def _parse_address(self, i):
assert i == 0 or i == 1
if i == 0:
server = 'command'
elif i == 1:
server = 'receiver'
# Try to split the command server address string into ip and port.
address = self.args.address[i].split(':')
if len(address) != 2:
raise debug.Error('args', 'the address of the %s server does not have a valid port' % server)
else:
# Make sure the ip is valid (this will throw an error if it's not).
if address[0] == 'localhost':
address[0] = '127.0.0.1'
try:
socket.inet_aton(address[0])
except socket.error:
raise debug.Error('args', 'the address of the %s server does not have a valid ip' % server)
# Make sure the port is valid.
try:
port = int(address[1])
if port not in range(9000, 9501):
raise debug.Error('args', 'the address of the %s server has a port %s not in the valid range 9000 to 9500' % (server, port))
except ValueError:
raise debug.Error('args', 'the address of the %s server does not have a valid port' % server)
def __init__(self, debug_queue, error_queue):
self.debug_queue = debug_queue
self.error_queue = error_queue
try:
self.cmd_soc = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.cmd_soc.connect(('localhost', 9000))
except socket.error as e:
if e[0] == errno.ECONNREFUSED:
self.error_queue.put(
debug.Error('controller',
'unable to connect to command server'))
if e[0] == errno.EPIPE:
self.error_queue.put(
debug.Error('controller', 'bad pipe to command server'))
def __init__(self, debug_queue, error_queue):
self.debug_queue = debug_queue
self.error_queue = error_queue
self.bufsize = 8192
query = {'N': True}
self.query_json = json.dumps(query)
try:
self.soc = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.soc.connect(('localhost', 9001))
self.soc.setblocking(1)
except socket.error as e:
if e[0] == errno.ECONNREFUSED:
self.error_queue.put(
debug.Error('receiver',
'unable to connect to receiver server'))
if e[0] == errno.EPIPE:
self.error_queue.put(
debug.Error('receiver', 'bad pipe to receiver server'))
def recv_navdata(self):
""" Gets the navigation data from the parrot by first sending a 'GET'
query and then receiving the data.
"""
navdata = None
self.soc.send(self.query_json)
try:
navdata = self.soc.recv(self.bufsize)
except socket.error as e:
if e[0] == errno.ECONNREFUSED:
self.error_queue.put(
debug.Error('receiver',
'unable to connect to receiver server'))
return navdata
def get_input(self):
try:
if self.pygame_okay:
# Get the keyboard input.
inputs_remote = self.get_keyboard()
# Replace the keyboard input with gamepad input if a gamepad
# is connected.
self.check_gamepad_okay()
if self.gamepad_okay and not self.key_flag:
inputs_remote = self.get_gamepad()
if inputs_remote is None:
inputs_remote = self.default_cmd
return inputs_remote
except:
exc_error = sys.exc_info()
remote_error = debug.Error('remote', '%s, %s, %s' % exc_error)
self.error_queue.put(remote_error)
def __init__(self, debug_queue, error_queue):
self.debug_queue = debug_queue
self.error_queue = error_queue
# Flags for errors.
self.pygame_okay = False
self.gamepad_okay = False
# The default command that is sent to the drone.
self.default_speed = 0.3
self.default_cmd = {
'X': 0.0,
'Y': 0.0,
'Z': 0.0,
'R': 0.0,
'C': 0,
'T': False,
'L': False,
'S': False,
'A': False
}
self.cur_cmd = None
self.key_flag = False
self.game_flag = False
# The keys that should issue a stop command when released.
self.stop_list = [
pygame.K_d, pygame.K_a, pygame.K_s, pygame.K_w, pygame.K_q,
pygame.K_e, pygame.K_r, pygame.K_f
]
# Initialize pygame.
(_, numfail) = pygame.init()
if numfail > 0:
self.error_queue.put(
debug.Error('remote', 'pygame initialization failed'))
return
pygame.display.set_mode((100, 100))
self.pygame_okay = True
self.gamepad = None
self.check_gamepad_okay()
def _parse_trajectory(self):
trajectory = self.args.trajectory
if trajectory <= 0:
raise debug.Error(
'args', 'trajectory %s is not a positive integer' % trajectory)
def _parse_iteration(self):
iteration = self.args.iteration
if iteration <= 0:
raise debug.Error(
'args', 'iteration %s is not a positive integer' % iteration)
def _parse_learning(self):
learning = self.args.learning
if learning != 'tikhonov' and learning != 'ordinary_least_squares':
raise debug.Error(
'args',
"%s is not 'tikhonov' or 'ordinary_least_squares" % learning)
