def main():
parsed_args = parse_args()
setup_gnd = False # If true we are operating on the ground station else we are on the UAV (by .profile via Cam)
config = read_dronebridge_config()
if parsed_args.gnd:
setup_gnd = True
print("---- Initializing adapters for ground station (v" + str(get_firmware_id()) + ")")
else:
print("---- Initializing adapters for UAV (v" + str(get_firmware_id()) + ")")
print("Settings up network interfaces")
setup_network_interfaces(setup_gnd, config) # blocks until interface becomes available
if setup_gnd and config.get(GROUND, 'wifi_ap') == 'Y':
setup_hotspot(config.get(GROUND, 'wifi_ap_if'))
if setup_gnd and config.get(GROUND, 'eth_hotspot') == 'Y':
setup_eth_hotspot()
def start_gnd_modules():
"""
Reads the settings from the config file. Performs some checks and starts the DroneBridge modules on the ground station.
"""
config = read_dronebridge_config()
if config is None:
exit(-1)
communication_id = config.getint(COMMON, 'communication_id')
cts_protection = config.get(COMMON, 'cts_protection')
fps = config.getfloat(COMMON, 'fps')
video_blocks = config.getint(COMMON, 'video_blocks')
video_fecs = config.getint(COMMON, 'video_fecs')
video_blocklength = config.getint(COMMON, 'video_blocklength')
compatibility_mode = config.getint(COMMON, 'compatibility_mode')
datarate = config.getint(GROUND, 'datarate')
interface_selection = config.get(GROUND, 'interface_selection')
interface_control = config.get(GROUND, 'interface_control')
interface_video = config.get(GROUND, 'interface_video')
interface_comm = config.get(GROUND, 'interface_comm')
interface_proxy = config.get(GROUND, 'interface_proxy')
en_control = config.get(GROUND, 'en_control')
en_video = config.get(GROUND, 'en_video')
en_comm = config.get(GROUND, 'en_comm')
en_plugin = config.get(GROUND, 'en_plugin')
rc_proto = config.getint(GROUND, 'rc_proto')
en_rc_overwrite = config.get(GROUND, 'en_rc_overwrite')
joy_interface = config.getint(GROUND, 'joy_interface')
fwd_stream = config.get(GROUND, 'fwd_stream')
fwd_stream_port = config.getint(GROUND, 'fwd_stream_port')
video_mem = config.get(GROUND, 'video_mem')
# ---------- pre-init ------------------------
print(GND_STRING_TAG + "Communication ID: " + str(communication_id))
print(GND_STRING_TAG + "Trying to start individual modules...")
if interface_selection == 'auto':
interface_control = get_all_monitor_interfaces(True)
print(f"\tUsing: {interface_control} for all modules")
interface_video = interface_control
interface_comm = interface_control
interface_proxy = interface_control
frametype = determine_frametype(cts_protection, get_interface()) # TODO: scan for WiFi traffic on all interfaces
# ----------- start modules ------------------------
if en_comm == 'Y':
print(f"{GND_STRING_TAG} Starting communication module...")
comm = ["python3.7", os.path.join(DRONEBRIDGE_BIN_PATH, 'communication', 'db_communication_gnd.py'), "-m", "m",
"-c", str(communication_id), "-a", str(compatibility_mode), "-f", str(frametype)]
comm.extend(interface_comm.split())
Popen(comm, shell=False, stdin=None, stdout=None, stderr=None)
print(f"{GND_STRING_TAG} Starting status module...")
comm_status = [os.path.join(DRONEBRIDGE_BIN_PATH, 'status', 'db_status'), "-m", "m", "-c", str(communication_id)]
comm_status.extend(interface_proxy.split())
Popen(comm_status, shell=False, stdin=None, stdout=None, stderr=None)
print(f"{GND_STRING_TAG} Starting proxy module...")
comm_proxy = [os.path.join(DRONEBRIDGE_BIN_PATH, 'proxy', 'db_proxy'), "-m", "m", "-c", str(communication_id),
"-f", str(frametype), "-b", str(get_bit_rate(datarate)), "-a", str(compatibility_mode)]
comm_proxy.extend(interface_proxy.split())
Popen(comm_proxy, shell=False, stdin=None, stdout=None, stderr=None)
if en_control == 'Y':
print(f"{GND_STRING_TAG} Starting control module...")
comm_control = [os.path.join(DRONEBRIDGE_BIN_PATH, 'control', 'control_ground'), "-j",
str(joy_interface), "-m", "m", "-v", str(rc_proto), "-o", str(en_rc_overwrite), "-c",
str(communication_id), "-t", str(frametype), "-b", str(get_bit_rate(datarate)), "-a",
str(compatibility_mode)]
comm_control.extend(interface_control.split())
Popen(comm_control, shell=False, stdin=None, stdout=None, stderr=None, close_fds=True)
if en_plugin == 'Y':
print(GND_STRING_TAG + "Starting plugin module...")
Popen(["python3.7", os.path.join(DRONEBRIDGE_BIN_PATH, 'plugin', 'db_plugin.py'), "-g"],
shell=False, stdin=None, stdout=None, stderr=None, close_fds=True)
print(GND_STRING_TAG + "Starting USBBridge module...")
Popen([os.path.join(DRONEBRIDGE_BIN_PATH, 'usbbridge', 'usbbridge'), "-v", en_video, "-c", en_comm, "-p", "Y",
"-s", "Y"], shell=False, stdin=None, stdout=None, stderr=None, close_fds=True)
if en_video == 'Y':
print(f"{GND_STRING_TAG} Starting video module... (FEC: {video_blocks}/{video_fecs}/{video_blocklength})")
receive_comm = [os.path.join(DRONEBRIDGE_BIN_PATH, 'video', 'video_gnd'), "-d", str(video_blocks),
"-r", str(video_fecs), "-f", str(video_blocklength), "-c", str(communication_id), "-p", "N",
"-v", str(fwd_stream_port), "-o"]
receive_comm.extend(interface_video.split())
db_video_receive = Popen(receive_comm, stdout=subprocess.PIPE, close_fds=True, shell=False, bufsize=0)
print(f"{GND_STRING_TAG} Starting video player...")
Popen([get_video_player(fps)], stdin=db_video_receive.stdout, close_fds=True, shell=False)
def start_uav_modules():
"""
Reads the settings from the config file. Performs some checks and starts the DroneBridge modules on the UAV.
"""
config = read_dronebridge_config()
if config is None:
exit(-1)
communication_id = config.getint(COMMON, 'communication_id')
cts_protection = config.get(COMMON, 'cts_protection')
compatibility_mode = config.getint(COMMON, 'compatibility_mode')
datarate = config.getint(UAV, 'datarate')
interface_selection = config.get(UAV, 'interface_selection')
interface_control = config.get(UAV, 'interface_control')
interface_video = config.get(UAV, 'interface_video')
interface_comm = config.get(UAV, 'interface_comm')
en_control = config.get(UAV, 'en_control')
en_video = config.get(UAV, 'en_video')
en_comm = config.get(UAV, 'en_comm')
en_plugin = config.get(UAV, 'en_plugin')
video_blocks = config.getint(COMMON, 'video_blocks')
video_fecs = config.getint(COMMON, 'video_fecs')
video_blocklength = config.getint(COMMON, 'video_blocklength')
extraparams = config.get(UAV, 'extraparams')
keyframerate = config.getint(UAV, 'keyframerate')
width = config.getint(UAV, 'width')
height = config.getint(UAV, 'height')
fps = config.getfloat(COMMON, 'fps')
video_bitrate = config.get(UAV, 'video_bitrate')
video_channel_util = config.getint(UAV, 'video_channel_util')
en_video_rec = config.get(UAV, 'en_video_rec')
video_mem = config.get(UAV, 'video_mem') # path to video files
serial_int_cont = config.get(UAV, 'serial_int_cont')
baud_control = config.getint(UAV, 'baud_control')
serial_prot = config.getint(UAV, 'serial_prot')
pass_through_packet_size = config.getint(UAV, 'pass_through_packet_size')
enable_sumd_rc = config.get(UAV, 'enable_sumd_rc')
serial_int_sumd = config.get(UAV, 'serial_int_sumd')
# ---------- pre-init ------------------------
if interface_selection == 'auto':
interface_control = get_all_monitor_interfaces(True)
print(f"\tUsing: {interface_control} for all modules")
interface_video = interface_control
interface_comm = interface_control
frametype = determine_frametype(
cts_protection,
get_interface()) # TODO: scan for WiFi traffic on all interfaces
if video_bitrate == 'auto' and en_video == 'Y':
video_bitrate = int(
measure_available_bandwidth(video_blocks, video_fecs,
video_blocklength, frametype, datarate,
get_all_monitor_interfaces(False)))
print(
f"{UAV_STRING_TAG} Available bandwidth is {video_bitrate / 1000} kbit/s"
)
video_bitrate = int(video_channel_util / 100 * int(video_bitrate))
print(
f"{UAV_STRING_TAG} Setting video bitrate to {video_bitrate / 1000} kbit/s"
)
else:
video_bitrate = str(int(video_bitrate) *
1000) # convert to bit/s (user enters kbit)
# ---------- Error pre-check ------------------------
if serial_int_cont == serial_int_sumd and en_control == 'Y' and enable_sumd_rc == 'Y':
print(
UAV_STRING_TAG +
"Error - Control module and SUMD output are assigned to the same serial port. Disabling "
"SUMD")
enable_sumd_rc = 'N'
print(f"{UAV_STRING_TAG} Communication ID: {communication_id}")
print(f"{UAV_STRING_TAG} Trying to start individual modules...")
# ----------- start modules ------------------------
if en_comm == 'Y':
print(f"{UAV_STRING_TAG} Starting communication module...")
comm = [
"python3",
os.path.join(DRONEBRIDGE_BIN_PATH, 'communication',
'db_communication_air.py'), "-m", "m", "-c",
str(communication_id), "-a",
str(compatibility_mode), "-f",
str(frametype)
]
comm.extend(interface_comm.split())
comm_module_process = Popen(comm,
shell=False,
stdin=None,
stdout=None,
stderr=None)
if en_control == 'Y':
print(f"{UAV_STRING_TAG} Starting control module...")
comm = [
os.path.join(DRONEBRIDGE_BIN_PATH, 'control', 'control_air'), "-u",
str(serial_int_cont), "-m", "m", "-c",
str(communication_id), "-v",
str(serial_prot), "-t",
str(frametype), "-l",
str(pass_through_packet_size), "-r",
str(baud_control), "-e",
str(enable_sumd_rc), "-s",
str(serial_int_sumd), "-b",
str(get_bit_rate(2))
]
comm.extend(interface_control.split())
control_module_process = Popen(comm,
shell=False,
stdin=None,
stdout=None,
stderr=None)
if en_plugin == 'Y':
print(f"{UAV_STRING_TAG} Starting plugin module...")
Popen([
"python3",
os.path.join(DRONEBRIDGE_BIN_PATH, 'plugin', 'db_plugin.py')
],
shell=False,
stdin=None,
stdout=None,
stderr=None)
if en_video == 'Y':
print(
f"{UAV_STRING_TAG} Starting video transmission, FEC {video_blocks}/{video_fecs}/{video_blocklength} : "
f"{width} x {height} fps {fps}, video bitrate: {video_bitrate} bit/s, key framerate: {keyframerate} "
f"frame type: {frametype}")
#read camera stream using raspivid
raspivid_comm = [
"raspivid", "-w",
str(width), "-h",
str(height), "-fps",
str(fps), "-b",
str(video_bitrate), "-g",
str(keyframerate), "-t", "0"
]
raspivid_comm.extend(extraparams.split())
raspivid_comm.extend(["-o", "-"])
print(raspivid_comm)
raspivid_task = Popen(raspivid_comm,
stdout=subprocess.PIPE,
stdin=None,
stderr=None,
close_fds=True,
shell=False,
bufsize=0)
########### add gstreamer vor computer vision
print(f"{UAV_STRING_TAG} starting gstreamer cv module v.03")
###################################### FFMeg ############################################################
FFMPEG_BIN = "/usr/bin/ffmpeg"
ffmpeg_comm = [
FFMPEG_BIN,
'-i',
'-', # fifo is the named pipe
'-pix_fmt',
'bgr24', # opencv requires bgr24 pixel format.
'-vcodec',
'h264',
'-an',
'-sn', # we want to disable audio processing (there is no audio)
'-f',
'-'
]
print(ffmpeg_comm)
ffmpeg_task = Popen(ffmpeg_comm,
stdout=subprocess.PIPE,
stdin=raspivid_task.stdout,
stderr=None,
close_fds=True,
shell=False,
bufsize=0)
###################################### Rover IMAGE PROC ############################################################
ROVER_SW = "/home/pi/pv_rover_sw/vision/test.py"
rover_sw_comm = ['python3', ROVER_SW]
pover_task = Popen(rover_sw_comm,
stdout=None,
stdin=ffmpeg_task.stdout,
stderr=None,
close_fds=True,
shell=False,
bufsize=0)
###################################### TEE Solution ##########################################################
# tee_comm = ["tee", "/video.h264"]
# tee_task = Popen(tee_comm, stdout=subprocess.PIPE, stdin=raspivid_task.stdout , stderr=None, close_fds=True,
# shell=False, bufsize=0)
############################################################################################################
#camfifo = open('/home/pi/DroneBridge/videofile.h264', 'w')
#gst-launch-1.0 -v fdsrc ! h264parse ! tee name=splitter ! queue ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.123.106 port=5000 splitter. ! queue ! filesink location="videofile.h264"
# gstreamer_comm = ['gst-launch-1.0', 'fdsrc', '!', 'h264parse', '!', 'tee', 'name=splitter', '!', 'queue', '!',
# 'rtph264pay', 'config-interval=10', 'pt=96', '!' , 'udpsink', 'host=192.168.123.105','port=5000',
# splitter.', '!' ,'queue', '!', 'filesink', 'location=/home/pi/DroneBridge/videofile.h264']
#gstreamer_comm = ['gst-launch-1.0', 'filesrc', 'location=/video.h264' , '!', 'h264parse', '!', 'queue', '!',
# 'rtph264pay', 'config-interval=10', 'pt=96', '!' , 'udpsink', 'host=192.168.123.105','port=5000']
#'location=/home/pi/DroneBridge/videofile.h264'
#raspivid_comm= ' '.join(map(str, raspivid_comm)) + str(gstreamer_comm)
#print(f"{UAV_STRING_TAG} {raspivid_comm}")
#gst-launch-1.0 -v fdsrc ! h264parse ! tee name=splitter ! queue ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.123.105 port=5000 splitter. ! queue ! filesink location=/dev/stdout
#gstreamer_task = Popen(gstreamer_comm, stdout=None, stdin=None, stderr=None, close_fds=True,
# shell=False, bufsize=0)
##################################################################################################################
video_air_comm = [
os.path.join(DRONEBRIDGE_BIN_PATH, 'video', 'video_air'), "-d",
str(video_blocks), "-r",
str(video_fecs), "-f",
str(video_blocklength), "-t",
str(frametype), "-b",
str(get_bit_rate(datarate)), "-c",
str(communication_id), "-a",
str(compatibility_mode)
]
video_air_comm.extend(interface_video.split())
# video_air_process = Popen(video_air_comm, stdin =raspivid_task.stdout , stdout=None, stderr=None, close_fds=True,
# shell=False)
if en_video_rec == 'Y' and video_mem != "":
if video_mem.endswith("/"):
video_mem = video_mem[:-1]
print(f"{UAV_STRING_TAG} Starting video recording to {video_mem}")
comm = [
os.path.join(DRONEBRIDGE_BIN_PATH, 'recorder', 'db_recorder'),
video_mem
]
Popen(comm, shell=False, stdin=None, stdout=None, stderr=None)
def start_uav_modules():
"""
Reads the settings from the config file. Performs some checks and starts the DroneBridge modules on the UAV.
"""
config = read_dronebridge_config()
if config is None:
exit(-1)
communication_id = config.getint(COMMON, 'communication_id')
cts_protection = config.get(COMMON, 'cts_protection')
compatibility_mode = config.getint(COMMON, 'compatibility_mode')
datarate = config.getint(UAV, 'datarate')
interface_selection = config.get(UAV, 'interface_selection')
interface_control = config.get(UAV, 'interface_control')
interface_video = config.get(UAV, 'interface_video')
interface_comm = config.get(UAV, 'interface_comm')
en_control = config.get(UAV, 'en_control')
en_video = config.get(UAV, 'en_video')
en_comm = config.get(UAV, 'en_comm')
en_plugin = config.get(UAV, 'en_plugin')
video_blocks = config.getint(COMMON, 'video_blocks')
video_fecs = config.getint(COMMON, 'video_fecs')
video_blocklength = config.getint(COMMON, 'video_blocklength')
extraparams = config.get(UAV, 'extraparams')
keyframerate = config.getint(UAV, 'keyframerate')
width = config.getint(UAV, 'width')
height = config.getint(UAV, 'height')
fps = config.getfloat(COMMON, 'fps')
video_bitrate = config.get(UAV, 'video_bitrate')
video_channel_util = config.getint(UAV, 'video_channel_util')
serial_int_cont = config.get(UAV, 'serial_int_cont')
baud_control = config.getint(UAV, 'baud_control')
serial_prot = config.getint(UAV, 'serial_prot')
pass_through_packet_size = config.getint(UAV, 'pass_through_packet_size')
enable_sumd_rc = config.get(UAV, 'enable_sumd_rc')
serial_int_sumd = config.get(UAV, 'serial_int_sumd')
# ---------- pre-init ------------------------
if interface_selection == 'auto':
interface_control = get_all_monitor_interfaces(True)
print(f"\tUsing: {interface_control} for all modules")
interface_video = interface_control
interface_comm = interface_control
frametype = determine_frametype(cts_protection, get_interface()) # TODO: scan for WiFi traffic on all interfaces
if video_bitrate == 'auto' and en_video == 'Y':
video_bitrate = int(measure_available_bandwidth(video_blocks, video_fecs, video_blocklength, frametype,
datarate, get_all_monitor_interfaces(False)))
print(f"{UAV_STRING_TAG} Available bandwidth is {video_bitrate / 1000} kbit/s")
video_bitrate = int(video_channel_util / 100 * int(video_bitrate))
print(
f"{UAV_STRING_TAG} Setting video bitrate to {video_bitrate / 1000} kbit/s")
else:
video_bitrate = str(int(video_bitrate) * 1000) # convert to bit/s (user enters kbit)
# ---------- Error pre-check ------------------------
if serial_int_cont == serial_int_sumd and en_control == 'Y' and enable_sumd_rc == 'Y':
print(UAV_STRING_TAG + "Error - Control module and SUMD output are assigned to the same serial port. Disabling "
"SUMD")
enable_sumd_rc = 'N'
print(f"{UAV_STRING_TAG} Communication ID: {communication_id}")
print(f"{UAV_STRING_TAG} Trying to start individual modules...")
# ----------- start modules ------------------------
if en_comm == 'Y':
print(f"{UAV_STRING_TAG} Starting communication module...")
comm = ["python3.7", os.path.join(DRONEBRIDGE_BIN_PATH, 'communication', 'db_communication_air.py'), "-m", "m",
"-c", str(communication_id), "-a", str(compatibility_mode), "-f", str(frametype)]
comm.extend(interface_comm.split())
Popen(comm, shell=False, stdin=None, stdout=None, stderr=None)
if en_control == 'Y':
print(f"{UAV_STRING_TAG} Starting control module...")
comm = [os.path.join(DRONEBRIDGE_BIN_PATH, 'control', 'control_air'), "-u", str(serial_int_cont), "-m", "m",
"-c", str(communication_id), "-v", str(serial_prot), "-t", str(frametype), "-l",
str(pass_through_packet_size), "-r", str(baud_control), "-e", str(enable_sumd_rc), "-s",
str(serial_int_sumd), "-b", str(get_bit_rate(2))]
comm.extend(interface_control.split())
Popen(comm, shell=False, stdin=None, stdout=None, stderr=None)
if en_plugin == 'Y':
print(f"{UAV_STRING_TAG} Starting plugin module...")
Popen(["python3.7", os.path.join(DRONEBRIDGE_BIN_PATH, 'plugin', 'db_plugin.py')],
shell=False, stdin=None, stdout=None, stderr=None)
if en_video == 'Y':
print(f"{UAV_STRING_TAG} Starting video transmission, FEC {video_blocks}/{video_fecs}/{video_blocklength} : "
f"{width} x {height} fps {fps}, video bitrate: {video_bitrate} bit/s, key framerate: {keyframerate} "
f"frame type: {frametype}")
raspivid_comm = ["raspivid", "-w", str(width), "-h", str(height), "-fps", str(fps), "-b", str(video_bitrate),
"-g", str(keyframerate), "-t", "0"]
raspivid_comm.extend(extraparams.split())
raspivid_comm.extend(["-o", "-"])
raspivid_task = Popen(raspivid_comm, stdout=subprocess.PIPE, stdin=None, stderr=None, close_fds=True,
shell=False, bufsize=0)
video_air_comm = [os.path.join(DRONEBRIDGE_BIN_PATH, 'video', 'video_air'), "-d", str(video_blocks), "-r",
str(video_fecs), "-f", str(video_blocklength), "-t", str(frametype),
"-b", str(get_bit_rate(datarate)), "-c", str(communication_id), "-a", str(compatibility_mode)]
video_air_comm.extend(interface_video.split())
Popen(video_air_comm, stdin=raspivid_task.stdout, stdout=None, stderr=None, close_fds=True, shell=False)
def start_uav_modules():
"""
Reads the settings from the config file. Performs some checks and starts the DroneBridge modules on the UAV.
"""
config = read_dronebridge_config()
if config is None:
exit(-1)
communication_id = config.getint(COMMON, 'communication_id')
cts_protection = config.get(COMMON, 'cts_protection')
compatibility_mode = config.getint(COMMON, 'compatibility_mode')
datarate = config.getint(UAV, 'datarate')
interface_selection = config.get(UAV, 'interface_selection')
interface_control = config.get(UAV, 'interface_control')
interface_video = config.get(UAV, 'interface_video')
interface_comm = config.get(UAV, 'interface_comm')
en_control = config.get(UAV, 'en_control')
en_video = config.get(UAV, 'en_video')
en_comm = config.get(UAV, 'en_comm')
en_plugin = config.get(UAV, 'en_plugin')
video_blocks = config.getint(COMMON, 'video_blocks')
video_fecs = config.getint(COMMON, 'video_fecs')
video_blocklength = config.getint(COMMON, 'video_blocklength')
extraparams = config.get(UAV, 'extraparams')
keyframerate = config.getint(UAV, 'keyframerate')
width = config.getint(UAV, 'width')
height = config.getint(UAV, 'height')
fps = config.getfloat(COMMON, 'fps')
video_bitrate = config.get(UAV, 'video_bitrate')
video_channel_util = config.getint(UAV, 'video_channel_util')
en_video_rec = config.get(UAV, 'en_video_rec')
video_mem = config.get(UAV, 'video_mem') # path to video files
serial_int_cont = config.get(UAV, 'serial_int_cont')
baud_control = config.getint(UAV, 'baud_control')
serial_prot = config.getint(UAV, 'serial_prot')
pass_through_packet_size = config.getint(UAV, 'pass_through_packet_size')
enable_sumd_rc = config.get(UAV, 'enable_sumd_rc')
serial_int_sumd = config.get(UAV, 'serial_int_sumd')
# ---------- pre-init ------------------------
if interface_selection == 'auto':
interface_control = get_all_monitor_interfaces(True)
print(f"\tUsing: {interface_control} for all modules")
interface_video = interface_control
interface_comm = interface_control
frametype = determine_frametype(
cts_protection,
get_interface()) # TODO: scan for WiFi traffic on all interfaces
if video_bitrate == 'auto' and en_video == 'Y':
video_bitrate = int(
measure_available_bandwidth(video_blocks, video_fecs,
video_blocklength, frametype, datarate,
get_all_monitor_interfaces(False)))
print(
f"{UAV_STRING_TAG} Available bandwidth is {video_bitrate / 1000} kbit/s"
)
video_bitrate = int(video_channel_util / 100 * int(video_bitrate))
print(
f"{UAV_STRING_TAG} Setting video bitrate to {video_bitrate / 1000} kbit/s"
)
else:
video_bitrate = str(int(video_bitrate) *
1000) # convert to bit/s (user enters kbit)
# ---------- Error pre-check ------------------------
if serial_int_cont == serial_int_sumd and en_control == 'Y' and enable_sumd_rc == 'Y':
print(
UAV_STRING_TAG +
"Error - Control module and SUMD output are assigned to the same serial port. Disabling "
"SUMD")
enable_sumd_rc = 'N'
print(f"{UAV_STRING_TAG} Communication ID: {communication_id}")
print(f"{UAV_STRING_TAG} Trying to start individual modules...")
# ----------- start modules ------------------------
if en_comm == 'Y':
print(f"{UAV_STRING_TAG} Starting communication module...")
comm = [
"python3",
os.path.join(DRONEBRIDGE_BIN_PATH, 'communication',
'db_communication_air.py'), "-m", "m", "-c",
str(communication_id), "-a",
str(compatibility_mode), "-f",
str(frametype)
]
comm.extend(interface_comm.split())
comm_module_process = Popen(comm,
shell=False,
stdin=None,
stdout=None,
stderr=None)
if en_control == 'Y':
print(f"{UAV_STRING_TAG} Starting control module...")
comm = [
os.path.join(DRONEBRIDGE_BIN_PATH, 'control', 'control_air'), "-u",
str(serial_int_cont), "-m", "m", "-c",
str(communication_id), "-v",
str(serial_prot), "-t",
str(frametype), "-l",
str(pass_through_packet_size), "-r",
str(baud_control), "-e",
str(enable_sumd_rc), "-s",
str(serial_int_sumd), "-b",
str(get_bit_rate(2))
]
comm.extend(interface_control.split())
control_module_process = Popen(comm,
shell=False,
stdin=None,
stdout=None,
stderr=None)
if en_plugin == 'Y':
print(f"{UAV_STRING_TAG} Starting plugin module...")
Popen([
"python3",
os.path.join(DRONEBRIDGE_BIN_PATH, 'plugin', 'db_plugin.py')
],
shell=False,
stdin=None,
stdout=None,
stderr=None)
if en_video == 'Y':
print(
f"{UAV_STRING_TAG} Starting video transmission, FEC {video_blocks}/{video_fecs}/{video_blocklength} : "
f"{width} x {height} fps {fps}, video bitrate: {video_bitrate} bit/s, key framerate: {keyframerate} "
f"frame type: {frametype}")
# Raspvid
raspivid_comm = [
"raspivid", "-w",
str(width), "-h",
str(height), "-fps",
str(fps), "-b",
str(video_bitrate), "-g",
str(keyframerate), "-t", "0"
]
raspivid_comm.extend(extraparams.split())
raspivid_comm.extend(["-o", "-"])
video_task = Popen(raspivid_comm,
stdout=subprocess.PIPE,
stdin=None,
stderr=None,
close_fds=True,
shell=False,
bufsize=0)
# USB camera
#USBCamera="gst-launch-1.0 uvch264src device=/dev/video0 initial-bitrate=\$1 average-bitrate=\$1 iframe-period=1000 name=src auto-start=true src.vidsrc ! queue ! video/x-h264,width=1280,height=720,framerate=30/1 ! h264parse ! rtph264pay ! udpsink host=127.0.0.1 port=5600"
# USB working pipline
#gst-launch-1.0 uvch264src device=/dev/video1 iframe-period=1000 name=src auto-start=true src.vidsrc ! queue ! filesink location=/dev/stdout
# gstreamer_comm = [
# "gst-launch-1.0",
# "uvch264src" ,
# "device=/dev/video1", "iframe-period=1000", "name=src", "auto-start=true", "src.vidsrc", "!",
# "queue", "!",
# "filesink", "location=/dev/stdout"
# ]
# video_task = Popen(gstreamer_comm, stdout=subprocess.PIPE, stdin=None, stderr=None, close_fds=True,
# shell=False, bufsize=0)
# start wifi broadcast
video_air_comm = [
os.path.join(DRONEBRIDGE_BIN_PATH, 'video', 'video_air'), "-d",
str(video_blocks), "-r",
str(video_fecs), "-f",
str(video_blocklength), "-t",
str(frametype), "-b",
str(get_bit_rate(datarate)), "-c",
str(communication_id), "-a",
str(compatibility_mode)
]
video_air_comm.extend(interface_video.split())
video_air_process = Popen(video_air_comm,
stdin=video_task.stdout,
stdout=None,
stderr=None,
close_fds=True,
shell=False)
# Recording
if en_video_rec == 'Y' and video_mem != "":
if video_mem.endswith("/"):
video_mem = video_mem[:-1]
print(f"{UAV_STRING_TAG} Starting video recording to {video_mem}")
comm = [
os.path.join(DRONEBRIDGE_BIN_PATH, 'recorder', 'db_recorder'),
video_mem
]
Popen(comm, shell=False, stdin=None, stdout=None, stderr=None)