s.listen(5) # 接続待ち c, addr = s.accept() # 接続要求の取り出し c.settimeout(10) bebop = Bebop(drone_type="Bebop2") print("connecting to Bebop2") success = bebop.connect(10) print(success) try: if (success): print("sleeping") bebop.smart_sleep(2) bebop.ask_for_state_update() # set safe indoor parameters bebop.set_max_tilt(5) bebop.set_max_vertical_speed(1) # trying out the new hull protector parameters - set to 1 for a hull protection and 0 without protection bebop.set_hull_protection(1) while True: print("receiving") ch = c.recv(4096).decode() if ch == "t": print("take off") bebop.safe_takeoff(10)
class myoBebop(object): def __init__(self , indoorFly = True): '''类初始化函数''' self.bebop = None self.indoorFlyFlag = indoorFly self.actionType = "rest" #当前的动作类型 self.startSuccessFlag = False #初始化是否成功标志位 self.takeOfFlag = False #是否起飞标志位 self.landFlag = True #是否降落标志位 self.startFlag = False #程序开始标志位 self.executeCommondFlag = True #命令执行成功标志位 #动作映射字典 self.actionMapDict = { "front" : "fist" , "back" : "open_hand" , "left" : "one" , "right" : "two" , "up" : "good", "down" : "low" , "rotateLeft" : "three" , "rotateRight" : "four" , "takeOf": "ok" , "land" : "love"} self.tempCount = 0 #计数 self.excuteFlag1 = True #读取动作类别标志位 self.excuteFlag2 = True #读取按键值的标志位 self.flyType = 0 #飞机飞行类别(0:正常飞行 , 1:特技飞行) self.moveStepTime = 1 #飞行器水平运行步长时间 self.rotateStepTime = 1 #飞行器旋转运行步长时间 def start(self): '''开始函数''' #初始化飞机对象 self.bebop = Bebop() #连接飞机 print("connecting") self.success = self.bebop.connect(10) #与飞机进行连接(最大尝试次数为10次) if self.success == True: print("sleeping") self.bebop.smart_sleep(5) self.bebop.ask_for_state_update() #获取飞机的状态 if self.indoorFlyFlag == True: self.setIndoorFly() print("set indoor fly sucess!!!") print("The aircraft was successfully initialized!") self.startSuccessFlag = True #开始成功 else: print("The connection failed. Please check again!") self.startSuccessFlag = False #开始失败 self.removeExitFile() def bebopFly(self , actionType): '''根据动作类别进行相应的动作''' if actionType == self.actionMapDict["front"]: #向前飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=0, pitch=50, yaw=0, vertical_movement=0, duration=self.moveStepTime) print("fly front") elif self.flyType == 1: self.success = self.bebop.flip(direction="front") print("flip front") print("mambo flip result %s" % self.success) self.bebop.smart_sleep(5) self.executeCommondFlag = True elif actionType == self.actionMapDict["back"]: #向后飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=0, pitch=-50, yaw=0, vertical_movement=0, duration=self.moveStepTime) print("fly back") elif self.flyType == 1: self.success = self.bebop.flip(direction="back") print("flip back") print("mambo flip result %s" % self.success) self.bebop.smart_sleep(5) self.executeCommondFlag = True elif actionType == self.actionMapDict["left"]: #左飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=50, pitch=0, yaw=0, vertical_movement=0, duration=self.moveStepTime) print("fly left") elif self.flyType == 1: self.success = self.bebop.flip(direction="left") print("flip left") print("mambo flip result %s" % self.success) self.bebop.smart_sleep(5) self.executeCommondFlag = True elif actionType == self.actionMapDict["right"]: #右飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=-50, pitch=0, yaw=0, vertical_movement=0, duration=self.moveStepTime) print("fly right") elif self.flyType == 1: self.success = self.bebop.flip(direction="right") print("flip right") print("mambo flip result %s" % self.success) self.bebop.smart_sleep(5) self.executeCommondFlag = True elif actionType == self.actionMapDict["up"]: #上飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll = 0, pitch = 0, yaw = 0, vertical_movement=50, duration = self.moveStepTime) print("fly up") elif self.flyType == 1: pass self.executeCommondFlag = True elif actionType == self.actionMapDict["down"]: #下飞 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll = 0, pitch = 0, yaw = 0, vertical_movement= - 50, duration = self.moveStepTime) print("fly down") elif self.flyType == 1: pass self.executeCommondFlag = True elif actionType == self.actionMapDict["rotateLeft"]: #向左旋转 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=0, pitch=0, yaw=50, vertical_movement=0, duration=self.moveStepTime) print("fly rotateLeft") elif self.flyType == 1: pass self.executeCommondFlag = True elif actionType == self.actionMapDict["rotateRight"]: #向右旋转 self.executeCommondFlag = False print("flying state is %s" % self.bebop.sensors.flying_state) if self.flyType == 0: self.bebop.fly_direct(roll=0, pitch=0, yaw = -50, vertical_movement=0, duration=self.moveStepTime) print("fly rotateRight") elif self.flyType == 1: pass self.executeCommondFlag = True elif actionType == self.actionMapDict["takeOf"]: #起飞 self.startFlag = True if self.landFlag == True: self.landFlag = False self.executeCommondFlag = False print("take of ") self.bebop.safe_takeoff(10) self.bebop.smart_sleep(5) self.executeCommondFlag = True self.takeOfFlag = True elif actionType == self.actionMapDict["land"]: #降落 if self.takeOfFlag == True: self.takeOfFlag = False self.executeCommondFlag = False print("land ") self.bebop.safe_land(10) self.bebop.smart_sleep(5) self.landFlag = True self.executeCommondFlag = True #myo失去连接后,飞机自动着落 def safeAction(self): if self.startFlag == True: if self.flyType == 0: if self.tempCount > 100: self.bebop.safe_land(10) self.bebop.smart_sleep(5) print("DONE - disconnecting") self.bebop.disconnect() self.mThread.forcedStopThread() elif self.flyType == 1: if self.tempCount > 300: self.bebop.safe_land(10) self.bebop.smart_sleep(5) print("DONE - disconnecting") self.bebop.disconnect() self.mThread.forcedStopThread() def setTheActionMain(self): '''设置动作类别线程函数''' if self.excuteFlag1 == True: self.excuteFlag1 = False os.system("python2 myoMain.py") time.sleep(0.01) def removeExitFile(self , fileName = "actionTempData.dat" ): '''删除已经存在的文件''' if os.path.exists(fileName) == True: os.remove(fileName) def setIndoorFly(self): '''设置室内飞行的参数''' self.bebop.set_max_tilt(5) self.bebop.set_max_vertical_speed(1) def getKeyValueMain(self): '''获取按键值的线程函数''' if self.excuteFlag2 == True: self.excuteFlag2 = False os.system("python2 quit.py" ) time.sleep(0.01) #按键退出函数 def quitMain(self): print("quit") self.bebop.safe_land(10) self.bebop.smart_sleep(5) self.bebop.disconnect() self.mThread.forcedStopThread() def getTheActionMain(self): '''得到动作类别线程函数''' global quitFlag while True: self.actionType = getTheCurrentAction() getTheKeyValue() if quitFlag == True: self.quitMain() else: if self.actionType == None: self.tempCount += 1 else: self.tempCount = 0 self.safeAction() if self.executeCommondFlag == True: self.bebopFly(self.actionType) time.sleep(0.01) def run(self): '''运行主程序''' try: self.mThread = myThread() self.mThread.addThread('setTheActionMain' , self.setTheActionMain , 0) self.mThread.addThread('getTheActionMain' , self.getTheActionMain , 0) self.mThread.addThread('getKeyValueMain' , self.getKeyValueMain , 0) self.mThread.runThread() except KeyboardInterrupt: print("DONE") self.bebop.disconnect() self.mThread.forcedStopThread()
if __name__ == "__main__": # make my mambo object # remember to set True/False for the wifi depending on if you are using the wifi or the BLE to connect # the address can be empty if you are using wifi mambo = Bebop() print("trying to connect to mambo now") success = mambo.connect(num_retries=3) print("connected: %s" % success) if (success): # get the state information print("sleeping") mambo.smart_sleep(1) mambo.ask_for_state_update() mambo.smart_sleep(1) # setup the extra window to draw the markers in cv2.namedWindow("ExampleWindow") cv2.namedWindow("dst") print("Preparing to open vision") mambo.pan_tilt_camera_velocity(-90, 0, 1) mamboVision = DroneVisionGUI( mambo, is_bebop=True, buffer_size=200, user_code_to_run=demo_mambo_user_vision_function, user_args=(mambo, ))
od_graph_def.ParseFromString(serialized_graph) tf.import_graph_def(od_graph_def, name='') sess = tf.Session(graph=detection_graph) # Loading label map # Label maps map indices to category names, so that when our convolution network predicts `5`, we know that this corresponds to `airplane`. Here we use internal utility functions, but anything that returns a dictionary mapping integers to appropriate string labels would be fine label_map = label_map_util.load_labelmap(PATH_TO_LABELS) categories = label_map_util.convert_label_map_to_categories( label_map, max_num_classes=NUM_CLASSES, use_display_name=True) category_index = label_map_util.create_category_index(categories) drone = Bebop() success = drone.connect(5) #drone.set_picture_format('jpeg') is_bebop = True if (success): # get the state information print("sleeping") drone.smart_sleep(1) drone.ask_for_state_update() drone.smart_sleep(1) status = input("Input 't' if you want to TAKE OFF or not : ") bebopVision = DroneVisionGUI(drone, is_bebop=True, buffer_size=200,user_code_to_run=tracking_target, user_args=(drone, status, q)) Kim = Kim(bebopVision) bebopVision.set_user_callback_function(Kim.detect_target, user_callback_args=(category_index,detection_graph,sess)) bebopVision.open_video()
class Drone: def __init__(self): self.drone = Bebop() def take_off(self): ### Connect to Bebop drone and take off ### success = self.drone.connect1(10) print(success) self.drone.safe_takeoff(2) def step(self, roll, pitch, yaw, vertical_movement, duration): ### Moves the Bebop drone given input parameters ### self.drone.fly_direct(self, roll, pitch, yaw, vertical_movement, duration) def square(self): ### Move the drone in a square pattern### #move left and wait 1 second self.drone.fly_direct(self, roll=-15, pitch=0, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) #move forward and wait 1 second self.drone.fly_direct(self, roll=0, pitch=15, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) #move right and wait 1 second self.drone.fly_direct(self, roll=15, pitch=0, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) #move back and wait 1 second self.drone.fly_direct(self, roll=0, pitch=-15, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) def zigzag(self): ### Move the drone in a 3D zigzag pattern### #move left-forward-up and wait 1 second self.drone.fly_direct(self, roll=-15, pitch=15, yaw=0, vertical_movement=15, duration=1) self.drone.smart_sleep(1) #move right-forward-down and wait 1 second self.drone.fly_direct(self, roll=15, pitch=15, yaw=0, vertical_movement=-15, duration=1) self.drone.smart_sleep(1) #move left and wait 1 second self.drone.fly_direct(self, roll=-15, pitch=0, yaw=0, vertical_movement=0, duration=1) self.drone.smart_sleep(1) #move right-back-up and wait 1 second self.drone.fly_direct(self, roll=15, pitch=-15, yaw=0, vertical_movement=15, duration=1) self.drone.smart_sleep(1) #move left-back-down and wait 1 second self.drone.fly_direct(self, roll=-15, pitch=-15, yaw=0, vertical_movement=-15, duration=1) self.drone.smart_sleep(1) def disconnect(self): ### Disconect Bebop drone ### self.drone.disconnect() def land(self): ### Disconnect Bebop drone and land ### success = self.drone.connect1(10) print(success) self.drone.ask_for_state_update() self.drone.safe_land(5) self.drone.disconnect()
class drone: def __init__(self, home): self.rango_largo = properties.RANGO_LARGO self.rango_ancho = properties.RANGO_ANCHO self.mapa_largo = properties.MAPA_LARGO / self.rango_largo self.mapa_ancho = properties.MAPA_ANCHO / self.rango_ancho self.ip = None self.port = None self.search_map = [[0 for j in range(int(self.mapa_largo))]for i in range(int(self.mapa_ancho))] self.current_position = home self.current_rotation = math.pi / 2 self.mutex_search_map = threading.Lock() self.poi_position = None self.home = home self.bebop = Bebop() self.init_time = None self.obstaculos = properties.OBSTACLES self.max_altitude = properties.MAX_ALTITUDE self.pathToFollow = None self.destinationZone = None self.countIter = 0 self.logMapTimestamp = None self.logMap = None def initialize(self, ip, port): self.initSearchMapWithObstacles() init_time = time.time() self.init_time = init_time if properties.ALGORITHM == SH_ORIGINAL: self.search_map[self.home[0]][self.home[1]] = 1 elif properties.ALGORITHM == SH_TIMESTAMP or ALGORITHM == SH_NO_GREEDY_TIMESTAMP or ALGORITHM == RANDOM: self.search_map = [[init_time for j in range(int(self.mapa_largo))]for i in range(int(self.mapa_ancho))] # elif properties.ALGORITHM == RANDOM: # self.search_map[self.home[0]][self.home[1]] = 1 self.ip = ip self.port = port # success = self.bebop.connect(10) # print(success) self.bebop.set_max_altitude(self.max_altitude) self.bebop.ask_for_state_update() if properties.STREAMING_MODE_ON: self.initializeStreaming() self.logMap = [[0 for j in range(int(self.mapa_largo))]for i in range(int(self.mapa_ancho))] self.logMapTimestamp = [[init_time for j in range(int(self.mapa_largo))]for i in range(int(self.mapa_ancho))] def initSearchMapWithObstacles(self): for obstacle in self.obstaculos: self.search_map[obstacle[0]][obstacle[1]] = -1 def take_off(self): self.bebop.safe_takeoff(10) def land(self): self.bebop.safe_land(10) def move(self, new_position): verticalMove = self.getDronVerticalAlignment() if properties.ROTATE: rotation_diff = utils.angleDifference(self.current_position, new_position, self.current_rotation) distance_diff = utils.cartesianDistance(self.current_position, new_position) self.bebop.move_relative(0, 0, 0, rotation_diff) time.sleep(2) self.bebop.move_relative(distance_diff, 0, verticalMove, 0) self.current_rotation -= rotation_diff time.sleep(2) else: dx, dy = new_position[0] - self.current_position[0], new_position[1] - self.current_position[1] real_dx, real_dy = dx * self.rango_ancho, dy * self.rango_largo self.bebop.move_relative(real_dx, real_dy, verticalMove, 0) time.sleep(2) self.current_position = new_position self.mutex_search_map.acquire() utils.printMatrix(self.search_map) self.mutex_search_map.release() def setPoiPosition(self, poiPosition): self.poi_position = poiPosition def explore(self, forcePosition): if properties.ALGORITHM == SH_ORIGINAL: return self.explore_sh_original(forcePosition) elif properties.ALGORITHM == SH_TIMESTAMP: return self.explore_sh_timestamp(forcePosition) elif properties.ALGORITHM == RANDOM: return self.explore_random(forcePosition) elif properties.ALGORITHM == SH_NO_GREEDY or properties.ALGORITHM == SH_NO_GREEDY_TIMESTAMP: return self.explore_sh_no_greedy2(forcePosition) def explore_sh_original(self, forcePosition): firstTime = True x = self.current_position[0] y = self.current_position[1] best_values = [] for y2 in range(-1, 2): for x2 in range(-1, 2): x3 = x + x2 y3 = y + y2 if self.validatePosition(x3, y3, forcePosition): if firstTime: self.mutex_search_map.acquire() val = self.search_map[x3][y3] self.mutex_search_map.release() firstTime = False # print("x3: " + str(x3) + " y3: " + str(y3) + " self.mapa_ancho: " + str(self.mapa_ancho) + " self.mapa_largo: " + str(self.mapa_largo)) self.mutex_search_map.acquire() if (self.search_map[x3][y3] == val): best_values.append((x3, y3)) val = self.search_map[x3][y3] elif self.search_map[x3][y3] < val: best_values = [(x3, y3)] val = self.search_map[x3][y3] self.mutex_search_map.release() selected = self.selectBestValue(best_values) return selected def explore_sh_timestamp(self, forcePosition): firstTime = True x = self.current_position[0] y = self.current_position[1] best_values = [] for y2 in range(-1, 2): for x2 in range(-1, 2): x3 = x + x2 y3 = y + y2 if self.validatePosition(x3, y3, forcePosition): if firstTime: self.mutex_search_map.acquire() val = self.search_map[x3][y3] self.mutex_search_map.release() firstTime = False self.mutex_search_map.acquire() if (self.search_map[x3][y3] == val): best_values.append((x3, y3)) val = self.search_map[x3][y3] elif self.search_map[x3][y3] < val: best_values = [(x3, y3)] val = self.search_map[x3][y3] self.mutex_search_map.release() selected = self.selectBestValue(best_values) return selected def explore_random(self, forcePosition): x = self.current_position[0] y = self.current_position[1] best_values = [] for y2 in range(-1, 2): for x2 in range(-1, 2): x3 = x + x2 y3 = y + y2 if self.validatePosition(x3, y3, forcePosition): best_values.append((x3, y3)) selected = self.selectBestValue(best_values) return selected # primer intento de algoritmo no greedy, si se lo trabaja un poco puede funcionar def explore_sh_no_greedy(self, forcePosition): firstTime = True x = self.current_position[0] y = self.current_position[1] best_values = [] for y2 in range(-1, 2): for x2 in range(-1, 2): x3 = x + x2 y3 = y + y2 if self.validatePosition(x3, y3, forcePosition): if firstTime: self.mutex_search_map.acquire() val = self.search_map[x3][y3] self.mutex_search_map.release() firstTime = False self.mutex_search_map.acquire() currentRegion = self.getCurrentRegion() bestRegion = self.selectUnexploredRegion() if self.isClosestToBestRegion(currentRegion, bestRegion, x2, y2): if (self.search_map[x3][y3] == val): best_values.append((x3, y3)) val = self.search_map[x3][y3] elif self.search_map[x3][y3] < val: best_values = [(x3, y3)] val = self.search_map[x3][y3] self.mutex_search_map.release() selected = self.selectBestValue(best_values) return selected def explore_sh_no_greedy2(self, forcePosition): if self.pathToFollow is not None and len(self.pathToFollow) > 0: return self.getNewPositionFromPath() else: newZone = self.isChangeZone() if newZone is not None: self.destinationZone = newZone self.getZonePath(newZone) # self.selectNewZone(newZone) return self.getNewPositionFromPath() else: if ALGORITHM == SH_NO_GREEDY: return self.explore_sh_original(forcePosition) else: return self.explore_sh_timestamp(forcePosition) def explore_sh_no_greedy_timestamp(self, forcePosition): if self.pathToFollow is not None and len(self.pathToFollow) > 0: return self.getNewPositionFromPath() else: newZone = self.isChangeZone() if newZone is not None: self.destinationZone = newZone self.getZonePath(newZone) # self.selectNewZone(newZone) return self.getNewPositionFromPath() else: return self.explore_sh_timestamp(forcePosition) def getNewPositionFromPath(self): new_position = self.pathToFollow[0] del self.pathToFollow[0] if self.getPositionZone(new_position) == self.destinationZone and self.isUnexploredPosition(new_position): self.pathToFollow = None self.destinationZone = None return new_position def isUnexploredPosition(self, new_position): if ALGORITHM == SH_NO_GREEDY_TIMESTAMP or ALGORITHM == SH_TIMESTAMP: timeBetweenLastVisit = time.time() - self.search_map[new_position[0]][new_position[1]] firstTime = self.search_map[new_position[0]][new_position[1]] == self.init_time return timeBetweenLastVisit > TIME_COVERAGE_REFRESH or firstTime else: return self.search_map[new_position[0]][new_position[1]] == self.countIter def isChangeZone(self): currentZone = self.getCurrentRegion() zonesCoverage = self.getZonesCoverage() currentZoneCoverage = zonesCoverage[currentZone - 1] minZoneCoverage = min(zonesCoverage) if minZoneCoverage >= MIN_ACCEPTABLE_COVERAGE: self.countIter += 1 # self.updateCoverageCondition() zonesCoverage = self.getZonesCoverage() currentZoneCoverage = zonesCoverage[currentZone - 1] minZoneCoverage = min(zonesCoverage) if currentZoneCoverage >= MIN_ACCEPTABLE_COVERAGE or currentZoneCoverage - minZoneCoverage > COVERAGE_THRESHOLD: newZone = self.selectUnexploredRegion() return newZone return None def updateCoverageCondition(self): if self.init_time is not None: self.init_time = time.time() else: self.countIter += 1 def getZonePath(self, newZone): zonePosition = self.selectPositionInZone(newZone) pathfinder = Pathfinder(self.current_position, zonePosition) pathToFollow = pathfinder.findPath() self.pathToFollow = pathfinder.parsePathToCoordinates(pathToFollow) def selectPositionInZone(self, zone): if zone == 1: position = (0, 0) elif zone == 2: position = (0, int(self.mapa_largo - 1)) elif zone == 3: position = (int(self.mapa_ancho - 1), 0) else: position = (int(self.mapa_ancho - 1), int(self.mapa_largo - 1)) # if zone == 1 or zone == 2: # while position[0] < self.mapa_ancho and self.search_map[position[0], position[1]] == -1: # position = (position[0] + 1, 0) # elif zone == 3 or zone == 4: # while position[0] < self.mapa_largo and self.search_map[position[0], position[1]] == -1: # position = (0, position[1] + 1) # asumo que encuentro posicion valida return position def selectNewZone(self, currentZone): newZone = random.randint(0, 3) while newZone == currentZone: newZone = random.randint(0, 3) return newZone def isClosestToBestRegion(currentRegion, bestRegion, x, y): if currentRegion == bestRegion: return True bestCoordinates = getBestCoordinates(currentRegion, bestRegion) if x in bestCoordinates[0] and y in bestCoordinates[1]: return True return False def getBestCoordinates(currentRegion, bestRegion): if currentRegion == 1: if bestRegion == 2: return [(-1, 1), (0, 1), (1, 1)] elif bestRegion == 3: return [(1, -1), (1, 0), (1, 1)] else: return [(0, 1), (1, 1), (1, 0)] elif currentRegion == 2: if bestRegion == 1: return [(-1, -1), (0, -1), (1, 1)] elif bestRegion == 3: return [(1, -1), (0, -1), (1, 0)] else: return [(1, -1), (1, 0), (1, 1)] elif currentRegion == 3: if bestRegion == 1: return [(-1, -1), (-1, 0), (-1, 1)] elif bestRegion == 2: return [(-1, 0), (-1, 1), (0, 1)] else: return [(-1, 1), (0, 1), (1, 1)] else: if bestRegion == 1: return [(-1, -1), (-1, 0), (0, -1)] elif bestRegion == 2: return [(-1, -1), (-1, 0), (-1, 1)] else: return [(-1, -1), (0, -1), (1, -1)] def getCurrentRegion(self): return self.getPositionZone(self.current_position) def getPositionZone(self, position): if self.mapa_largo / 2 > position[1] and self .mapa_ancho / 2 > position[0]: return 1 elif self.mapa_largo / 2 <= position[1] and self .mapa_ancho / 2 > position[0]: return 2 elif self.mapa_largo / 2 > position[1] and self .mapa_ancho / 2 <= position[0]: return 3 elif self.mapa_largo / 2 <= position[1] and self .mapa_ancho / 2 <= position[0]: return 4 def selectUnexploredRegion(self): regionCoverage = [] regionCoverage.append(getMapCoverage(self, 0, self.mapa_ancho / 2, 0, self.mapa_largo / 2)) regionCoverage.append(getMapCoverage(self, self.mapa_ancho / 2, self.mapa_ancho, 0, self.mapa_largo / 2)) regionCoverage.append(getMapCoverage(self, 0, self.mapa_ancho / 2, self.mapa_largo / 2, self.mapa_largo)) regionCoverage.append(getMapCoverage(self, self.mapa_ancho / 2, self.mapa_ancho, self.mapa_largo / 2, self.mapa_largo)) selectedZone = regionCoverage.index(min(regionCoverage)) + 1 if selectedZone == self.getCurrentRegion(): return None return selectedZone def getZonesCoverage(self): regionCoverage = [] regionCoverage.append(getMapCoverage(self, 0, self.mapa_ancho / 2, 0, self.mapa_largo / 2)) regionCoverage.append(getMapCoverage(self, self.mapa_ancho / 2, self.mapa_ancho, 0, self.mapa_largo / 2)) regionCoverage.append(getMapCoverage(self, 0, self.mapa_ancho / 2, self.mapa_largo / 2, self.mapa_largo)) regionCoverage.append(getMapCoverage(self, self.mapa_ancho / 2, self.mapa_ancho, self.mapa_largo / 2, self.mapa_largo)) return regionCoverage def selectBestValue(self, best_values): lenght = len(best_values) # print("selectBestValue: " + str(lenght)) if(lenght == 1): return best_values[0] else: selected = random.randint(0, lenght - 1) return best_values[selected] def validatePosition(self, x3, y3, forcePosition): condition = x3 >= 0 and y3 >= 0 and x3 < self.mapa_ancho and y3 < self.mapa_largo tupla = (x3, y3) if self.pointIsObstacule(x3, y3): return False elif (forcePosition is not None): return (condition and self.minDistanceToTarget(self.home, self.current_position, tupla)) elif self.poi_position is not None: return (condition and self.minDistanceToTarget(self.poi_position, self.current_position, tupla)) elif self.checkBatteryStatus() == NORMAL: return condition else: return (condition and self.minDistanceToTarget(self.home, self.current_position, tupla)) def minDistanceToTarget(self, target, positionA, positionB): # print("minDistanceToTarget") distance2 = self.calculateDistance(target, positionA) distance1 = self.calculateDistance(target, positionB) # print("distance1: " + str(distance1) + " distance2: " + str(distance2)) return (distance1 <= distance2) def pointIsObstacule(self, x1, x2): isObstacule = False for obs in self.obstaculos: if obs[0] == x1 and obs[1] == x2: isObstacule = True return isObstacule def calculateDistance(self, tuple1, tuple2): return math.sqrt((tuple2[1] - tuple1[1])**2 + (tuple2[0] - tuple1[0])**2) def updateSearchMap(self, tupla): self.mutex_search_map.acquire() if properties.ALGORITHM == SH_ORIGINAL or properties.ALGORITHM == SH_NO_GREEDY: self.search_map[tupla[0]][tupla[1]] += 1 elif properties.ALGORITHM == SH_TIMESTAMP or ALGORITHM == SH_NO_GREEDY_TIMESTAMP or ALGORITHM == RANDOM: self.search_map[tupla[0]][tupla[1]] = time.time() self.logMap[tupla[0]][tupla[1]] += 1 self.logMapTimestamp[tupla[0]][tupla[1]] = time.time() self.mutex_search_map.release() def getSearchMap(self): # self.mutex_search_map.acquire() return [[self.search_map[i][j] for j in range(int(self.mapa_largo))]for i in range(int(self.mapa_ancho))] # self.mutex_search_map.release() def getDroneAltitude(self): return self.bebop.sensors.sensors_dict["AltitudeChanged_altitude"] def checkDroneAltitudeStatus(self): altitude = self.getDroneAltitude() if (altitude < properties.MIN_ALTITUDE): return TOO_LOW elif (altitude > properties.MAX_ALTITUDE): return TOO_HIGH else: return ALTITUDE_OK def getDronVerticalAlignment(self): droneAltitudeStatus = self.checkDroneAltitudeStatus() verticalAlignment = 0 if (droneAltitudeStatus == TOO_LOW or droneAltitudeStatus == TOO_HIGH): # negative goes up, positive goes down verticalAlignment = self.getDroneAltitude() - properties.OPTIMAL_ALTITUDE else: verticalAlignment = 0 return verticalAlignment def getBatteryPercentage(self): return self.bebop.sensors.battery def checkBatteryStatus(self): batteryPercentage = self.getBatteryPercentage() if batteryPercentage < 5: return CRITICAL elif batteryPercentage < 10: return LOW else: return NORMAL def goHome(self): if self.current_position != self.home: pathfinder = Pathfinder(self.current_position, self.home) pathToFollow = pathfinder.findPath() pathfinder.printFinalMap() for nextPosition in pathfinder.parsePathToCoordinates(pathToFollow): self.move(nextPosition) def getClosestCoordinateToTarget(self, target, pos): res = self.current_position[pos] if res < target[pos]: res = res + 1 elif res > target[pos]: res = res - 1 return res def moveToPoiCritico(self, path): for nextPosition in path: self.move(nextPosition) def moveNextPositionPOICritico(self, new_position): dx, dy = new_position[0] - self.current_position[0], new_position[1] - self.current_position[1] real_dx, real_dy = dx * self.rango_ancho, dy * self.rango_largo verticalMove = self.getDronVerticalAlignment() self.bebop.move_relative(real_dx, real_dy, verticalMove, 0) time.sleep(2) self.current_position = new_position def disconnect(self): if properties.STREAMING_MODE_ON: self.closeStreaming() self.bebop.disconnect() def initializeStreaming(self): print("-- Starting Streaming... --") self.bebop.set_video_resolutions('rec720_stream720') self.bebop.start_video_stream() print("-- Streaming Started! --") def closeStreaming(self): print("-- Stopping Streaming... --") self.bebop.stop_video_stream() print("-- Streaming stopped!")