def run(): with open('pid.txt', 'w') as f: f.write('NO TERMINE') drone1 = drone.drone(HOME) drone1.bebop.connect(10) logStats = stats.stats(drone1, ) stateMachine1 = stateMachine(HOME, INIT_POI_POSITION, FOREVER_ALONE, drone1, logStats) connection = threading.Thread(target=main, args=( drone1, stateMachine1, )) if not SUPER_MAIN: connection2 = threading.Thread(target=interface, args=(drone1, )) connection2.start() connection.start() if SPHINX_SIMULATION and ACTIVATE_GRAPHIC_MAP: connection3 = threading.Thread(target=plotMatrix, args=( drone1, stateMachine1, )) connection3.start()
def main(): drone1 = drone.drone(HOME) drone1.bebop.connect(10) drone1.bebop.ask_for_state_update() drone1.bebop.set_user_sensor_callback(sensorCallback, drone1) drone1.bebop.safe_takeoff(10) time.sleep(10) drone1.bebop.safe_land(10)
def main(drone1): drone1 = drone.drone((0, 0)) my_ip = connections.get_server_ip() client_handler = threading.Thread(target=connections.run_server, args=( my_ip, drone1, )) client_handler.start() client1 = client.client() client1.search_friends(my_ip) print('take_off', drone1) drone1.take_off() #result2= (23,31) #drone2.updateSearchMap(result) #drone1.updateSearchMap(result2) for i in range(4000): new_position = drone1.explore() drone1.move(new_position) message = utils.convertTupleToString(drone1.current_position) client1.send_message(message) #drone2.updateSearchMap(result) #result2 = drone2.explorar(result2) #drone1.updateSearchMap(result2) if i == 200: drone1.battery_status = LOW print("es low") if i == 230: print("es critical") drone1.goHome() if drone1.current_position == drone1.home: drone1.battery_status = NORMAL
from connections import connections from connections import client from flightplans import drone, droneTest from batteryEnum import LOW, CRITICAL, NORMAL import time import utils import threading drone1 = drone.drone((23, 31)) def main(drone1): drone1 = drone.drone((0, 0)) my_ip = connections.get_server_ip() client_handler = threading.Thread(target=connections.run_server, args=( my_ip, drone1, )) client_handler.start() client1 = client.client() client1.search_friends(my_ip) print('take_off', drone1) drone1.take_off() #result2= (23,31) #drone2.updateSearchMap(result) #drone1.updateSearchMap(result2) for i in range(4000):
from threading import Thread from flightplans import drone import math from properties import HOME drone1 = drone.drone(HOME) print("connecting") success = drone1.bebop.connect(10) print(success) def measure(lat1, lon1, lat2, lon2): # generally used geo measurement function R = 6378.137 # Radius of earth in KM dLat = lat2 * math.pi / 180 - lat1 * math.pi / 180 dLon = lon2 * math.pi / 180 - lon1 * math.pi / 180 a = math.sin(dLat / 2) * math.sin(dLat / 2) + math.cos( lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) * math.sin( dLon / 2) * math.sin(dLon / 2) c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a)) d = R * c return d * 1000 # meters def main(drone): print("RUTA 2 STARTING") drone.bebop.smart_sleep(1) drone.bebop.set_max_altitude(drone.max_altitude) drone.bebop.ask_for_state_update()