def test_Example():
with pytest.raises(NotImplementedError):
_ = Bond.function_classes()
ret = Example.function_classes()
assert isinstance(ret, set)
b = Bebop()
with pytest.raises(KeyError):
assert b.opcode['pic_all_as_pat'].ret_type == Block.type_pattern
for abs_class in ret:
b.use(abs_class)
assert b.opcode['pic_all_as_pat'].ret_type == Block.type_pattern
assert len(b.opcode['2pat_merge_as_pic'].arg_types) == 2
assert b.opcode['pat_flip_up_down'].ret_type == Block.type_pattern
assert len(b.opcode['tests_verify_answer'].arg_types) == 1
ret = Example.from_kind()
assert ret == Question
ret = Example.to_kind()
assert ret == Answer
def __init__(self, abstract_relation):
Bebop.__init__(self)
self.from_kind = abstract_relation.from_kind()
self.to_kind = abstract_relation.to_kind()
self.rex_tuple = re.compile('^\\(.+\\)$')
self.rex_picture = re.compile('^\\[\\[.+\\]\\]$')
self.rex_vector = re.compile('^\\[[^\\[]+\\]$')
for abs_class in abstract_relation.function_classes():
self.use(abs_class)
def test_Bebop():
b = Bebop()
assert isinstance(b, Bebop)
assert Bebop.__base__ == object
with pytest.raises(KeyError):
b.use(Bebop)
b = Bebop()
code = Code((b.opcode['swap_top2'], ))
core = Core(code, stack=[Block.new_integer(19), Block.new_integer(21)])
assert core.all_right
assert core.stack[-1].data == 21
ret, = core
assert core.all_right
assert core.stack[-1].data == 19
assert isinstance(ret, Block)
assert ret.type == Block.type_integer
assert ret.data == 19
core = Core(code)
ret, = core
assert core.all_right is False
assert core.error_msg == 'swap_top2() with less than two'
assert isinstance(ret, Block)
assert ret.type == Block.type_error
assert ret.data == 'swap_top2() with less than two'
code = Code((b.opcode['get_answer'], ))
core = Core(code)
core.register['answer'] = Block.new_integer(37)
ret, = core
assert core.all_right
assert core.stack[-1].data == 37
assert isinstance(ret, Block)
assert ret.type == Block.type_integer
assert ret.data == 37
default=5, help='Size of the queue.')
args = parser.parse_args()
logger = multiprocessing.log_to_stderr()
logger.setLevel(multiprocessing.SUBDEBUG)
input_q = Queue(maxsize=args.queue_size)
output_q = Queue(maxsize=args.queue_size)
pool = Pool(args.num_workers, worker, (input_q, output_q))
#
# video_capture = WebcamVideoStream(src=args.video_source,
# width=args.width,
# height=args.height).start()
# fps = FPS().start()
isAlive = False
bebop = Bebop()
success = bebop.connect(5)
print("Drone Initialized " + str(success))
if success:
bebopVision = DroneVisionGUI(bebop, is_bebop=True)
else:
print("Error: Bebop not found")
# fps.stop()
# print('[INFO] elapsed time (total): {:.2f}'.format(fps.elapsed()))
# print('[INFO] approx. FPS: {:.2f}'.format(fps.fps()))
pool.terminate()
video_capture.stop()
cv2.destroyAllWindows()
bebop.smart_sleep(5)
# land
bebop.safe_land(5)
print("Finishing demo and stopping vision")
bebopVision.close_video()
# disconnect nicely so we don't need a reboot
print("disconnecting")
bebop.disconnect()
if __name__ == "__main__":
# make my bebop object
bebop = Bebop()
# connect to the bebop
success = bebop.connect(5)
if (success):
# start up the video
bebopVision = DroneVisionGUI(
bebop,
is_bebop=True,
user_code_to_run=demo_user_code_after_vision_opened,
user_args=(bebop, ))
userVision = UserVision(bebopVision)
bebopVision.set_user_callback_function(userVision.save_pictures,
user_callback_args=None)
"""
Demo the Bebop indoors (takes off, turns about 90 degrees, lands)
Note, the bebop will hurt your furniture if it hits it. Be sure you are doing this in an open area
and are prepared to catch!
"""
from Bebop import Bebop
bebop = Bebop()
print("connecting")
success = bebop.connect(10)
print(success)
if (success):
print("turning on the video")
bebop.start_video_stream()
print("sleeping")
bebop.smart_sleep(2)
bebop.ask_for_state_update()
#bebop.safe_takeoff(10)
print("Flying direct: yaw SLOWLY for indoors")
#bebop.fly_direct(roll=0, pitch=0, yaw=40, vertical_movement=0, duration=1)
bebop.smart_sleep(5)
#bebop.safe_land(10)
fill=(255, 255, 255, 255))
# Remove the drawing library from memory as per the Pillow docs
del draw
# Display the resulting image
# pil_image.show()
# You can also save a copy of the new image to disk if you want by uncommenting this line
pil_image.save(
"C:/Users/nickm/Desktop/image_{0:0=3d}.png".format(i))
# -------
# make my bebop object
bebop = Bebop()
bebop.set_video_stream_mode('high_reliability')
# safely initialize control var
bebop.ready = True
# connect to the bebop
success = bebop.connect(5)
if success:
# start up the video
bebopVision = DroneVision(bebop, is_bebop=True)
userVision = UserVision(bebopVision)
bebopVision.set_user_callback_function(userVision.face_detect,
user_callback_args=None)
success = bebopVision.open_video()
try:
"""
Flies the bebop in a fairly wide arc. You want to be sure you have room for this. (it is commented
out but even what is here is still going to require a large space)
"""
from Bebop import Bebop
bebop = Bebop()
print("connecting")
success = bebop.connect(10)
print(success)
print("sleeping")
bebop.smart_sleep(5)
bebop.ask_for_state_update()
bebop.start_video_stream()
bebop.set_video_stream_mode('low_latency')
bebop.set_video_stream_resolutions('rec1080_stream480')
bebop.set_vide_stream_framerate('30_FPS')
bebop.smart_sleep(120)
bebop.stop_video_stream()
print("DONE - disconnecting")
bebop.disconnect()
from Bebop import Bebop
bebop = Bebop()
print("connecting")
success = bebop.connect(10)
print(success)
print("sleeping")
bebop.smart_sleep(5)
bebop.ask_for_state_update()
bebop.safe_takeoff(10)
print("flip left")
print("flying state is %s" % bebop.sensors.flying_state)
success = bebop.flip(direction="left")
print("mambo flip result %s" % success)
bebop.smart_sleep(5)
print("flip right")
print("flying state is %s" % bebop.sensors.flying_state)
success = bebop.flip(direction="right")
print("mambo flip result %s" % success)
bebop.smart_sleep(5)
print("flip front")
print("flying state is %s" % bebop.sensors.flying_state)
success = bebop.flip(direction="front")
print("mambo flip result %s" % success)
class uavBebop:
"""A simple example class"""
with_drone = False
bebop = Bebop()
timeout = 5
speed_factor = 1
print_trace = True
def connect(self):
if self.with_drone:
return self.bebop.connect(10)
else:
print(
"No connection because you are in 'no drone' mode. Call allow_flight()"
)
def disconnect(self):
if self.with_drone:
return self.bebop.disconnect()
def arm(self):
print("TODO : arming")
def disarm(self):
print("TODO : disarming")
def takeoff(self):
self.debug("Going to takeoff")
if self.with_drone: self.bebop.safe_takeoff(self.timeout)
def land(self):
self.debug("Going to land")
if self.with_drone: self.bebop.safe_land(self.timeout)
def roll(self, speed, distance):
self.debug("Going to roll {} for {}".format(speed, distance))
if self.with_drone:
self.bebop.fly_direct(roll=speed * self.speed_factor,
pitch=0,
yaw=0,
vertical_movement=0,
duration=distance)
def pitch(self, speed, distance):
if self.with_drone:
self.bebop.fly_direct(roll=0,
pitch=speed * self.speed_factor,
yaw=0,
vertical_movement=0,
duration=distance)
def yaw(self, speed, distance):
if self.with_drone:
self.bebop.fly_direct(roll=0,
pitch=0,
yaw=speed * self.speed_factor,
vertical_movement=0,
duration=distance)
def throttle(self, speed, distance):
if self.with_drone:
self.bebop.fly_direct(roll=0,
pitch=0,
yaw=0,
vertical_movement=speed * self.speed_factor,
duration=distance)
def stop(self):
if self.with_drone:
self.bebop.fly_direct(roll=0,
pitch=0,
yaw=0,
vertical_movement=0,
duration=distance)
def return_to_launch(self):
print("ERROR : RTL Not implemented.")
def test_move(self):
if self.with_drone:
distance = 1
self.roll(-10, distance)
self.throttle(10, distance)
self.pitch(10, distance)
self.roll(10, distance)
self.throttle(-10, distance)
self.pitch(-10, distance)
def allow_flight(self):
self.with_drone = True
def set_speed_factor(self, speed_factor):
self.speed_factor = speed_factor
def debug(self, msg):
if self.print_trace:
print(msg)
def test_instance_everything():
a = Answer([[1, 0], [0, 1]])
assert isinstance(a, Answer)
assert Answer.__base__ == Block
with pytest.raises(AttributeError):
_ = a.__base__
a = Bebop()
assert isinstance(a, Bebop)
assert Bebop.__base__ == object
with pytest.raises(AttributeError):
_ = a.__base__
a = Block('hello', Block.type_error)
assert isinstance(a, Block)
assert Block.__base__ == object
with pytest.raises(AttributeError):
_ = a.__base__
a = Bond(None, None)
assert isinstance(a, Bond)
assert Bond.__base__ == Block
with pytest.raises(AttributeError):
_ = a.__base__
a = BopBack()
assert isinstance(a, BopBack)
assert BopBack.__base__ == object
with pytest.raises(AttributeError):
_ = a.__base__
a = BopForward()
assert isinstance(a, BopForward)
assert BopForward.__base__ == object
with pytest.raises(AttributeError):
_ = a.__base__
a = Code((Function(len, [Block.type_picture], Block.type_picture), Function(len, [Block.type_picture], Block.type_picture)))
assert isinstance(a, Code)
assert Code.__base__ == Block
with pytest.raises(AttributeError):
_ = a.__base__
code = a
a = CodeBase()
assert isinstance(a, CodeBase)
assert CodeBase.__base__ == Container
with pytest.raises(AttributeError):
_ = a.__base__
a = CodeEval(Example)
assert isinstance(a, CodeEval)
assert CodeEval.__base__ == Field
with pytest.raises(AttributeError):
_ = a.__base__
a = CodeGen(None, None, Example)
assert isinstance(a, CodeGen)
assert CodeGen.__base__ == CodeTree
with pytest.raises(AttributeError):
_ = a.__base__
a = CodeTree(None, Example)
assert isinstance(a, CodeTree)
assert CodeTree.__base__ == CodeEval
with pytest.raises(AttributeError):
_ = a.__base__
a = Core(code, [Block.new_picture(list_of_list=[[3, 2], [2, 3]])])
assert isinstance(a, Core)
assert Core.__base__ == Block
with pytest.raises(AttributeError):
_ = a.__base__
a = Container()
assert isinstance(a, Container)
assert Container.__base__ == object
with pytest.raises(AttributeError):
_ = a.__base__
a = Context()
assert isinstance(a, Context)
assert Context.__base__ == Container
with pytest.raises(AttributeError):
_ = a.__base__
a = Example([[3, 2], [2, 3]], [[1, 0], [0, 1]], False)
assert isinstance(a, Example)
assert Example.__base__ == Bond
with pytest.raises(AttributeError):
_ = a.__base__
a = Field(Example)
assert isinstance(a, Field)
assert Field.__base__ == Bebop
with pytest.raises(AttributeError):
_ = a.__base__
a = Function(len, Block.type_nothing, Block.type_nothing)
assert isinstance(a, Function)
assert Function.__base__ == Block
with pytest.raises(AttributeError):
_ = a.__base__
a = MCTS(None, None, Example)
assert isinstance(a, MCTS)
assert MCTS.__base__ == CodeGen
with pytest.raises(AttributeError):
_ = a.__base__
a = MctsNode()
assert isinstance(a, MctsNode)
assert MctsNode.__base__ == object
with pytest.raises(AttributeError):
_ = a.__base__
a = Problem()
assert isinstance(a, Problem)
assert Problem.__base__ == Container
with pytest.raises(AttributeError):
_ = a.__base__
a = Question([[3, 2], [2, 3]])
assert isinstance(a, Question)
assert Question.__base__ == Block
with pytest.raises(AttributeError):
_ = a.__base__
a = Search()
assert isinstance(a, Search)
assert Search.__base__ == object
with pytest.raises(AttributeError):
_ = a.__base__
a = Source(('nop'))
assert isinstance(a, Source)
assert Source.__base__ == Block
with pytest.raises(AttributeError):
_ = a.__base__
import sys
import os.path
from controlGUI import *
from PyQt5.QtCore import QObject, pyqtSlot, QUrl
import sys
import os.path
from PyQt5.QtWidgets import QMainWindow, QWidget, QFrame, QSlider, QHBoxLayout, QPushButton, \
QVBoxLayout, QAction, QFileDialog, QApplication
import vlc
from controlGUI import DroneGUI
from Bebop import Bebop
if __name__ == "__main__":
bebop = Bebop()
app = QApplication(sys.argv)
vision = DroneGUI()
vision.setDrone(bebop)
bebop.setVision(vision)
vision.show()
vision.resize(995, 720)
sys.exit(app.exec_())
"""
Flies the bebop in a fairly wide arc. You want to be sure you have room for this. (it is commented
out but even what is here is still going to require a large space)
"""
from Bebop import Bebop
bebop = Bebop()
print("connecting")
success = bebop.connect(10)
print(success)
print("sleeping")
bebop.smart_sleep(5)
bebop.ask_for_state_update()
bebop.safe_takeoff(10)
print("Flying direct: going forward (positive pitch)")
bebop.fly_direct(roll=0, pitch=50, yaw=0, vertical_movement=0, duration=1)
print("Flying direct: yaw")
bebop.fly_direct(roll=0, pitch=0, yaw=50, vertical_movement=0, duration=1)
print("Flying direct: going backwards (negative pitch)")
bebop.fly_direct(roll=0, pitch=-50, yaw=0, vertical_movement=0, duration=0.5)
print("Flying direct: roll")
bebop.fly_direct(roll=50, pitch=0, yaw=0, vertical_movement=0, duration=1)
print("Flying direct: going up")
class UserVision:
def __init__(self, vision):
self.index = 0
self.vision = vision
def save_pictures(self, args):
#print("saving picture")
img = self.vision.get_latest_valid_picture()
filename = "test_image_%06d.png" % self.index
#cv2.imwrite(filename, img)
self.index += 1
# make my bebop object
bebop = Bebop()
# connect to the bebop
success = bebop.connect(5)
if (success):
# start up the video
bebopVision = DroneVision(bebop, is_bebop=True)
userVision = UserVision(bebopVision)
bebopVision.set_user_callback_function(userVision.save_pictures,
user_callback_args=None)
success = bebopVision.open_video()
if (success):
print("Vision successfully started!")
# from __future__ import print_function
# from dronekit import connect, VehicleMode, LocationGlobal, LocationGlobalRelative
# from pymavlink import mavutil # Needed for command message definitions
import time
import math
from Bebop import Bebop
# from pynput.keyboard import Controller
# # import time
#
bebop = Bebop()
def move(offset_x, offset_y, offset_z=0, time):
# keyboard = Controller()
# print(offset_x, offset_y)
''' text_file = open("buffer.txt", "w")
target_y = 1
target_x = 0
if offset_y - target_y > 0:
text_file.write("s")
elif offset_y - target_y < 0:
text_file.write("w")
if offset_x - target_x > 0:
text_file.write("a")
elif offset_x - target_x < 0:
text_file.write("d") '''
bebop.fly_direct(roll=(100 * offset_y / abs(offset_y)), pitch=(100 * offset_x / abs(offset_x)), yaw=0, vertical_movement=(50 * offset_z/ abs(offset_z)), duration=time // 2)
def turn(direction, time):
args = parser.parse_args()
logger = multiprocessing.log_to_stderr()
logger.setLevel(multiprocessing.SUBDEBUG)
input_q = Queue(maxsize=args.queue_size)
output_q = Queue(maxsize=args.queue_size)
pool = Pool(args.num_workers, worker, (input_q, output_q))
#
# video_capture = WebcamVideoStream(src=args.video_source,
# width=args.width,
# height=args.height).start()
# fps = FPS().start()
isAlive = False
bebop = Bebop()
success = bebop.connect(5)
count = 0
print("Drone Initialized " + str(success))
if success:
bebopVision = DroneVision(bebop, is_bebop=True)
userVision = UserVision(bebopVision)
bebopVision.set_user_callback_function(userVision.save_pictures,
user_callback_args=None)
success = bebopVision.open_video()
bebop.safe_takeoff(10)
bebop.smart_sleep(30)
("Take off")
while True and success and count < 30: # fps._numFrames < 120
frame = userVision.vision.get_latest_valid_picture()
logger = multiprocessing.log_to_stderr()
logger.setLevel(multiprocessing.SUBDEBUG)
input_q = Queue(maxsize=args.queue_size)
output_q = Queue(maxsize=args.queue_size)
pool = Pool(args.num_workers, worker, (input_q, output_q))
input_q.put(np.zeros((640,480,3)))
#
video_capture = WebcamVideoStream(src=args.video_source,
width=args.width,
height=args.height).start()
print("CAM" + str(type(video_capture)))
# fps = FPS().start()
isAlive = False
bebop = Bebop()
success = bebop.connect(5)
print("Drone Initialized " + str(success))
if success:
bebopVision = DroneVision(bebop, is_bebop=True)#, user_code_to_run=detection, user_args='')
userVision = UserVision(bebopVision)
bebopVision.set_user_callback_function(userVision.save_pictures, user_callback_args=None)
success = bebopVision.open_video()
# bebop.safe_takeoff(10)
bebop.smart_sleep(10)
("Take off")
count = 0
while True and success and count < 50: # fps._numFrames < 120
frame = userVision.vision.get_latest_valid_picture()
input_q.put(frame)
