def __init__( self, metalog=None, onlyIFrames=True ):
if metalog is None:
self._discovery()
metalog = MetaLog()
self.navdata = metalog.createLoggedSocket( "navdata", headerFormat="<BBBI" )
self.navdata.bind( ('',NAVDATA_PORT) )
if metalog.replay:
self.commandSender = CommandSenderReplay(metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" ),
hostPortPair=(HOST, COMMAND_PORT), checkAsserts=metalog.areAssertsEnabled())
else:
self.commandSender = CommandSender(metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" ),
hostPortPair=(HOST, COMMAND_PORT))
self.console = metalog.createLoggedInput( "console", myKbhit ).get
self.metalog = metalog
self.buf = ""
self.videoFrameProcessor = VideoFrames( onlyIFrames=onlyIFrames, verbose=False )
self.videoCbk = None
self.videoCbkResults = None
self.battery = None
self.flyingState = None
self.flatTrimCompleted = False
self.manualControl = False
self.time = None
self.altitude = None
self.position = (0,0,0)
self.speed = (0,0,0)
self.positionGPS = None
self.cameraTilt, self.cameraPan = 0,0
self.lastImageResult = None
self.navigateHomeState = None
self.config()
self.commandSender.start()
def __init__( self, metalog=None, onlyIFrames=True, jpegStream=False, fps = 0 ):
if metalog is None:
self._discovery()
metalog = MetaLog()
self.navdata = metalog.createLoggedSocket( "navdata", headerFormat="<BBBI" )
self.navdata.bind( ('',NAVDATA_PORT) )
if metalog.replay:
self.commandSender = CommandSenderReplay(metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" ),
hostPortPair=(HOST, COMMAND_PORT), checkAsserts=metalog.areAssertsEnabled())
else:
self.commandSender = CommandSender(metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" ),
hostPortPair=(HOST, COMMAND_PORT))
self.console = metalog.createLoggedInput( "console", myKbhit ).get
self.metalog = metalog
self.buf = ""
self.jpegStream = jpegStream
self.fps = fps
self.videoCbk = None
self.videoCbkResults = None
self.battery = None
self.flyingState = None
self.flatTrimCompleted = False
self.manualControl = False
self.time = None
self.altitude = None
self.position = (0,0,0)
self.speed = (0,0,0)
self.positionGPS = None
self.cameraTilt, self.cameraPan = 0,0
self.lastImageResult = None
self.navigateHomeState = None
self.config()
self.commandSender.start()
# Video variables
self.frameWidth = 0
self.frameHeight = 0
self.pictureBoolean = False
self.barcodes = []
# Sphero tracking variables
self.findSphero = False
self.sinceLastSphero = 0
self.lastFrame = None
self.thisFrame = None
self.moveScaler = 0
self.objectCenterX = 0
self.objectCenterY = 0
self.minEdgeVal = 0
self.maxEdgeVal = 0
self.minCircleRadius = 0
self.maxCircleRadius = 0
if self.jpegStream:
self.videoFrameProcessor = VideoFrames(onlyIFrames=False, verbose=False)
self.reader = JpegReader(self, self.fps)
self.reader.setDaemon(True)
self.reader.start()
else:
self.videoFrameProcessor = VideoFrames(onlyIFrames=onlyIFrames, verbose=False)
def __init__( self, metalog=None, onlyIFrames=True ):
if metalog is None:
self._discovery()
metalog = MetaLog()
self.navdata = metalog.createLoggedSocket( "navdata", headerFormat="<BBBI" )
self.navdata.bind( ('',NAVDATA_PORT) )
if metalog.replay:
self.commandSender = CommandSenderReplay(metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" ),
hostPortPair=(HOST, COMMAND_PORT), checkAsserts=metalog.areAssertsEnabled())
else:
self.commandSender = CommandSender(metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" ),
hostPortPair=(HOST, COMMAND_PORT))
self.console = metalog.createLoggedInput( "console", myKbhit ).get
self.metalog = metalog
self.buf = ""
self.videoFrameProcessor = VideoFrames( onlyIFrames=onlyIFrames, verbose=False )
self.videoCbk = None
self.videoCbkResults = None
self.battery = None
self.flyingState = None
self.flatTrimCompleted = False
self.manualControl = False
self.time = None
self.altitude = None
self.position = (0,0,0)
self.angle = (0,0,0)
self.speed = (0,0,0)
self.positionGPS = None
self.cameraTilt, self.cameraPan = 0,0
self.lastImageResult = None
self.navigateHomeState = None
self.config()
self.commandSender.start()
def __init__( self, metalog=None ):
if metalog is None:
self._discovery()
metalog = MetaLog()
self.navdata = metalog.createLoggedSocket( "navdata", headerFormat="<BBBI" )
self.navdata.bind( ('',NAVDATA_PORT) )
self.command = metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" )
self.console = metalog.createLoggedInput( "console", myKbhit ).get
self.metalog = metalog
self.buf = ""
self.battery = None
self.flyingState = None
self.flatTrimCompleted = False
self.manualControl = False
def __init__( self, host,navdata_port,speed_limits, metalog=None, onlyIFrames=True):
self.host = host
self.navdata_port = navdata_port
if metalog is None:
self._discovery()
metalog = MetaLog()
self.navdata = metalog.createLoggedSocket( "navdata", headerFormat="<BBBI" )
self.navdata.bind(('',self.navdata_port))
if metalog.replay:
self.commandSender = CommandSenderReplay(metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" ),
hostPortPair=(self.host, COMMAND_PORT), checkAsserts=metalog.areAssertsEnabled())
else:
self.commandSender = CommandSender(metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" ),
hostPortPair=(self.host, COMMAND_PORT))
#self.console = metalog.createLoggedInput( "console", myKbhit ).get #takahashi changed
self.metalog = metalog
self.buf = ""
self.videoFrameProcessor = VideoFrames( onlyIFrames=onlyIFrames, verbose=False )
self.videoCbk = None
self.videoCbkResults = None
self.battery = None
self.flyingState = None
self.flatTrimCompleted = False
self.manualControl = True# takahashi changed
self.time = None
self.altitude = None
self.position = (0,0,0)
self.speed = (0,0,0)
self.positionGPS = None
self.cameraTilt, self.cameraPan = 0,0
self.lastImageResult = None
self.navigateHomeState = None
self.config(speed_limits[0],speed_limits[1])#speed_limits[0] is linear velocity limit, speed_limits[1] is angular velocity limit
self.commandSender.start()
# takahashi added
self.roll = 0
self.pitch = 0
self.yaw = 0
def __init__(self, metalog=None):
if metalog is None:
metalog = MetaLog()
self.soc = metalog.createLoggedSocket("velodyne", headerFormat="<BBBI")
self.soc.bind( ('',PORT) )
self.metalog = metalog
self.buf = ""
self.time = None
self.last_blocked = None
self.dist = np.zeros( (360, NUM_LASERS), dtype=np.uint16)
self.scan_index = 0
self.prev_azimuth = None
self.safe_dist = None
self.dist_index = None
