def Start(self, vehicle):
logger.log("+-+-+-+-+-+-+ Starting up %s +-+-+-+-+-+-+" % VERSION)
### initialize dronekit vehicle ###
self.vehicle = vehicle
### switch vehicle to loiter mode ###
self.vehicle.mode = VehicleMode("LOITER")
### initialize rc manager ###
self.rcMgr = rcManager.rcManager(self)
### initialize app manager ###
self.appMgr = appManager.appManager(self)
### initialize button manager ###
self.buttonManager = buttonManager.buttonManager(self)
### initialize extended functions ###
self.extFunctions = extFunctions.extFunctions(self.vehicle, self)
### initialize gopro manager ###
self.goproManager = GoProManager.GoProManager(self)
### Initialize GeoFence manager ###
self.geoFenceManager = GeoFenceManager.GeoFenceManager(self)
# instantiate rewindManager
self.rewindManager = rewindManager.RewindManager(self.vehicle, self)
### init APM stream rates ###
self.initStreamRates()
### register callbacks ###
self.registerCallbacks()
# Try to maintain a constant tick rate
self.timeOfLastTick = monotonic.monotonic()
# how many ticks have we performed since an RC update?
# register all connections (gopro manager communicates via appMgr's socket)
self.inputs = [self.rcMgr.server, self.appMgr.server]
self.outputs = []
#check if gimbal is present
if self.vehicle.gimbal.yaw is not None:
logger.log("[shot]: Gimbal detected.")
# Initialize gimbal to RC targeting
self.vehicle.gimbal.release()
else:
logger.log("[shot]: No gimbal detected.")
# mark first tick time
self.timeOfLastTick = monotonic.monotonic()
# check for In-Air start from Shotmanager crash
if self.vehicle.system_status == 'ACTIVE':
logger.log("[shot]: Restart in air.")
# load vehicle home
self.rewindManager.loadHomeLocation()
def setUp(self):
with patch('buttonManager.buttonManager.connect') as mock:
mock.read = Mock()
mock.get = Mock()
shotmgr = Mock()
self.v = Mock()
shotmgr.vehicle = self.v
self.mgr = buttonManager.buttonManager(shotmgr)
self.mgr.setArtooButton = Mock()
buttonManager.connected = True
def setUp(self):
self.mgr = shotManager.ShotManager()
self.mgr.rcMgr = Mock()
self.mgr.buttonManager = buttonManager.buttonManager(self.mgr)
self.mgr.lastMode = "LOITER"
self.mgr.appMgr = Mock()
self.mgr.vehicle = mock.create_autospec(Vehicle)
self.mgr.vehicle.system_status = 'ACTIVE'
self.mgr.sendPacket = Mock()
self.mgr.goproManager = Mock()
self.mgr.geoFenceManager = GeoFenceManager.GeoFenceManager(self.mgr)
def setUp(self):
with patch('buttonManager.buttonManager.connect') as mock:
mock.read = Mock()
mock.get = Mock()
shotmgr = Mock()
self.v = Mock()
shotmgr.vehicle = self.v
self.mgr = buttonManager.buttonManager(shotmgr)
self.mgr.setArtooButton = Mock()
buttonManager.connected = True
self.mgr.freeButtonMappings = [(shots.APP_SHOT_NONE, 1), (shots.APP_SHOT_NONE, 13)]
def Start(self, vehicle):
logger.log("+-+-+-+-+-+-+ Starting up %s +-+-+-+-+-+-+" % VERSION)
### initialize dronekit vehicle ###
self.vehicle = vehicle
### switch vehicle to loiter mode ###
self.vehicle.mode = VehicleMode("LOITER")
### initialize rc manager ###
self.rcMgr = rcManager.rcManager(self)
### initialize app manager ###
self.appMgr = appManager.appManager(self)
### initialize button manager ###
self.buttonManager = buttonManager.buttonManager(self)
### initialize gopro manager ###
self.goproManager = GoProManager.GoProManager(self)
### Initialize GeoFence manager ###
self.geoFenceManager = GeoFenceManager.GeoFenceManager(self)
# instantiate rewindManager
self.rewindManager = rewindManager.RewindManager(self.vehicle, self)
# Create a PyMata instance and initialize the object avoidance toggles
self.led_left_state = 0
self.led_right_state = 0
self.led_center_state = 0
self.led_beam_angle_state = 0
self.center_collision_state = 0
try:
self.arduinoBoard = PyMata("/dev/ttyACM0", verbose=True)
self.arduinoBoard.set_pin_mode(COLL_RIGHT, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(COLL_CENTER, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(COLL_LEFT, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT1, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT2, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT3, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
self.arduinoBoard.set_pin_mode(SCAN_BIT4, self.arduinoBoard.INPUT, self.arduinoBoard.DIGITAL)
except:
logger.log("[shotmanager]: Error in communication to Arduino")
### init APM stream rates ###
self.initStreamRates()
### register callbacks ###
self.registerCallbacks()
# Try to maintain a constant tick rate
self.timeOfLastTick = monotonic.monotonic()
# how many ticks have we performed since an RC update?
# register all connections (gopro manager communicates via appMgr's socket)
self.inputs = [self.rcMgr.server, self.appMgr.server]
self.outputs = []
#check if gimbal is present
if self.vehicle.gimbal.yaw is not None:
logger.log("[shot]: Gimbal detected.")
# Initialize gimbal to RC targeting
self.vehicle.gimbal.release()
else:
logger.log("[shot]: No gimbal detected.")
# mark first tick time
self.timeOfLastTick = monotonic.monotonic()
# check for In-Air start from Shotmanager crash
if self.vehicle.system_status == 'ACTIVE':
logger.log("[shot]: Restart in air.")
# load vehicle home
self.rewindManager.loadHomeLocation()
def Start(self, api):
logger.log("starting up shotManager 1.3.0")
# get our vehicle - when running with mavproxy it only knows about one vehicle (for now)
self.vehicle = api.get_vehicles()[0]
logger.log("got api vehicle")
# set up a socket to receive rc inputs from pixrc
if os.path.exists( "/tmp/shotManager_RCInputs_socket" ):
os.remove( "/tmp/shotManager_RCInputs_socket" )
self.rcSock = socket.socket( socket.AF_UNIX, socket.SOCK_DGRAM )
self.rcSock.bind("/tmp/shotManager_RCInputs_socket")
self.rcSock.setblocking(0)
self.remapper = RCRemapper.RCRemapper(self.rcSock, self)
# set up a TCP server to receive commands from the app
# Create a TCP/IP socket
self.server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
if platform.system() != 'Darwin':
self.server.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
# After 1 second, start KEEPALIVE
self.server.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 1)
# 5 seconds in between keepalive pings
self.server.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 5)
# 5 max fails
self.server.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 5)
# Bind the socket to the port
server_address = ('', SERVER_PORT)
while True:
try:
self.server.bind(server_address)
except:
# logger.log("address in use")
time.sleep(1.0)
pass
else:
break
logger.log("ready for connections")
# Listen for incoming connections
self.server.listen(0)
self.client = None
self.inputs = [self.server, self.rcSock]
self.outputs = []
self.currentPacket = ""
self.currentPacketLength = 9999
self.enableManualGimbalControl()
self.buttonManager = buttonManager.buttonManager(self)
self.last_ekf_ok = False
self.last_armed = False
# Store off the last received set of RC channels
# If we have short gaps where we aren't receiving RC, fill them in with this
self.lastRCData = [RCRemapper.DEFAULT_RC_MID, RCRemapper.DEFAULT_RC_MID, RCRemapper.DEFAULT_RC_MID, RCRemapper.DEFAULT_RC_MID, RCRemapper.DEFAULT_RC_MID, RCRemapper.CHANNEL6_MID, RCRemapper.DEFAULT_RC_MID, RCRemapper.CHANNEL8_MID ]
# Try to maintain a constant tick rate
self.timeOfLastTick = time.time()
# how many ticks have we performed since an RC update?
self.numTicksSinceRCUpdate = 0
logger.log("Going to wait for vehicle init")
while True:
try:
self.vehicle.wait_init()
except:
exceptStr = traceback.format_exc()
print exceptStr
logger.log(exceptStr)
logger.log("failed to init vehicle")
else:
break
logger.log("vehicle inited")
self.goproManager = GoProManager.GoProManager(self)
self.xiaomiManager = XiaomiManager.XiaomiManager(self)
#check if gimbal is present
if self.vehicle.mount_status[0] is not None:
logger.log("Gimbal detected.")
else:
logger.log("No gimbal detected.")
self.vehicle.mode = VehicleMode("LOITER")
self.lastMode = self.vehicle.mode.name
# set callback for when modes change
self.vehicle.add_attribute_observer('mode', self.mode_callback)
# set callback for when ekf changes
self.vehicle.add_attribute_observer('ekf_ok', self.ekf_callback)
# set callback for when armed state changes
self.vehicle.add_attribute_observer('armed', self.armed_callback)
# set callback when camera is triggered through a mavlink message
self.vehicle.add_attribute_observer('camera_trigger', self.camera_trigger_callback)
# gopro manager callbacks
self.vehicle.add_attribute_observer('gopro_state', self.goproManager.state_callback)
self.vehicle.add_attribute_observer('gopro_get_response', self.goproManager.get_response_callback)
self.vehicle.add_attribute_observer('gopro_set_response', self.goproManager.set_response_callback)
self.initStreamRates()
def Start(self, api):
logger.log("starting up shotManager 1.3.0")
# get our vehicle - when running with mavproxy it only knows about one vehicle (for now)
self.vehicle = api.get_vehicles()[0]
logger.log("got api vehicle")
# set up a socket to receive rc inputs from pixrc
if os.path.exists("/tmp/shotManager_RCInputs_socket"):
os.remove("/tmp/shotManager_RCInputs_socket")
self.rcSock = socket.socket(socket.AF_UNIX, socket.SOCK_DGRAM)
self.rcSock.bind("/tmp/shotManager_RCInputs_socket")
self.rcSock.setblocking(0)
self.remapper = RCRemapper.RCRemapper(self.rcSock, self)
# set up a TCP server to receive commands from the app
# Create a TCP/IP socket
self.server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
if platform.system() != 'Darwin':
self.server.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
# After 1 second, start KEEPALIVE
self.server.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 1)
# 5 seconds in between keepalive pings
self.server.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 5)
# 5 max fails
self.server.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 5)
# Bind the socket to the port
server_address = ('', SERVER_PORT)
while True:
try:
self.server.bind(server_address)
except:
# logger.log("address in use")
time.sleep(1.0)
pass
else:
break
logger.log("ready for connections")
# Listen for incoming connections
self.server.listen(0)
self.client = None
self.inputs = [self.server, self.rcSock]
self.outputs = []
self.currentPacket = ""
self.currentPacketLength = 9999
self.enableManualGimbalControl()
self.buttonManager = buttonManager.buttonManager(self)
self.last_ekf_ok = False
self.last_armed = False
# Store off the last received set of RC channels
# If we have short gaps where we aren't receiving RC, fill them in with this
self.lastRCData = [
RCRemapper.DEFAULT_RC_MID, RCRemapper.DEFAULT_RC_MID,
RCRemapper.DEFAULT_RC_MID, RCRemapper.DEFAULT_RC_MID,
RCRemapper.DEFAULT_RC_MID, RCRemapper.CHANNEL6_MID,
RCRemapper.DEFAULT_RC_MID, RCRemapper.CHANNEL8_MID
]
# Try to maintain a constant tick rate
self.timeOfLastTick = time.time()
# how many ticks have we performed since an RC update?
self.numTicksSinceRCUpdate = 0
logger.log("Going to wait for vehicle init")
while True:
try:
self.vehicle.wait_init()
except:
exceptStr = traceback.format_exc()
print exceptStr
logger.log(exceptStr)
logger.log("failed to init vehicle")
else:
break
logger.log("vehicle inited")
self.goproManager = GoProManager.GoProManager(self)
self.xiaomiManager = XiaomiManager.XiaomiManager(self)
#check if gimbal is present
if self.vehicle.mount_status[0] is not None:
logger.log("Gimbal detected.")
else:
logger.log("No gimbal detected.")
self.vehicle.mode = VehicleMode("LOITER")
self.lastMode = self.vehicle.mode.name
# set callback for when modes change
self.vehicle.add_attribute_observer('mode', self.mode_callback)
# set callback for when ekf changes
self.vehicle.add_attribute_observer('ekf_ok', self.ekf_callback)
# set callback for when armed state changes
self.vehicle.add_attribute_observer('armed', self.armed_callback)
# set callback when camera is triggered through a mavlink message
self.vehicle.add_attribute_observer('camera_trigger',
self.camera_trigger_callback)
# gopro manager callbacks
self.vehicle.add_attribute_observer('gopro_state',
self.goproManager.state_callback)
self.vehicle.add_attribute_observer(
'gopro_get_response', self.goproManager.get_response_callback)
self.vehicle.add_attribute_observer(
'gopro_set_response', self.goproManager.set_response_callback)
self.initStreamRates()
