def run():
with open('pid.txt', 'w') as f:
f.write('NO TERMINE')
drone1 = drone.drone(HOME)
drone1.bebop.connect(10)
logStats = stats.stats(drone1, )
stateMachine1 = stateMachine(HOME, INIT_POI_POSITION, FOREVER_ALONE,
drone1, logStats)
connection = threading.Thread(target=main, args=(
drone1,
stateMachine1,
))
if not SUPER_MAIN:
connection2 = threading.Thread(target=interface, args=(drone1, ))
connection2.start()
connection.start()
if SPHINX_SIMULATION and ACTIVATE_GRAPHIC_MAP:
connection3 = threading.Thread(target=plotMatrix,
args=(
drone1,
stateMachine1,
))
connection3.start()
def main():
drone1 = drone.drone(HOME)
drone1.bebop.connect(10)
drone1.bebop.ask_for_state_update()
drone1.bebop.set_user_sensor_callback(sensorCallback, drone1)
drone1.bebop.safe_takeoff(10)
time.sleep(10)
drone1.bebop.safe_land(10)
def main(drone1):
drone1 = drone.drone((0, 0))
my_ip = connections.get_server_ip()
client_handler = threading.Thread(target=connections.run_server,
args=(
my_ip,
drone1,
))
client_handler.start()
client1 = client.client()
client1.search_friends(my_ip)
print('take_off', drone1)
drone1.take_off()
#result2= (23,31)
#drone2.updateSearchMap(result)
#drone1.updateSearchMap(result2)
for i in range(4000):
new_position = drone1.explore()
drone1.move(new_position)
message = utils.convertTupleToString(drone1.current_position)
client1.send_message(message)
#drone2.updateSearchMap(result)
#result2 = drone2.explorar(result2)
#drone1.updateSearchMap(result2)
if i == 200:
drone1.battery_status = LOW
print("es low")
if i == 230:
print("es critical")
drone1.goHome()
if drone1.current_position == drone1.home:
drone1.battery_status = NORMAL
from connections import connections
from connections import client
from flightplans import drone, droneTest
from batteryEnum import LOW, CRITICAL, NORMAL
import time
import utils
import threading
drone1 = drone.drone((23, 31))
def main(drone1):
drone1 = drone.drone((0, 0))
my_ip = connections.get_server_ip()
client_handler = threading.Thread(target=connections.run_server,
args=(
my_ip,
drone1,
))
client_handler.start()
client1 = client.client()
client1.search_friends(my_ip)
print('take_off', drone1)
drone1.take_off()
#result2= (23,31)
#drone2.updateSearchMap(result)
#drone1.updateSearchMap(result2)
for i in range(4000):
from threading import Thread
from flightplans import drone
import math
from properties import HOME
drone1 = drone.drone(HOME)
print("connecting")
success = drone1.bebop.connect(10)
print(success)
def measure(lat1, lon1, lat2, lon2): # generally used geo measurement function
R = 6378.137 # Radius of earth in KM
dLat = lat2 * math.pi / 180 - lat1 * math.pi / 180
dLon = lon2 * math.pi / 180 - lon1 * math.pi / 180
a = math.sin(dLat / 2) * math.sin(dLat / 2) + math.cos(
lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) * math.sin(
dLon / 2) * math.sin(dLon / 2)
c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
d = R * c
return d * 1000 # meters
def main(drone):
print("RUTA 2 STARTING")
drone.bebop.smart_sleep(1)
drone.bebop.set_max_altitude(drone.max_altitude)
drone.bebop.ask_for_state_update()