:
drone.move_left()
else:
drone.move_right()
# turn left / turn right
else:
# error reading frame
print 'error reading video feed'
except Exception as e:
print(e)
hud_color = (255, 0, 0) if drone.navdata.get('drone_state', dict()).get('emergency_mask', 1) else (10, 10, 255)
bat = drone.navdata.get(0, dict()).get('battery', 0)
f = pygame.font.Font(None, 20)
hud = f.render('Battery: %i%%' % bat, True, hud_color)
screen.blit(hud, (10, 10))
except Exception as e:
print(str(e))
pass
pygame.display.flip()
clock.tick(50)
pygame.display.set_caption("FPS: %.2f" % clock.get_fps())
print "Shutting down...",
drone.halt()
print "Ok."
This simple application allows to control the drone and see the drone's video
stream.
Copyright (c) 2011 Bastian Venthur
The license and distribution terms for this file may be
found in the file LICENSE in this distribution.
"""
import pygame
from pydrone import libardrone
if __name__ == '__main__':
pygame.init()
W, H = 320, 240
screen = pygame.display.set_mode((W, H))
drone = libardrone.ARDrone()
clock = pygame.time.Clock()
running = True
while running:
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.KEYUP:
drone.hover()
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
drone.reset()
running = False
# takeoff / land
elif event.key == pygame.K_RETURN:
drone.takeoff()