parser.add_argument("-s","--subscribe", action="store_true", help="subscribe to the ivy bus")
parser.add_argument("-v","--verbose", action="store_true", help="verbose mode")
try:
# --- Startup state initialization block
args = parser.parse_args()
static_init_configuration_data()
static_init_client_configuration_data(args.file)
if args.verbose:
print_aircraft_data()
if args.generate:
template_configuration()
sys.exit(0)
if args.subscribe:
ivy_interface.subscribe(callback_aircraft_messages)
ivy_interface.start()
# Handle misc. command line arguments
if args.verbose:
verbose=args.verbose
if args.curl:
curl=args.curl
print_curl_header(args.ip, args.port)
# --- Main loop
# Supply flask the appropriate ip address and port for the server
server_host = args.ip # Store for use in htlm template generation
server_port = args.port # Store for use in htlm template generation
app.run(host=args.ip,port=args.port,threaded=True)
# --- Shutdown state block
class RtpViewer:
frame = None
mouse = dict()
def __init__(self, src):
# Create the video capture device
self.cap = cv2.VideoCapture(src)
# Start the ivy interface
self.ivy = IvyMessagesInterface("RTPviewer", start_ivy=False)
self.ivy.start()
# Create a named window and add a mouse callback
cv2.namedWindow('rtp')
cv2.setMouseCallback('rtp', self.on_mouse)
def run(self):
# Start an 'infinite' loop
while True:
# Read a frame from the video capture
ret, self.frame = self.cap.read()
# Quit if frame could not be retrieved or 'q' is pressed
if not ret or cv2.waitKey(1) & 0xFF == ord('q'):
break
# Run the computer vision function
self.cv()
def cv(self):
# If a selection is happening
if self.mouse.get('start'):
# Draw a rectangle indicating the region of interest
cv2.rectangle(self.frame, self.mouse['start'], self.mouse['now'], (0, 255, 0), 2)
# Show the image in a window
cv2.imshow('rtp', self.frame)
def on_mouse(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
self.mouse['start'] = (x, y)
if event == cv2.EVENT_RBUTTONDOWN:
self.mouse['start'] = None
if event == cv2.EVENT_MOUSEMOVE:
self.mouse['now'] = (x, y)
if event == cv2.EVENT_LBUTTONUP:
# If mouse start is defined, a region has been selected
if not self.mouse.get('start'):
return
# Obtain mouse start coordinates
sx, sy = self.mouse['start']
# Create a new message
msg = PprzMessage("datalink", "VIDEO_ROI")
msg['ac_id'] = None
msg['startx'] = sx
msg['starty'] = sy
msg['width'] = abs(x - sx)
msg['height'] = abs(y - sy)
msg['downsized_width'] = self.frame.shape[1]
# Send message via the ivy interface
self.ivy.send_raw_datalink(msg)
# Reset mouse start
self.mouse['start'] = None
def cleanup(self):
# Shutdown ivy interface
self.ivy.shutdown()
class RtpViewer:
frame = None
mouse = dict()
def __init__(self, src):
# Create the video capture device
self.cap = cv2.VideoCapture(src)
# Start the ivy interface
self.ivy = IvyMessagesInterface("RTPviewer", start_ivy=False)
self.ivy.start()
# Create a named window and add a mouse callback
cv2.namedWindow('rtp')
cv2.setMouseCallback('rtp', self.on_mouse)
def run(self):
# Start an 'infinite' loop
while True:
# Read a frame from the video capture
ret, self.frame = self.cap.read()
# Quit if frame could not be retrieved or 'q' is pressed
if not ret or cv2.waitKey(1) & 0xFF == ord('q'):
break
# Run the computer vision function
self.cv()
def cv(self):
# If a selection is happening
if self.mouse.get('start'):
# Draw a rectangle indicating the region of interest
cv2.rectangle(self.frame, self.mouse['start'], self.mouse['now'],
(0, 255, 0), 2)
# Show the image in a window
cv2.imshow('rtp', self.frame)
def on_mouse(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
self.mouse['start'] = (x, y)
if event == cv2.EVENT_RBUTTONDOWN:
self.mouse['start'] = None
if event == cv2.EVENT_MOUSEMOVE:
self.mouse['now'] = (x, y)
if event == cv2.EVENT_LBUTTONUP:
# If mouse start is defined, a region has been selected
if not self.mouse.get('start'):
return
# Obtain mouse start coordinates
sx, sy = self.mouse['start']
# Create a new message
msg = PprzMessage("datalink", "VIDEO_ROI")
msg['ac_id'] = None
msg['startx'] = sx
msg['starty'] = sy
msg['width'] = abs(x - sx)
msg['height'] = abs(y - sy)
msg['downsized_width'] = self.frame.shape[1]
# Send message via the ivy interface
self.ivy.send_raw_datalink(msg)
# Reset mouse start
self.mouse['start'] = None
def cleanup(self):
# Shutdown ivy interface
self.ivy.shutdown()
action="store_true",
help="verbose mode")
try:
# --- Startup state initialization block
args = parser.parse_args()
static_init_configuration_data()
static_init_client_configuration_data(args.file)
if args.verbose:
print_aircraft_data()
if args.generate:
template_configuration()
sys.exit(0)
if args.subscribe:
ivy_interface.subscribe(callback_aircraft_messages)
ivy_interface.start()
# Handle misc. command line arguments
if args.verbose:
verbose = args.verbose
if args.curl:
curl = args.curl
print_curl_header(args.ip, args.port)
# --- Main loop
# Supply flask the appropriate ip address and port for the server
server_host = args.ip # Store for use in htlm template generation
server_port = args.port # Store for use in htlm template generation
app.run(host=args.ip, port=args.port, threaded=True)
# --- Shutdown state block
class RtpViewer:
running = False
scale = 1
rotate = 0
frame = None
mouse = dict()
def __init__(self, src):
# Create the video capture device
self.cap = cv2.VideoCapture(src)
# Start the ivy interface
self.ivy = IvyMessagesInterface("RTPviewer", start_ivy=False)
self.ivy.start()
# Create a named window and add a mouse callback
cv2.namedWindow('rtp')
cv2.setMouseCallback('rtp', self.on_mouse)
def run(self):
self.running = True
# Start an 'infinite' loop
while self.running:
# Read a frame from the video capture
ret, self.frame = self.cap.read()
# Quit if frame could not be retrieved
if not ret:
break
# Run the computer vision function
self.cv()
# Process key input
self.on_key(cv2.waitKey(1) & 0xFF)
def cv(self):
# Rotate the image by increments of 90
if self.rotate % 2:
self.frame = cv2.transpose(self.frame)
if self.rotate > 0:
self.frame = cv2.flip(self.frame, [1, -1, 0][self.rotate - 1])
# If a selection is happening
if self.mouse.get('start'):
# Draw a rectangle indicating the region of interest
cv2.rectangle(self.frame, self.mouse['start'], self.mouse['now'],
(0, 255, 0), 2)
if self.scale != 1:
h, w = self.frame.shape[:2]
self.frame = cv2.resize(self.frame,
(int(self.scale * w), int(self.scale * h)))
# Show the image in a window
cv2.imshow('rtp', self.frame)
def on_key(self, key):
if key == ord('q'):
self.running = False
if key == ord('r'):
self.rotate = (self.rotate + 1) % 4
self.mouse['start'] = None
def on_mouse(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN and self.rotate == 0:
self.mouse['start'] = (x, y)
if event == cv2.EVENT_RBUTTONDOWN:
self.mouse['start'] = None
if event == cv2.EVENT_MOUSEMOVE:
self.mouse['now'] = (x, y)
if event == cv2.EVENT_LBUTTONUP:
# If mouse start is defined, a region has been selected
if not self.mouse.get('start'):
return
# Obtain mouse start coordinates
sx, sy = self.mouse['start']
# Create a new message
msg = PprzMessage("datalink", "VIDEO_ROI")
msg['ac_id'] = None
msg['startx'] = sx
msg['starty'] = sy
msg['width'] = abs(x - sx)
msg['height'] = abs(y - sy)
msg['downsized_width'] = self.frame.shape[1]
# Send message via the ivy interface
self.ivy.send_raw_datalink(msg)
# Reset mouse start
self.mouse['start'] = None
def cleanup(self):
# Shutdown ivy interface
self.ivy.shutdown()
class RtpViewer:
running = False
scale = 1
rotate = 0
frame = None
mouse = dict()
def __init__(self, src):
# Create the video capture device
self.cap = cv2.VideoCapture(src)
# Start the ivy interface
self.ivy = IvyMessagesInterface("RTPviewer", start_ivy=False)
self.ivy.start()
# Create a named window and add a mouse callback
cv2.namedWindow('rtp')
cv2.setMouseCallback('rtp', self.on_mouse)
def run(self):
self.running = True
# Start an 'infinite' loop
while self.running:
# Read a frame from the video capture
ret, self.frame = self.cap.read()
# Quit if frame could not be retrieved
if not ret:
break
# Run the computer vision function
self.cv()
# Process key input
self.on_key(cv2.waitKey(1) & 0xFF)
def cv(self):
# Rotate the image by increments of 90
if self.rotate % 2:
self.frame = cv2.transpose(self.frame)
if self.rotate > 0:
self.frame = cv2.flip(self.frame, [1, -1, 0][self.rotate - 1])
# If a selection is happening
if self.mouse.get('start'):
# Draw a rectangle indicating the region of interest
cv2.rectangle(self.frame, self.mouse['start'], self.mouse['now'], (0, 255, 0), 2)
if self.scale != 1:
h, w = self.frame.shape[:2]
self.frame = cv2.resize(self.frame, (int(self.scale * w), int(self.scale * h)))
# Show the image in a window
cv2.imshow('rtp', self.frame)
def on_key(self, key):
if key == ord('q'):
self.running = False
if key == ord('r'):
self.rotate = (self.rotate + 1) % 4
self.mouse['start'] = None
def on_mouse(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN and self.rotate == 0:
self.mouse['start'] = (x, y)
if event == cv2.EVENT_RBUTTONDOWN:
self.mouse['start'] = None
if event == cv2.EVENT_MOUSEMOVE:
self.mouse['now'] = (x, y)
if event == cv2.EVENT_LBUTTONUP:
# If mouse start is defined, a region has been selected
if not self.mouse.get('start'):
return
# Obtain mouse start coordinates
sx, sy = self.mouse['start']
# Create a new message
msg = PprzMessage("datalink", "VIDEO_ROI")
msg['ac_id'] = None
msg['startx'] = sx
msg['starty'] = sy
msg['width'] = abs(x - sx)
msg['height'] = abs(y - sy)
msg['downsized_width'] = self.frame.shape[1]
# Send message via the ivy interface
self.ivy.send_raw_datalink(msg)
# Reset mouse start
self.mouse['start'] = None
def cleanup(self):
# Shutdown ivy interface
self.ivy.shutdown()
class CommandSender(IvyMessagesInterface):
def __init__(self, verbose=False, callback = None):
self.verbose = verbose
self.callback = callback
self._interface = IvyMessagesInterface("Mission Commander", start_ivy=False)
self._interface.subscribe(self.message_recv)
self._interface.start()
def message_recv(self, ac_id, msg):
if (self.verbose and self.callback != None):
self.callback(ac_id, msg)
def shutdown(self):
print("Shutting down ivy interface...")
self._interface.shutdown()
def __del__(self):
self.shutdown()
def add_mission_command_dict(self, ac_id, insert, msg_id, msgs):
msg = PprzMessage("datalink", msg_id)
msg['ac_id'] = ac_id
msg['insert'] = insert
msg['duration'] = msgs.get('duration')
msg['index'] = msgs.get('index')
if msg_id == 'MISSION_GOTO_WP_LLA':
msg['wp_lat'] = msgs.get('wp_lat')
msg['wp_lon'] = msgs.get('wp_lon')
msg['wp_alt'] = msgs.get('wp_alt')
elif msg_id == 'MISSION_CIRCLE_LLA':
msg['center_lat'] = msgs.get('center_lat')
msg['center_lon'] = msgs.get('center_lon')
msg['center_alt'] = msgs.get('center_alt')
msg['radius'] = msgs.get('radius')
elif msg_id == 'MISSION_SEGMENT_LLA':
msg['segment_lat_1'] = msgs.get('segment_lat_1')
msg['segment_lon_1'] = msgs.get('segment_lon_1')
msg['segment_lat_2'] = msgs.get('segment_lat_2')
msg['segment_lon_2'] = msgs.get('segment_lon_2')
elif msg_id == 'MISSION_PATH_LLA':
msg['point_lat_1'] = msgs.get('point_lat_1')
msg['point_lon_1'] = msgs.get('point_lon_1')
msg['point_lat_2'] = msgs.get('point_lat_2')
msg['point_lon_2'] = msgs.get('point_lon_2')
msg['point_lat_3'] = msgs.get('point_lat_3')
msg['point_lon_3'] = msgs.get('point_lon_3')
msg['point_lat_4'] = msgs.get('point_lat_4')
msg['point_lon_4'] = msgs.get('point_lon_4')
msg['point_lat_5'] = msgs.get('point_lat_5')
msg['point_lon_5'] = msgs.get('point_lon_5')
msg['path_alt'] = msgs.get('path_alt')
msg['nb'] = msgs.get('nb')
elif msg_id == 'MISSION_SURVEY_LLA':
msg['survey_lat_1'] = msgs.get('survey_lat_1')
msg['survey_lon_1'] = msgs.get('survey_lon_1')
msg['survey_lat_2'] = msgs.get('survey_lat_2')
msg['survey_lon_2'] = msgs.get('survey_lon_2')
msg['survey_alt'] = msgs.get('survey_alt')
# print("Sending message: %s" % msg)
self._interface.send(msg)
def add_shape(self, status, obstacle_id, obmsg):
msg = PprzMessage("ground", "SHAPE")
msg['id'] = int(obstacle_id)
msg['fillcolor'] = "red" if obstacle_id > 19 else "orange"
msg['linecolor'] = "red" if obstacle_id > 19 else "orange"
msg['status'] = 0 if status=="create" else 1
msg['shape'] = 0
msg['latarr'] = [int(obmsg.get("latitude")*10000000.),int(obmsg.get("latitude")*10000000.)]
msg['lonarr'] = [int(obmsg.get("longitude")*10000000.),int(obmsg.get("longitude")*10000000.)]
msg['radius'] = int(obmsg.get("sphere_radius") if "sphere_radius" in obmsg else obmsg.get("cylinder_radius"))
msg['text'] = "NULL"
msg['opacity'] = 2
self._interface.send(msg)
