def mode_callback(self, vehicle, name, mode):
try:
if mode.name != self.lastMode:
logger.log("[callback]: Mode changed from %s -> %s" %
(self.lastMode, mode.name))
self.lastMode = mode.name
modeIndex = modes.getAPMModeIndexFromName(
mode.name, self.vehicle)
if modeIndex < 0:
logger.log("couldn't find this mode index: %s" %
self.mode.name)
return
else:
self.currentModeIndex = modeIndex
# If changing to Guided, we're probably in a smart shot so no
# need to do anything here. If not, we need to run all this
# cleanup stuff in case the stick and button remapping did not
# properly clear from the last smart shot.
if mode.name == 'GUIDED':
return
self.setNormalControl(modeIndex, mode)
except Exception as e:
logger.log('[shot]: mode callback error, %s' % e)
def mode_callback(self, vehicle, name, mode):
try:
if mode.name != self.lastMode:
logger.log("[callback]: Mode changed from %s -> %s"%(self.lastMode, mode.name))
if mode.name == 'RTL':
logger.log("[callback]: System entered RTL, we stay in there!")
# self.enterShot(shots.APP_SHOT_RTL)
elif self.currentShot != shots.APP_SHOT_NONE:
# looks like somebody switched us out of guided! Exit our current shot
if mode.name not in shots.SHOT_MODES:
logger.log("[callback]: Detected that we are not in the correct apm mode for this shot. Exiting shot!")
self.enterShot(shots.APP_SHOT_NONE)
self.lastMode = mode.name
# don't do the following for guided, since we're in a shot
if self.lastMode == 'GUIDED' or mode.name == 'RTL':
return
modeIndex = modes.getAPMModeIndexFromName( self.lastMode, self.vehicle)
if modeIndex < 0:
logger.log("couldn't find this mode index: %s" % self.lastMode)
return
if self.currentShot == shots.APP_SHOT_NONE:
self.buttonManager.setArtooShot( -1, modeIndex )
self.currentModeIndex = modeIndex
except Exception as e:
logger.log('[shot]: mode callback error, %s' % e)
def mode_callback(self, mode):
if self.vehicle.mode.name != self.lastMode:
logger.log("mode_callback: lastMode is %s, newMode is %s" %
(self.lastMode, self.vehicle.mode.name))
if self.currentShot != shots.APP_SHOT_NONE:
# looks like somebody switched us out of guided! Exit our current shot
if self.lastMode == 'GUIDED':
logger.log(
"detected that we are not in guided, exiting shot!")
self.enterShot(shots.APP_SHOT_NONE)
# alternatively, RTL and LAND always exit shots
elif self.vehicle.mode.name == 'RTL' or self.vehicle.mode.name == 'LAND':
logger.log("RTL or land exited shot!")
self.enterShot(shots.APP_SHOT_NONE)
self.lastMode = self.vehicle.mode.name
logger.log("vehicle changed to mode %s" % self.lastMode)
# When user is in mission mode, set the camera to photo and open the camera_msgs tlog file
if self.lastMode == 'AUTO':
self.goproManager.sendGoProCommand(
mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE,
(CAPTURE_MODE_PHOTO, 0, 0, 0))
self.cameraTLogFile = open('/log/camera_msgs.tlog', 'wb')
self.isMission = True
else:
if (self.cameraTLogFile is not None):
self.cameraTLogFile.close()
self.cameraTLogFile = None
self.isMission = False
# don't do the following for guided, since we're in a shot
if self.lastMode == 'GUIDED':
return
modeIndex = modes.getAPMModeIndexFromName(self.lastMode,
self.vehicle)
if modeIndex < 0:
logger.log("couldn't find this mode index: %s" % self.lastMode)
return
if self.currentShot == shots.APP_SHOT_NONE:
self.buttonManager.setArtooShot(-1, modeIndex)
self.currentModeIndex = modeIndex
def mode_callback(self, mode):
if self.vehicle.mode.name != self.lastMode:
logger.log("mode_callback: lastMode is %s, newMode is %s"%(self.lastMode, self.vehicle.mode.name))
if self.currentShot != shots.APP_SHOT_NONE:
# looks like somebody switched us out of guided! Exit our current shot
if self.lastMode == 'GUIDED':
logger.log("detected that we are not in guided, exiting shot!")
self.enterShot(shots.APP_SHOT_NONE)
# alternatively, RTL and LAND always exit shots
elif self.vehicle.mode.name == 'RTL' or self.vehicle.mode.name == 'LAND':
logger.log("RTL or land exited shot!")
self.enterShot(shots.APP_SHOT_NONE)
self.lastMode = self.vehicle.mode.name
logger.log("vehicle changed to mode %s"%self.lastMode)
# When user is in mission mode, set the camera to photo and open the camera_msgs tlog file
if self.lastMode == 'AUTO':
self.goproManager.sendGoProCommand(mavutil.mavlink.GOPRO_COMMAND_CAPTURE_MODE, (CAPTURE_MODE_PHOTO, 0 ,0 , 0))
self.cameraTLogFile = open('/log/camera_msgs.tlog', 'wb')
self.isMission = True
else:
if (self.cameraTLogFile is not None):
self.cameraTLogFile.close()
self.cameraTLogFile = None
self.isMission = False
# don't do the following for guided, since we're in a shot
if self.lastMode == 'GUIDED':
return
modeIndex = modes.getAPMModeIndexFromName( self.lastMode, self.vehicle)
if modeIndex < 0:
logger.log("couldn't find this mode index: %s"%self.lastMode)
return
if self.currentShot == shots.APP_SHOT_NONE:
self.buttonManager.setArtooShot( -1, modeIndex )
self.currentModeIndex = modeIndex
def testLookupInvalidMode(self):
""" Look up 'Invalid' """
i = modes.getAPMModeIndexFromName('Invalid', self.v)
self.assertEqual(i, -1)
def testMalformedMode(self):
""" Look up 'Mode(asta' """
i = modes.getAPMModeIndexFromName('Mode(asta', self.v)
self.assertEqual(i, -1)
def testLookupModeParser(self):
""" Look up 'Mode(10)' """
i = modes.getAPMModeIndexFromName('Mode(10)', self.v)
self.assertEqual(i, 10)
def testLookupTestMe(self):
""" Look up 'TEST_ME' """
i = modes.getAPMModeIndexFromName('TEST_ME', self.v)
self.assertEqual(i, 317)
def testLookupAltHold(self):
""" Look up 'ALT_HOLD' """
i = modes.getAPMModeIndexFromName('ALT_HOLD', self.v)
self.assertEqual(i, 2)
