class Drone:
def __init__(self,
test_flying,
mambo_addr,
use_wifi=True,
use_vision=True):
"""
Constructor for the Drone Superclass.
When writing your code, you may redefine __init__() to have additional
attributes for use in processing elsewhere. If you do this, be sure to
call super().__init__() with relevant args in order properly
initialize all mambo-related things.
test_flying: bool : run flight code if True
mambo_addr: str : BLE address of drone
use_wifi: bool : connect with WiFi instead of BLE if True
use_vision: bool : turn on DroneVisionGUI module if True
"""
self.test_flying = test_flying
self.use_wifi = use_wifi
self.use_vision = use_vision
self.mamboAddr = mambo_addr
self.mambo = Mambo(self.mamboAddr, use_wifi=self.use_wifi)
self.mambo.set_user_sensor_callback(self.sensor_cb, args=None)
if self.use_vision:
self.mamboVision = DroneVisionGUI(
self.mambo,
is_bebop=False,
buffer_size=200,
user_code_to_run=self.flight_func,
user_args=None)
self.mamboVision.set_user_callback_function(
self.vision_cb, user_callback_args=None)
def execute(self):
"""
Connects to drone and executes flight_func as well as any vision
handling when needed.
Run this after initializing your subclass in your main method to
start the test/script.
"""
print("trying to connect to self.mambo now")
success = self.mambo.connect(num_retries=3)
print("connected: %s" % success)
if (success):
self.mambo.smart_sleep(1)
self.mambo.ask_for_state_update()
self.mambo.smart_sleep(1)
if self.use_vision:
print("starting vision")
self.mamboVision.open_video()
else:
print("starting flight without vision")
self.flight_func(None, None)
if self.use_vision:
print("ending vision")
self.mamboVision.close_video()
self.mambo.smart_sleep(3)
self.mambo.disconnect()
def flight_func(self, mamboVision, args):
"""
Method to me run for flight. This is defined by the user outside of this
class.
When writing your code, define a new class for each test that inherits
this class. Redefine your flight_func in your subclass to match
your flight plan.
your redefinition of flight_func must include the mamboVision and args
arguments to properly work.
NOTE: after takeoff it is smart to do the following:
print("sensor calib")
while self.mambo.sensors.speed_ts == 0:
continue
This gives the sensors time to fully initialize and send back proper
readings for use in your sensor callback method.
Cannot be done before takeoff; sensors send nothing at this time.
"""
pass
def vision_cb(self, args):
"""
Callback function for every vision-handle update Again, defined by the
user outside of the class in a specific subclass for every test script.
Your vision_cb must include the self and args arguments to work.
"""
pass
def sensor_cb(self, args):
"""
Callback function for every sensor update. Again, defined by the
user outside of the class in a specific subclass for every test script.
Your sensor_cb must include the self and args arguments to work.
"""
pass
class DroneColorSegTest:
def __init__(self, testFlying, mamboAddr, use_wifi):
self.bb = [0, 0, 0, 0]
self.bb_threshold = 4000
self.bb_trigger = False
self.testFlying = testFlying
self.mamboAddr = mamboAddr
self.use_wifi = use_wifi
self.mambo = Mambo(self.mamboAddr, self.use_wifi)
self.mamboVision = DroneVisionGUI(
self.mambo,
is_bebop=False,
buffer_size=200,
user_code_to_run=self.mambo_fly_function,
user_args=None)
def color_segmentation(self, args):
img = self.mamboVision.get_latest_valid_picture()
if img is not None:
[((x1, y1), (x2, y2)), ln_color] = cd_color_segmentation(img)
self.bb = [x1, y1, x2, y2]
bb_size = self.get_bb_size()
print('bb_size:', bb_size)
# cv2.imwrite('test_file.png', img) # uncomment to save latest pic
if bb_size >= self.bb_threshold:
print('orange detected')
self.bb_trigger = True
# else:
# self.bb_trigger = False
else:
print('image is None')
def get_bb_size(self):
''' returns area of self.bb (bounding box) '''
return (self.bb[2] - self.bb[0]) * (self.bb[3] - self.bb[1])
def mambo_fly_function(self, mamboVision, args):
"""
self.mambo takes off and yaws slowly in a circle until the vision processing
detects a large patch of orange. It then performs a flip and lands.
"""
if (self.testFlying):
print("taking off!")
self.mambo.safe_takeoff(5)
if (self.mambo.sensors.flying_state != "emergency"):
print("flying state is %s" % self.mambo.sensors.flying_state)
print("Flying direct: going up")
self.mambo.fly_direct(roll=0,
pitch=0,
yaw=0,
vertical_movement=15,
duration=2)
print("flying state is %s" % self.mambo.sensors.flying_state)
print("yawing slowly")
for deg in range(36):
self.mambo.turn_degrees(10)
if self.bb_trigger:
break
self.mambo.smart_sleep(1)
print("flying state is %s" % self.mambo.sensors.flying_state)
print("flip left")
success = self.mambo.flip(direction="left")
print("self.mambo flip result %s" % success)
self.mambo.smart_sleep(2)
print("landing")
print("flying state is %s" % self.mambo.sensors.flying_state)
self.mambo.safe_land(5)
else:
print("Sleeeping for 15 seconds - move the self.mambo around")
self.mambo.smart_sleep(15)
# done doing vision demo
print("Ending the sleep and vision")
self.mamboVision.close_video()
self.mambo.smart_sleep(5)
print("disconnecting")
self.mambo.disconnect()
def run_test(self):
print("trying to connect to self.mambo now")
success = self.mambo.connect(num_retries=3)
print("connected: %s" % success)
if (success):
# get the state information
print("sleeping")
self.mambo.smart_sleep(1)
self.mambo.ask_for_state_update()
self.mambo.smart_sleep(1)
print("Preparing to open vision")
self.mamboVision.set_user_callback_function(
self.color_segmentation, user_callback_args=None)
self.mamboVision.open_video()