def setup(self):
try:
self.environment = Environment.setup(self.arguments)
self.mission = Mission.create(self.environment, self.arguments)
self.monitor = Monitor(self.mission, self.environment)
except Exception:
self.arguments.error(traceback.format_exc())
self.arguments.check_help()
infrared_sensor = self.environment.get_infrared_sensor()
if infrared_sensor is not None:
infrared_sensor.register("start", self.enable)
infrared_sensor.register("pause", self.monitor.pause)
infrared_sensor.register("stop", self._infrared_disable)
infrared_sensor.register("poweroff", self._infrared_poweroff)
infrared_sensor.activate()
else:
self.activated = True
print("Setting up mission")
self.mission.setup()
self.mission.display()
self.monitor.setup()
# Arm the vehicle and take off to the specified altitude if the vehicle
# can fly.
self.mission.arm_and_takeoff()
self.mission.display()
while not self.activated:
self.monitor.sleep()
self.start()
def setup(self):
try:
self.environment = Environment.setup(self.arguments)
self.mission = Mission.create(self.environment, self.arguments)
self.monitor = Monitor(self.mission, self.environment)
except Exception:
self.arguments.error(traceback.format_exc())
self.arguments.check_help()
infrared_sensor = self.environment.get_infrared_sensor()
if infrared_sensor is not None:
infrared_sensor.register("start", self.enable)
infrared_sensor.register("pause", self.monitor.pause)
infrared_sensor.register("stop", self._infrared_disable)
infrared_sensor.register("poweroff", self._infrared_poweroff)
infrared_sensor.activate()
else:
self.activated = True
print("Setting up mission")
self.mission.setup()
self.mission.display()
self.monitor.setup()
# Arm the vehicle and take off to the specified altitude if the vehicle
# can fly.
self.mission.arm_and_takeoff()
self.mission.display()
while not self.activated:
self.monitor.sleep()
self.start()
class Setup(object):
def __init__(self, arguments):
self.arguments = arguments
self.activated = False
self.environment = None
self.mission = None
self.monitor = None
def setup(self):
try:
self.environment = Environment.setup(self.arguments)
self.mission = Mission.create(self.environment, self.arguments)
self.monitor = Monitor(self.mission, self.environment)
except Exception:
self.arguments.error(traceback.format_exc())
self.arguments.check_help()
infrared_sensor = self.environment.get_infrared_sensor()
if infrared_sensor is not None:
infrared_sensor.register("start", self.enable)
infrared_sensor.register("pause", self.monitor.pause)
infrared_sensor.register("stop", self._infrared_disable)
infrared_sensor.register("poweroff", self._infrared_poweroff)
infrared_sensor.activate()
else:
self.activated = True
print("Setting up mission")
self.mission.setup()
self.mission.display()
self.monitor.setup()
# Arm the vehicle and take off to the specified altitude if the vehicle
# can fly.
self.mission.arm_and_takeoff()
self.mission.display()
while not self.activated:
self.monitor.sleep()
self.start()
def enable(self):
self.activated = True
def start(self):
print("Starting mission")
self.monitor.start()
# Monitor mission
try:
if self.monitor.use_viewer():
from trajectory.Viewer import Viewer_Vehicle
viewer = Viewer_Vehicle(self.environment, self.monitor)
viewer.start()
else:
ok = True
while ok and self.activated:
ok = self.monitor.step()
if ok:
self.monitor.sleep()
except RuntimeError as e:
# Handle runtime errors from the monitor loop as informative and
# loggable errors, but allow the vehicle to attempt to return to
# launch.
print(e)
self.environment.thread_manager.log("main thread")
# Return to lauch at the end of the mission or when we can safely
# return before a potential problem.
if self.activated:
self.monitor.stop()
self.mission.return_to_launch()
def disable(self):
if self.activated:
self.activated = False
print("Stopped mission")
try:
if self.monitor:
self.monitor.stop()
if self.environment:
self.environment.thread_manager.destroy()
self.environment.usb_manager.clear()
except:
traceback.print_exc()
sys.exit(1)
def _infrared_disable(self):
self.environment.thread_manager.interrupt("infrared_sensor")
def _infrared_poweroff(self):
self.environment.thread_manager.interrupt("infrared_sensor")
subprocess.Popen(["poweroff"])
class Setup(object):
def __init__(self, arguments):
self.arguments = arguments
self.activated = False
self.environment = None
self.mission = None
self.monitor = None
def setup(self):
try:
self.environment = Environment.setup(self.arguments)
self.mission = Mission.create(self.environment, self.arguments)
self.monitor = Monitor(self.mission, self.environment)
except Exception:
self.arguments.error(traceback.format_exc())
self.arguments.check_help()
infrared_sensor = self.environment.get_infrared_sensor()
if infrared_sensor is not None:
infrared_sensor.register("start", self.enable)
infrared_sensor.register("pause", self.monitor.pause)
infrared_sensor.register("stop", self._infrared_disable)
infrared_sensor.register("poweroff", self._infrared_poweroff)
infrared_sensor.activate()
else:
self.activated = True
print("Setting up mission")
self.mission.setup()
self.mission.display()
self.monitor.setup()
# Arm the vehicle and take off to the specified altitude if the vehicle
# can fly.
self.mission.arm_and_takeoff()
self.mission.display()
while not self.activated:
self.monitor.sleep()
self.start()
def enable(self):
self.activated = True
def start(self):
print("Starting mission")
self.monitor.start()
# Monitor mission
try:
if self.monitor.use_viewer():
from trajectory.Viewer import Viewer_Vehicle
viewer = Viewer_Vehicle(self.environment, self.monitor)
viewer.start()
else:
ok = True
while ok and self.activated:
ok = self.monitor.step()
if ok:
self.monitor.sleep()
except RuntimeError as e:
# Handle runtime errors from the monitor loop as informative and
# loggable errors, but allow the vehicle to attempt to return to
# launch.
print(e)
self.environment.thread_manager.log("main thread")
# Return to lauch at the end of the mission or when we can safely
# return before a potential problem.
if self.activated:
self.monitor.stop()
self.mission.return_to_launch()
def disable(self):
if self.activated:
self.activated = False
print("Stopped mission")
try:
if self.monitor:
self.monitor.stop()
if self.environment:
self.environment.thread_manager.destroy()
self.environment.usb_manager.clear()
except:
traceback.print_exc()
sys.exit(1)
def _infrared_disable(self):
self.environment.thread_manager.interrupt("infrared_sensor")
def _infrared_poweroff(self):
self.environment.thread_manager.interrupt("infrared_sensor")
subprocess.Popen(["poweroff"])
