def __init__(self):
self.seq_nr = 1
# TODO cambiar a 30 ms en vez de 200
self.timer_t = 0.030
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speedArribaAbajo = 0.6
self.speed = 0.2
self.at(at_config, "general:navdata_demo", "TRUE")
self.video_pipe, video_pipe_other = multiprocessing.Pipe()
self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
self.com_pipe, com_pipe_other = multiprocessing.Pipe()
self.network_process = arnetwork.ARDroneNetworkProcess(nav_pipe_other, video_pipe_other, com_pipe_other)
self.network_process.start()
self.ipc_thread = arnetwork.IPCThread(self)
self.ipc_thread.start()
self.image = ""
# Creo e inicializo navdata.
self.navdata = dict()
self.navdata['battery'] = 0
self.navdata['theta'] = 0
self.navdata['phi'] = 0
self.navdata['psi'] = 0
self.navdata['altitude'] = 0
self.time = 0
# Para enviarle muchas veces el ultimo comando cada timer_t segundos.
self.ultimoFueDerechaIzquierdaArribaAbajo = False
# 1 - derecha. 2 - izquierda. 3 - arriba. 4 - abajo.
self.ultimoMovimiento = 0
def __init__(self):
self.seq_nr = 1
self.timer_t = 0.2
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speed = 0.2
self.at(at_config, "general:navdata_demo", "TRUE")
self.video_pipe, video_pipe_other = multiprocessing.Pipe()
self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
self.com_pipe, com_pipe_other = multiprocessing.Pipe()
self.network_process = arnetwork.ARDroneNetworkProcess(
nav_pipe_other, video_pipe_other, com_pipe_other)
self.network_process.start()
self.ipc_thread = arnetwork.IPCThread(self)
self.ipc_thread.start()
self.image = ""
self.navdata = dict()
self.time = 0
# AMN if you're using the calls to set speed in various directions,
# we need to store the current values here
self.speed_updown = 0.0
self.speed_forwardback = 0.0
self.speed_leftright = 0.0
self.speed_yaw = 0.0
self.set_drone_speeds()
def __init__(self, is_ar_drone_2=False, hd=False):
self.seq_nr = 1
self.timer_t = 0.2
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speed = 0.2
self.hd = hd
if (self.hd):
self.image_shape = (720, 1280, 3)
else:
self.image_shape = (360, 640, 3)
time.sleep(0.5)
self.config_ids_string = [SESSION_ID, USER_ID, APP_ID]
self.configure_multisession(SESSION_ID, USER_ID, APP_ID,
self.config_ids_string)
self.set_session_id(self.config_ids_string, SESSION_ID)
time.sleep(0.5)
self.set_profile_id(self.config_ids_string, USER_ID)
time.sleep(0.5)
self.set_app_id(self.config_ids_string, APP_ID)
time.sleep(0.5)
self.set_video_bitrate_control_mode(self.config_ids_string, "1")
time.sleep(0.5)
self.set_video_bitrate(self.config_ids_string, "10000")
time.sleep(0.5)
self.set_max_bitrate(self.config_ids_string, "10000")
time.sleep(0.5)
self.set_fps(self.config_ids_string, "30")
time.sleep(0.5)
if (self.hd):
self.set_video_codec(self.config_ids_string, 0x83)
else:
self.set_video_codec(self.config_ids_string, 0x81)
self.last_command_is_hovering = True
self.com_pipe, com_pipe_other = multiprocessing.Pipe()
self.navdata = dict()
self.navdata[0] = dict(
zip([
'ctrl_state', 'battery', 'theta', 'phi', 'psi', 'altitude',
'vx', 'vy', 'vz', 'num_frames'
], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
self.network_process = arnetwork.ARDroneNetworkProcess(
com_pipe_other, is_ar_drone_2, self)
self.network_process.start()
self.image = np.zeros(self.image_shape, np.uint8)
self.time = 0
self.last_command_is_hovering = True
time.sleep(1.0)
self.at(at_config_ids, self.config_ids_string)
self.at(at_config, "general:navdata_demo", "TRUE")
def __init__(self):
self.seq_nr = 1
self.timer_t = 0.2
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speed = 0.2
self.at(at_config, "general:navdata_demo", "TRUE")
self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
self.com_pipe, com_pipe_other = multiprocessing.Pipe()
self.network_process = arnetwork.ARDroneNetworkProcess(
nav_pipe_other, com_pipe_other)
self.network_process.start()
self.ipc_thread = arnetwork.IPCThread(self)
self.ipc_thread.start()
self.navdata = dict()
self.time = 0
def __init__(self):
self.seq_nr = 1
self.timer_t = 0.2
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speed = 1.0
self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
self.com_pipe, com_pipe_other = multiprocessing.Pipe()
self.network_process = arnetwork.ARDroneNetworkProcess(
nav_pipe_other, com_pipe_other)
self.network_process.start()
self.ipc_thread = arnetwork.IPCThread(self)
self.ipc_thread.start()
self.image = ""
self.navdata = dict()
self.time = 0
def __init__(self, ip='192.168.1.1'):
self.seq_nr = 1
self.ip = ip
self.timer_t = 0.2
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speed = 0.2
self.at = AT(ip, self.lock, self.com_watchdog_timer)
self.at.at_config("general:navdata_demo", "TRUE")
self.video_pipe, video_pipe_other = multiprocessing.Pipe()
self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
self.com_pipe, com_pipe_other = multiprocessing.Pipe()
self.network_process = arnetwork.ARDroneNetworkProcess(
ip, nav_pipe_other, video_pipe_other, com_pipe_other)
self.network_process.start()
self.ipc_thread = arnetwork.IPCThread(self)
self.ipc_thread.start()
self.image = ""
self.navdata = dict()
self.time = 0
def __init__(self, is_ar_drone_2=False):
# TODO open control port and send AT*CTRL with mode 4 to get a dump of Drone details, including version, so
# the above Boolean is unnecessary.
self.seq_nr = 1
self.timer_t = 0.2
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speed = 0.2
self.at(at_config, "general:navdata_demo", "TRUE")
self.video_pipe, video_pipe_other = multiprocessing.Pipe()
self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
self.com_pipe, com_pipe_other = multiprocessing.Pipe()
self.network_process = arnetwork.ARDroneNetworkProcess(
nav_pipe_other, video_pipe_other, com_pipe_other, is_ar_drone_2)
self.network_process.start()
self.ipc_thread = arnetwork.IPCThread(self)
self.ipc_thread.start()
self.image = ""
self.navdata = dict()
self.time = 0
def __init__(self):
# starting params
self.seq_nr = 1
self.timer_t = 0.2
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speed = 0.2
self.at(at_config, "video:video_channel", "2")
self.at(at_config, "general:navdata_demo", "TRUE")
self.int_image = None
self.ext_image = None
self.camera = 1 # 1 for internal, 0 for external
self.navdata = dict()
self.time = 0
# nav data process
self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
self.com_pipe1, com_pipe_other1 = multiprocessing.Pipe()
self.nav_process = arnetwork.ARDroneNetworkProcess(
nav_pipe_other, com_pipe_other1)
self.nav_process.start()
# internal video feed process
self.video_pipe, video_pipe_other = multiprocessing.Pipe()
self.com_pipe2, com_pipe_other2 = multiprocessing.Pipe()
self.video_process = arnetwork.ARDroneVideoProcess(
video_pipe_other, com_pipe_other2)
self.video_process.start()
# external video feed process
if ARDRONE_EXT_CAM:
self.ext_video_pipe, ext_video_pipe_other = multiprocessing.Pipe()
self.com_pipe3, com_pipe_other3 = multiprocessing.Pipe()
self.ext_video_process = arnetwork.ARDroneExternalVideoProcess(
ext_video_pipe_other, com_pipe_other3)
self.ext_video_process.start()
# IPC thread
self.ipc_thread = arnetwork.IPCThread(self)
self.ipc_thread.start()
def __init__(self):
self.seq_nr = 1
self.timer_t = 0.2
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speed = 0.2
self.at(at_config, "general:navdata_demo", "TRUE")
#at_custom_parrotauth()
#self.at(at_custom_pmode)
#self.at(at_custom_misc)
#self.at(at_custom_ref)
self.video_pipe, video_pipe_other = multiprocessing.Pipe()
self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
self.com_pipe, com_pipe_other = multiprocessing.Pipe()
self.trigger_pipe, trigger_pipe_other = multiprocessing.Pipe()
self.network_process = arnetwork.ARDroneNetworkProcess(
nav_pipe_other, video_pipe_other, com_pipe_other)
self.network_process.start()
self.ipc_thread = arnetwork.IPCThread(self, trigger_pipe_other)
self.ipc_thread.start()
self.image = ""
self.navdata = dict()
self.time = 0
def __init__(self, frame_size=(360,640), recording=None):
self.seq_nr = 1
self.timer_t = 0.2
self.com_watchdog_timer = threading.Timer(self.timer_t, self.commwdg)
self.lock = threading.Lock()
self.speed = 0.2
self.at(at_config, "general:navdata_demo", "TRUE")
self.video_pipe, video_pipe_other = multiprocessing.Pipe()
self.nav_pipe, nav_pipe_other = multiprocessing.Pipe()
self.com_pipe, com_pipe_other = multiprocessing.Pipe()
self.network_process = arnetwork.ARDroneNetworkProcess(
nav_pipe_other, video_pipe_other, com_pipe_other, frame_size, recording)
self.network_process.start()
self.ipc_thread = arnetwork.IPCThread(self, recording)
self.ipc_thread.start()
self.image = ""
self.navdata = dict()
self.time = 0
self.camera = 0 # 0 = front, 1 = bottom
self.switch_camera(self.camera)
self.recording = recording
if self.recording != None:
self.commandsfile = open(self.recording + '/commands.tsv', mode='w')
self.epoch = datetime.datetime(1970, 1, 1)
