def __init__(self):
super().__init__()
# Dronen skal være en tråd, så de ikke hænger i beregninger til reporter
self.bebop = Bebop()
self.yaw_altitude_damper = 0.30
self._movement_vector = Vector()
self.voice = Voice()
self.flight = Flight(self.bebop)
self.threads = [
self.voice,
self.flight
]
try:
self.device = Devices().get_device()
except ControllerNotFound:
self.voice.force_pronounce('Unable to connect to controller.')
exit(0)
self.device.method_listener(self.take_off_landing, 'START')
self.device.method_listener(self.pitch, 'LEFT_STICK')
self.device.method_listener(self.roll, 'LEFT_STICK')
self.device.method_listener(self.yaw, 'RIGHT_STICK')
self.device.method_listener(self.altitude, 'RIGHT_STICK')
self.device.method_listener(self.left_bumper, 'LEFT_BUMPER')
self.device.method_listener(self.right_bumper, 'RIGHT_BUMPER')
self.device.method_listener(self.change_profile, 'SELECT', self.device.Handler.single)
self.device.method_listener(self.do_flat_trim, 'A', self.device.Handler.single)
self.device.method_listener(self.change_geofence, 'Y', self.device.Handler.single)
self.device.abort_function(self.abort)
self.default_profile = 'Default'
self.profiles = []
self.profile_idx = 0
self.load_profiles()
self.profile_idx = self.get_default_profile()
self.running = True
self.debug = False
self.debug_count = 0
self.debug_button = False
self.block_print()
def video2stdout():
drone = Bebop( metalog=None, onlyIFrames=False )
drone.videoCbk = videoCallback
drone.videoEnable()
while True:
drone.update()
def clip(value, low, high):
if value < low:
return low
if value > high:
return high
return value
# Video variables
f = open("./images/video.h264", "wb")
cnt = 0
frames = 0
lastFrames = 0
print("Connecting to drone...")
drone = Bebop()
drone.trim()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
drone.minEdgeVal = 30
drone.maxEdgeVal = 50
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
def video_start():
print("Starting video...")
cv2.namedWindow("Drone")
def video_end():
print("Ending video...")
cv2.destroyWindow("Drone")
# Have to send waitKey several times on Unix to make window disappear
for i in range(1, 5):
cv2.waitKey(1)
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
drone.moveCamera(-90, 0)
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
color = (0, 0, 255)
text = "Go Right"
elif center_x - width * 0.5 < 50:
color = (255, 0, 0)
text = "Go Left"
cv2.line(frame, barcode.location[0], barcode.location[1], color=color, thickness=2)
cv2.line(frame, barcode.location[1], barcode.location[2], color=color, thickness=2)
cv2.line(frame, barcode.location[2], barcode.location[3], color=color, thickness=2)
cv2.line(frame, barcode.location[0], barcode.location[3], color=color, thickness=2)
cv2.circle(frame, (center_x, center_y), 3, color=color, thickness=2)
cv2.putText(frame, org=(width - 100, height - 100), text=text, color=color, fontFace=cv2.FONT_HERSHEY_PLAIN, fontScale=1,)
break
cv2.imshow("Drone feed", frame)
cv2.waitKey(10)
print("Connecting to drone..")
drone = Bebop( metalog=None, onlyIFrames=False, jpegStream=True, fps = 0)
drone.videoCbk = videoCallback
drone.videoEnable()
drone.moveCamera(-90, 0)
print("Connected.")
for i in xrange(10000):
drone.update( );
print("Battery:", drone.battery)
g_queueOut = Queue()
g_processor = Process(target=processMain, args=(g_queueOut, ))
g_processor.daemon = True
g_processor.start()
g_queueOut.put_nowait(frame) # H264 compressed video frame
def testCVideo(drone):
drone.videoCbk = videoCallback
drone.videoEnable()
for i in xrange(400):
drone.update()
if g_queueOut is not None:
g_queueOut.put_nowait(None)
g_processor.join()
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
metalog = None
if len(sys.argv) > 2:
metalog = MetaLog(filename=sys.argv[2])
if len(sys.argv) > 3 and sys.argv[3] == 'F':
disableAsserts()
drone = Bebop(metalog=metalog, onlyIFrames=False)
testCVideo(drone)
# vim: expandtab sw=4 ts=4
from bebop import Bebop
import logging
logging.basicConfig()
print("Connecting to drone...")
drone = Bebop(loggingLevel=logging.DEBUG)
print("Connected.")
drone.wait(5)
import pygame
import sys
from commands import *
from bebop import Bebop
import logging
logging.basicConfig(level=logging.DEBUG)
print("Connecting to drone...")
drone = Bebop()
drone.trim()
print("Connected.")
drone.takeoff()
drone.wait(.2)
drone.update(cmd=movePCMDCmd(True, 0, 40, 0, 0))
drone.wait(2.3)
drone.update(cmd=movePCMDCmd(True, 0, 0, 0, 0))
drone.wait(.2)
drone.land()
import pygame
import sys
from commands import *
from bebop import Bebop
import logging
logging.basicConfig(level=logging.DEBUG)
print("Connecting to drone...")
drone = Bebop()
drone.trim()
print("Connected.")
drone.takeoff()
drone.wait(5)
drone.land()
import cv2
import time
import sys
import signal
from bebop import Bebop
drone = Bebop()
def main():
signal.signal(signal.SIGINT, signal_handler)
try:
drone.moveCamera(tilt=-50, pan=0)
drone.videoEnable()
cap = cv2.VideoCapture('./bebop.sdp')
while (True):
ret, img = cap.read()
if ret:
cv2.imshow('img', img)
cv2.namedWindow('img', cv2.WINDOW_NORMAL)
cv2.waitKey(1)
drone.update()
sys.exit(0)
except (TypeError) as e:
pass
def scale(value, scaler):
if abs(value) < 0.05:
return 0
return value * scaler
from bebop import Bebop
from commands import *
import pygame
import cv2
cnt = 0
f = open( "./images/video.h264", "wb" )
print("Connecting to drone...")
drone = Bebop( metalog=None, onlyIFrames=True)
drone.trim()
drone.videoCbk = videoCallback
drone.videoEnable()
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
def clip(value, low, high):
if value < low:
return low
if value > high:
return high
return value
# Video variables
f = open( "./images/video.h264", "wb" )
cnt = 0
frames = 0
lastFrames = 0
print("Connecting to drone...")
drone = Bebop( metalog=None, onlyIFrames=True, jpegStream=True)
drone.trim()
drone.videoCbk = videoCallback
drone.videoEnable()
drone.minEdgeVal = 50
drone.maxEdgeVal = 70
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
import pygame
import sys
from commands import *
from bebop import Bebop
drive_speed = 50
turn_speed = 50
print ("Connecting to drone...");
metalog=None
drone = Bebop( metalog=metalog, onlyIFrames=True )
drone.trim()
print ("Connected.");
drive_speed = 50
turn_speed = 50
pygame.init()
pygame.display.set_mode((100, 100))
pygame.key.set_repeat(50)
pygame.joystick.init()
my_joystick = pygame.joystick.Joystick(0)
my_joystick.init()
while True:
for event in pygame.event.get():
#leftPower = 0
#rightPower = 0
cv2.line(frame, barcode.location[0], barcode.location[3], color=color, thickness=2)
cv2.circle(frame, (center_x, center_y), 3, color=color, thickness=2)
cv2.putText(frame, org=(width - 100, height - 100), text=text, color=color,
fontFace=cv2.FONT_HERSHEY_PLAIN, fontScale=1, )
if barcode.value == "TechGarage":
drone.update(cmd=movePCMDCmd(True, 0, 0, 0, 0))
drone.land()
break
cv2.imshow("Drone feed", frame)
cv2.waitKey(10)
print("Connecting to drone..")
drone = Bebop( metalog=None, onlyIFrames=False, jpegStream=True, fps = 30 )
drone.videoCbk = videoCallback
drone.videoEnable()
drone.moveCamera(-90, 0)
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
import cv2
from bebop import Bebop
cnt = 0
f = open( "./images/video.h264", "wb" )
def videoCallback( frame, drone, debug=False ):
global cnt
if isinstance(frame, tuple):
print("h.264 frame - (frame# = %s, iframe = %s, size = %s)" % (frame[0], frame[1], len(frame[2])))
f.write(frame[-1])
f.flush()
else:
cnt = cnt + 1
cv2.imshow("image", frame)
cv2.waitKey(10)
print("Connecting to drone..")
drone = Bebop( metalog=None, onlyIFrames=False, jpegStream=True )
drone.videoCbk = videoCallback
drone.videoEnable()
print("Connected.")
for i in xrange(10000):
drone.update()
def video_start():
print("Starting video...")
cv2.namedWindow("Drone")
def video_end():
print("Ending video...")
cv2.destroyWindow("Drone")
# Have to send waitKey several times on Unix to make window disappear
for i in range(1, 5):
cv2.waitKey(1)
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
def video2stdout():
drone = Bebop(metalog=None, onlyIFrames=False)
drone.videoCbk = videoCallback
drone.videoEnable()
while True:
drone.update()
import pygame
import sys
from commands import *
from bebop import Bebop
import logging
logging.basicConfig(level=logging.DEBUG)
print("Connecting to drone...")
drone = Bebop()
# drone.trim()
print("Connected.")
drone.land()
class DroneBinding(Logging):
def __init__(self):
super().__init__()
# Dronen skal være en tråd, så de ikke hænger i beregninger til reporter
self.bebop = Bebop()
self.yaw_altitude_damper = 0.30
self._movement_vector = Vector()
self.voice = Voice()
self.flight = Flight(self.bebop)
self.threads = [
self.voice,
self.flight
]
try:
self.device = Devices().get_device()
except ControllerNotFound:
self.voice.force_pronounce('Unable to connect to controller.')
exit(0)
self.device.method_listener(self.take_off_landing, 'START')
self.device.method_listener(self.pitch, 'LEFT_STICK')
self.device.method_listener(self.roll, 'LEFT_STICK')
self.device.method_listener(self.yaw, 'RIGHT_STICK')
self.device.method_listener(self.altitude, 'RIGHT_STICK')
self.device.method_listener(self.left_bumper, 'LEFT_BUMPER')
self.device.method_listener(self.right_bumper, 'RIGHT_BUMPER')
self.device.method_listener(self.change_profile, 'SELECT', self.device.Handler.single)
self.device.method_listener(self.do_flat_trim, 'A', self.device.Handler.single)
self.device.method_listener(self.change_geofence, 'Y', self.device.Handler.single)
self.device.abort_function(self.abort)
self.default_profile = 'Default'
self.profiles = []
self.profile_idx = 0
self.load_profiles()
self.profile_idx = self.get_default_profile()
self.running = True
self.debug = False
self.debug_count = 0
self.debug_button = False
self.block_print()
@staticmethod
def block_print():
system.stdout = open(os.devnull, 'w')
def load_profiles(self):
files = glob.glob('./profiles/*.json')
for file in files:
with open(file, 'r') as f:
self.profiles.append(
json.loads(f.read())
)
def get_default_profile(self):
for idx, p in enumerate(self.profiles):
if p.get('name') == self.default_profile:
return idx
return 0
def load_profile(self, idx):
profile = self.profiles[idx]
self.log.info(f"Loading profile: {profile.get('name')}")
for k, v in profile.items():
if k[0:3] == 'max':
self.bebop.set_setting(k, v)
return profile.get('name')
def start(self):
try:
if self.bebop.connect(5):
self.bebop.ask_for_state_update()
self.voice.force_pronounce("Successfully connected to the drone")
self.device.start()
for thread in self.threads:
thread.start()
getLogger('XboxController').setLevel(logging.INFO)
getLogger('XboxEliteController').setLevel(logging.INFO)
else:
self.voice.force_pronounce("Could not connect to drone")
self.log.error("Could not connect to drone")
exit(1)
except ConnectionRefusedError:
self.voice.force_pronounce("The drone did actively refuse the connection")
self.log.error("The drone did actively refuse the connection")
exit(1)
def take_off_landing(self, args):
if args and self.bebop.is_landed():
self.voice.pronounce('Take off sequence has been initiated.')
self.flight.fly(self.bebop, self._movement_vector)
self.bebop.safe_takeoff(5)
elif args and self.bebop.is_flying():
self.voice.pronounce('Landing sequence has been initiated.')
self._movement_vector.reset()
self.flight.join()
self.bebop.safe_land(5)
# self.bebop.force_state_update(self.bebop.states.landed)
def pitch(self, args):
self._movement_vector.set_pitch(args[1])
def roll(self, args):
self._movement_vector.set_roll(args[0])
@property
def yaw_altitude_damper_converter(self):
return 1 + (1 - self.yaw_altitude_damper)
def altitude(self, args):
yaw = abs(args[0])
altitude = abs(args[1])
if yaw > altitude * self.yaw_altitude_damper_converter:
self._movement_vector.set_vertical_movement(0)
else:
self._movement_vector.set_vertical_movement(args[1])
def yaw(self, args):
yaw = abs(args[0])
altitude = abs(args[1])
if altitude > yaw * self.yaw_altitude_damper_converter:
self._movement_vector.set_yaw(0)
else:
self._movement_vector.set_yaw(args[0])
def do_flat_trim(self, args):
if args and self.bebop.is_landed():
self.voice.pronounce('Executing flat trim.')
self.bebop.flat_trim(2)
def change_profile(self, args):
if args and self.bebop.is_landed():
self.voice.pronounce(f'Loading new profile')
self.profile_idx = (self.profile_idx + 1) % len(self.profiles)
profile = self.load_profile(self.profile_idx)
self.voice.pronounce(f'Changeing to profile {profile}')
def change_geofence(self, args):
if args:
fence = self.bebop.toggle_fence()
status = 'on' if fence else 'off'
self.voice.pronounce(f'Drone geofenceing has now been turned {status}')
def abort(self):
self.voice.pronounce('The emergency protocol has been initiated.')
self._movement_vector.reset()
self.bebop.emergency_land()
self.bebop.disconnect()
for thread in self.threads:
thread.join()
def left_bumper(self, args):
if args:
self._movement_vector.set_yaw(-1)
else:
self._movement_vector.set_yaw(0)
def right_bumper(self, args):
if args:
self._movement_vector.set_yaw(1)
else:
self._movement_vector.set_yaw(0)
ret, image = cap.read()
index += 1
else:
key = cv2.waitKey(0)
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
if sys.argv[1] == "--test":
filename = sys.argv[2]
stopAt = None
if len(sys.argv) > 3:
stopAt = int(sys.argv[3])
replayVideoStream(filename=filename, stopAt=stopAt)
sys.exit(0)
metalog = None
if len(sys.argv) > 2:
metalog = MetaLog(filename=sys.argv[2])
if len(sys.argv) > 3 and sys.argv[3] == 'F':
disableAsserts()
drone = Bebop(metalog=metalog, onlyIFrames=True)
# testCamera( drone )
testAutomaticLanding(drone)
print "Battery:", drone.battery, "(%.2f, %.2f, %.2f)" % drone.position
# vim: expandtab sw=4 ts=4
import pygame
import sys
from commands import *
from bebop import Bebop
print("Connecting to drone...")
drone = Bebop( metalog=None, onlyIFrames=True )
drone.trim()
print("Connected.")
drone.takeoff()
drone.wait(5)
drone.land()
def video_end():
print("Ending video...")
cv2.destroyWindow("Drone")
# Have to send waitKey several times on Unix to make window disappear
for i in range(1, 5):
cv2.waitKey(1)
def scale(value, scaler):
if abs(value) < 0.03:
return 0
return value * scaler
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
def scale(value, scaler):
if abs(value) < 0.03:
return 0
return value * scaler
def clip(value, low, high):
if value < low:
return low
if value > high:
return high
return value
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
print("Connected.")
print("Battery:", drone.battery)
pygame.init()
size = [100, 100]
pygame.display.set_caption("Drone Teleop")
# -------- Main Program Loop -----------
# drone.flyToAltitude(2.25)
MAX_SPEED = 40
# drone.moveScaler = .25
else:
return value
cnt = 0
frames = 0
lastFrames = 0
# Video variables
f = open( "./images/video.h264", "wb" )
decoder = Decoder()
face_cascade = cv2.CascadeClassifier('cascades/haarcascade_frontalface_default.xml')
current_milli_time = lambda: int(round(time.time() * 1000))
print("Connecting to drone...")
drone = Bebop( metalog=None, onlyIFrames=True, jpegStream=True)
drone.trim()
drone.videoCbk = videoCallback
drone.videoEnable()
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
import pygame
import cv2
from commands import *
from bebop import Bebop
def videoCallback( frame, drone, debug=False ):
cv2.imshow("image", frame)
cv2.waitKey(10)
print("Connecting to drone..")
drone = Bebop( metalog=None, onlyIFrames=False, jpegStream=True )
drone.videoCbk = videoCallback
drone.videoEnable()
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
if pygame.joystick.get_count() == 0:
print("No joysticks found")
done = True
else:
joystick = pygame.joystick.Joystick(0)
drone.trim()
drone.takeoff()
# drone.flyToAltitude( 1.5 )
# for i in xrange(1000):
# print i,
# drone.update( cmd=None )
drone.land()
except ManualControlException, e:
print
print "ManualControlException"
if drone.flyingState is None or drone.flyingState == 1: # taking off
drone.emergency()
drone.land()
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
metalog = None
if len(sys.argv) > 2:
metalog = MetaLog(filename=sys.argv[2])
if len(sys.argv) > 3 and sys.argv[3] == 'F':
disableAsserts()
drone = Bebop(metalog=metalog)
demo(drone)
print "Battery:", drone.battery
# vim: expandtab sw=4 ts=4
elif template_that_matches == "first-logo":
command = "LAND"
cv2.waitKey(10)
matcher = Matcher([("fau-logo", "../opencv/templates/fau-logo.png"),
("first-logo", "../opencv/templates/first-logo.jpg"),
("nextera-logo", "../opencv/templates/nextera-energy-logo.jpg"),
("techgarage-logo", "../opencv/templates/techgarage-logo.png")
], min_keypoints_pct_match=10)
print("Connecting to drone..")
drone = Bebop( metalog=None, onlyIFrames=False, jpegStream=True )
drone.videoCbk = videoCallback
drone.videoEnable()
print("Connected.")
for i in xrange(10000):
if command is None:
drone.update( );
elif command == "TAKEOFF":
print("Taking offf.........................")
drone.takeoff()
command = None
elif command == "LAND":
print("Landing ...........................")
drone.land()
command = None
# show the frame and the binary image
cv2.imshow("Drone", frame)
cv2.waitKey(10)
cv2.imshow("Binary", blue)
def video_start():
print("Starting video...")
cv2.namedWindow("Drone")
cv2.namedWindow("Binary")
def video_end():
print("Ending video...")
cv2.destroyWindow("Drone")
cv2.destroyWindow("Binary")
# Have to send waitKey several times on Unix to make window disappear
for i in range(1, 5):
cv2.waitKey(1)
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
print("Connected.")
for i in xrange(10000):
drone.update()
print("Battery:", drone.battery)
import pygame
import sys
from commands import *
from bebop import Bebop
print("Connecting to drone...")
drone = Bebop()
drone.trim()
print("Connected.")
drone.takeoff()
drone.wait(5)
drone.update(cmd=movePCMDCmd(True, 0, 0, -50, 0))
drone.wait(3)
drone.land()
def video_end():
print("Ending video...")
cv2.destroyWindow("Drone")
# Have to send waitKey several times on Unix to make window disappear
for i in range(1, 5):
cv2.waitKey(1)
matcher = Matcher([("fau-logo", "../opencv/templates/fau-logo.png"),
("first-logo", "../opencv/templates/first-logo.jpg"),
("nextera-logo", "../opencv/templates/nextera-energy-logo.jpg"),
("techgarage-logo", "../opencv/templates/techgarage-logo.png")
], min_keypoints_pct_match=10)
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
print("Connected.")
for i in xrange(10000):
if command is None:
drone.update( );
elif command == "TAKEOFF":
print("Taking offf.........................")
drone.takeoff()
command = None
elif command == "LAND":
print("Landing ...........................")
drone.land()
command = None
import pygame
import sys
from commands import *
from bebop import Bebop
print("Connecting to drone...")
drone = Bebop( metalog=None, onlyIFrames=True )
drone.trim()
print("Connected.")
drone.takeoff()
drone.wait(5)
drone.update(cmd=movePCMDCmd(True, 0, 0, -50, 0))
drone.wait(3)
drone.land()
#!/usr/bin/env python
from bebop import Bebop
if __name__ == '__main__':
drone = Bebop(debug=False)
while True:
drone.takeoff()
while not drone.done:
drone.move()
drone.land()
raw_input("Press enter to race again")
import datetime
from bebop import Bebop
from commands import movePCMDCmd
from capdet import detectTwoColors, loadColors
# this will be in new separate repository as common library fo robotika Python-powered robots
from apyros.metalog import MetaLog, disableAsserts
from apyros.manual import myKbhit, ManualControlException
if __name__ == "__main__":
dPsi = math.pi # 0 rad
# print "drone.trim()"
# print "drone.takeoff()"
# print "drone.flyToAltitude( 1.5 )"
drone = Bebop()
drone.trim()
# drone.videoDisable()
drone.takeoff()
time.sleep(3)
print "Take Off Successfull"
# drone.hover()
# print("Flying To Altitude Of " + str(2))
# drone.flyToAltitude(2, timeout=20, speed=100)
# time.sleep(5)
# # print "Battery:", drone.battery
drone.takePicture()
print "Picture Taken."
print "Rotating by " + str(dPsi)
