class Comm:
"""Handles all of the communication over the radios
https://github.com/mavlink/MAVSDK-Python
http://mavsdk-python-docs.s3-website.eu-central-1.amazonaws.com/index.html"""
def __init__(self, loop, server_address, server_port, device, baudrate):
self._loop = loop
self._drone = System(mavsdk_server_address=server_address,
port=server_port)
self._loop.run_until_complete(
self._drone.connect(system_address="serial://" + device + ":" +
str(baudrate)))
async def list_directory(self, remote_dir):
print("List remote directory for", remote_dir + ":")
worked = False
files = []
try:
files = await self._drone.ftp.list_directory(remote_dir)
print(files)
worked = True
except:
try:
await self._drone.ftp.reset()
except:
pass
print("List directory failed")
return Result(worked, self._clean_directory_list(remote_dir, files))
def _clean_directory_list(self, directory, files):
ret = []
for file in files:
if file != 'S' and file != '': # for some reason the list directory will occasionally return 'S'
clean_file = os.path.join(
directory, os.path.basename(file.split('\t')[0]))
if not ret.__contains__(clean_file):
ret.append(clean_file)
return ret
async def download_file(self, remote_file, local_dir):
print("Downloading remote file", remote_file, "to local directory",
local_dir)
worked = False
try:
progress = self._drone.ftp.download(remote_file, local_dir)
async for byteDisplay in progress:
print("Bytes downloaded: ", byteDisplay.bytes_transferred, "/",
byteDisplay.total_bytes)
worked = True
except:
local_file = os.path.join(local_dir, os.path.basename(remote_file))
if os.path.exists(local_file):
os.remove(local_file)
try:
await self._drone.ftp.reset()
except:
pass
print("Download file failed")
return Result(worked, worked)
async def are_files_identical(self, local_file, remote_file):
done = False
is_same = False
try:
is_same = await self._drone.ftp.are_files_identical(
local_file, remote_file)
done = True
except:
try:
await self._drone.ftp.reset()
except:
pass
print("Checking if files are identical failed")
return Result(done, is_same)
async def delete_remote_file(self, remote_file):
print("Deleting remote file", remote_file)
done = False
deleted = False
try:
await self._drone.ftp.remove_file(remote_file)
deleted = True
done = True
except:
try:
await self._drone.ftp.reset()
except:
pass
print("Deleting file failed")
return Result(done, deleted)
await drone.offboard.set_velocity_body(VelocityBodyYawspeed(0.0, 0.0, 0.0, 0.0))
async def land(drone):
print("Landing...")
await drone.action.land()
if __name__ == "__main__":
# initialize aruco detection
aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_5X5_1000)
# open video stream
stream = PicVideoStream("/home/hongji-li/cam_plane", "default_typhoon_h480_cgo3_camera_link_camera(1)-", sync=True).start()
# open mavsdk connection
loop = asyncio.get_event_loop()
drone = System()
loop.run_until_complete(drone.connect(system_address="udp://:14550"))
loop.run_until_complete(arm(drone))
loop.run_until_complete(takeoff(drone))
while True:
# Capture frame-by-frame
ret, frame = stream.read()
# print("fps", stream.get_fps())
corners, ids, rejecttedImgPoints = aruco.detectMarkers(frame, aruco_dict)
frame = aruco.drawDetectedMarkers(frame, corners, ids)
if ids is not None:
rvecs, tvecs = aruco.estimatePoseSingleMarkers(corners, 0.15, params.mtx, params.dist)
print(rvecs, tvecs)
prompt_strings = []