def encodedata():
sd = sensor_data_pb2.SensorData()
sd.unix_time = drone.navdata['header']
sd.battery = drone.navdata['demo']['battery']
sd.altitude = drone.navdata['demo']['altitude']
sd.pitch = drone.navdata['demo']['theta']
sd.roll = drone.navdata['demo']['phi']
sd.yaw = drone.navdata['demo']['psi']
sd.vx = drone.navdata['demo']['vx']
sd.vy = drone.navdata['demo']['vy']
sd.vz = drone.navdata['demo']['vz']
sd.fly = drone.navdata['state']['fly']
image = sd.images.add()
tempImage = drone.image
image.width, image.height = tempImage.size
image.image_data = tempImage.tobytes()
# Encode Data Via Protocol Buffer
encodedsd = sd.SerializeToString()
#print(sensor_data_pb2.SensorData().FromString(encodedsd))
#Image.frombytes('RGB', (image.width, image.height), image.image_data).show()
return encodedsd
def image_recognition(input):
data = ''
# Convert Encoded Input To Image
encodedsd = input['sensors']
decodedsd = sensor_data_pb2.SensorData().FromString(encodedsd)
img = Image.frombytes(
'RGB', (decodedsd.images[0].width, decodedsd.images[0].height),
decodedsd.images[0].image_data)
# Compile Valid Objects Detected List
temp_objects = vision(img)
valid_objects = []
for i in temp_objects:
if (float(i.split(":")[1].strip(' \t\n\r%')) > min_confidence):
valid_objects.append(i.split(":")[0])
valid_objects = list(set(valid_objects))
print("Valid Objects: ", valid_objects)
# Search For Desired Object
if ("bottle" in valid_objects):
print("Bottle")
if decodedsd.fly == 0:
return {
'has_command': True,
'meta_id': 'takeoff',
'data': data,
}
else:
return {
'has_command': True,
'meta_id': 'hover',
'data': data,
}
elif ("person" in valid_objects):
print("Person")
if decodedsd.fly == 0:
return {
'has_command': True,
'meta_id': 'takeoff',
'data': data,
}
else:
return {
'has_command': True,
'meta_id': 'spin',
'data': data,
}
else:
return {
'has_command': False,
}
def __init__(self, name_=None, uid_=None, type_=None, index_=None):
self.sensor_msg = sensor_data_pb2.SensorData()
if name_:
self.sensor_msg.name = name_
if uid_:
self.sensor_msg.uid = uid_
if type_:
self.sensor_msg.type = sensor_data_pb2.SensorData.SensorType.Value(
type_)
if index_:
self.sensor_msg.index = index_
self.update_formatter()
def vertical_flight(input):
data = ''
encodedsd = input['sensors']
decodedsd = sensor_data_pb2.SensorData().FromString(encodedsd)
# Change Directions If Drone Is Too High Or Too Low
if (decodedsd.fly == 0):
print("TakeOff Scheduled")
return {
'has_command': True,
'meta_id': 'takeoff',
'data': data,
}
else:
if (decodedsd.altitude < 900):
print("UP"),
print(decodedsd.altitude)
return {
'has_command': True,
'meta_id': 'up',
'data': data,
}
elif (decodedsd.altitude > 1500):
print("DOWN"),
print(decodedsd.altitude)
return {
'has_command': True,
'meta_id': 'down',
'data': data,
}
else:
return {
'has_command': True,
'meta_id': 'nothing',
'data': data,
}
def take_picture(input):
meta_id = 'take_pic'
data = ''
# Global Variables
global next_time
global interval
# If Timer
cur_time = time.time()
if cur_time > next_time:
encodedsd = input['sensors']
decodedsd = sensor_data_pb2.SensorData().FromString(encodedsd)
# Get Image Constraints
#Image.frombytes('RGB', (decodedsd.images[0].width, decodedsd.images[0].height), decodedsd.images[0].image_data).show()
print("Picture Scheduled")
data = {
'width': decodedsd.images[0].width,
'height': decodedsd.images[0].height,
'bytes': decodedsd.images[0].image_data,
}
# Update next_time
next_time = cur_time + interval
return {
'has_command': True,
'meta_id': meta_id,
'data': data,
}
# Else
else:
return {
'has_command': False,
}