def onPositionChanged(self, event, scheduler):
casey_coords = findOffset(event.args["latitude"],event.args["longitude"],-1,0)
donatello_coords = findOffset(event.args["latitude"],event.args["longitude"],1,0)
casey(moveTo(casey_coords[0], casey_coords[1], 0.86, MoveTo_Orientation_mode.TO_TARGET, 0.0))
donatello(moveTo(donatello_coords[0], donatello_coords[1], 0.86, MoveTo_Orientation_mode.TO_TARGET, 0.0))
print(
"latitude = {latitude} longitude = {longitude} altitude = {altitude}".format(
**event.args
)
)
def onPositionChanged(self, event, scheduler):
lat = event.args["latitude"]
lon = event.args["longitude"]
c_poi = (lat, lon)
poi = (21.371518, -157.71161)
print('\n ------->')
print('\n ------->')
print('\n ------->')
meters = haversine(poi, c_poi, unit='m')
print(meters)
print(meters < 2)
print('\n ------->')
print('\n ------->')
print('\n ------->')
two_lat = event.args["latitude"]
two_lon = event.args["longitude"]
if meters < 8:
casey(moveToChanged(status="CANCELED")
>> moveTo(21.370950, -157.709998, 10, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
)
donatello(moveToChanged(status="CANCELED")
>> moveTo(21.370950, -157.709998, 20, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
)
leonardo(moveToChanged(status="CANCELED")
>> moveTo(21.370950, -157.709998, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
)
two_lat = 21.370950
two_lon = -157.709998
casey_coords = findOffset(two_lat,two_lon,-5,0)
donatello_coords = findOffset(two_lat,two_lon,5,0)
leonardo_coords = findOffset(two_lat,two_lon,0,5)
michelangelo_coords = findOffset(event.args["latitude"],event.args["longitude"],0,-10)
raphael_coords = findOffset(event.args["latitude"],event.args["longitude"],10,10)
splinter_coords = findOffset(event.args["latitude"],event.args["longitude"],-10,-10)
casey(moveTo(casey_coords[0], casey_coords[1], 10, MoveTo_Orientation_mode.TO_TARGET, 0.0))
donatello(moveTo(donatello_coords[0], donatello_coords[1], 15, MoveTo_Orientation_mode.TO_TARGET, 0.0))
leonardo(moveTo(leonardo_coords[0], leonardo_coords[1], 20, MoveTo_Orientation_mode.TO_TARGET, 0.0))
michelangelo(moveTo(michelangelo_coords[0], michelangelo_coords[1], 25, MoveTo_Orientation_mode.TO_TARGET, 0.0))
raphael(moveTo(raphael_coords[0], raphael_coords[1], 30, MoveTo_Orientation_mode.TO_TARGET, 0.0))
splinter(moveTo(splinter_coords[0], splinter_coords[1], 35, MoveTo_Orientation_mode.TO_TARGET, 0.0))
print(
"latitude = {latitude} longitude = {longitude} altitude = {altitude}".format(
**event.args
)
)
def move(index, coords):
print(route[index + 1][0])
april(
moveTo(route[index + 1][0], route[index +
1][1], 1, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
casey(
moveTo(route[index][0], route[index][1], 0.8, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
def onPositionChanged(self, event, scheduler):
casey_coords = findOffset(event.args["latitude"],event.args["longitude"],-50,0)
donatello_coords = findOffset(event.args["latitude"],event.args["longitude"],50,0)
leonardo_coords = findOffset(event.args["latitude"],event.args["longitude"],0,50)
michelangelo_coords = findOffset(event.args["latitude"],event.args["longitude"],0,-50)
casey(moveTo(casey_coords[0], casey_coords[1], 10, MoveTo_Orientation_mode.TO_TARGET, 0.0))
donatello(moveTo(donatello_coords[0], donatello_coords[1], 15, MoveTo_Orientation_mode.TO_TARGET, 0.0))
leonardo(moveTo(leonardo_coords[0], leonardo_coords[1], 20, MoveTo_Orientation_mode.TO_TARGET, 0.0))
michelangelo(moveTo(michelangelo_coords[0], michelangelo_coords[1], 15, MoveTo_Orientation_mode.TO_TARGET, 0.0))
print(
"latitude = {latitude} longitude = {longitude} altitude = {altitude}".format(
**event.args
)
)
def onPositionChanged(self, event, scheduler):
casey(moveTo(event.args["latitude"], event.args["longitude"], 0.86, MoveTo_Orientation_mode.TO_TARGET, 0.0))
print(
"latitude = {latitude} longitude = {longitude} altitude = {altitude}".format(
**event.args
)
)
def changealtitude(drone, alt):
lat = drone.get_state(PositionChanged)["latitude"]
lon = drone.get_state(PositionChanged)["longitude"]
drone(moveTo(lon,lat,alt,0,0)
>> FlyingStateChanged(state="hovering", _timeout=5)).wait()
getgpsposition(drone)
def moveto(drone, latitude, longitude, altitude, orientation_mode, heading):
drone(moveTo(
latitude,
longitude,
altitude,
orientation_mode,
heading
)).wait()
def move(index, coords):
april(
moveTo(route[index + 6][0], route[index +
6][1], 0.7, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=1)).wait().success()
casey(
moveTo(route[index][0], route[index][1], 1, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=2)).wait().success()
donatello(
moveTo(route[index + 6][0], route[index +
6][1], 0.7, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=3)).wait().success()
leonardo(
moveTo(route[index][0], route[index][1], 1, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=4)).wait().success()
michelangelo(
moveTo(route[index + 6][0], route[index +
6][1], 0.7, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
raphael(
moveTo(route[index][0], route[index][1], 1, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
splinter(
moveTo(route[index + 6][0], route[index +
6][1], 0.7, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
def moveSwarm(poi):
casey(
moveTo(poi["latitude"], poi["longitude"], 0.9, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
donatello(
moveTo(poi["latitude"], poi["longitude"], 0.8, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
leonardo(
moveTo(poi["latitude"], poi["longitude"], 1.1, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
michelangelo(
moveTo(poi["latitude"], poi["longitude"], 0.7, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
raphael(
moveTo(poi["latitude"], poi["longitude"], 1.2, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
splinter(
moveTo(poi["latitude"], poi["longitude"], 0.6, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
def goToEntrance():
print("Going to entrance")
##Go up
drone(
moveBy(0, 0, -5, 0) >> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
##Go to entrance
drone(
moveTo(latitude=entranceLatitude,
longitude=entranceLongitude,
altitude=5,
orientation_mode=0,
heading=0) >> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
drone(
moveTo(latitude=entranceLatitude,
longitude=entranceLongitude,
altitude=entranceAltitude,
orientation_mode=0,
heading=0) >> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
return
def goToHome():
print("Going to HOME")
drone(
moveBy(0, 0, -5, 0) >> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
drone(
moveTo(latitude=homeLatitude,
longitude=homeLongitude,
altitude=homeAltitude,
orientation_mode=0,
heading=0) >> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
return
def goHome(self):
print('ET going home...', end='', flush=True)
# Start navigating home
self.bebop(
moveTo(self.drone_location['latitude'],
self.drone_location['longitude'],
self.drone_location['altitude'], 1, 0.0) >>
FlyingStateChanged(state='hovering', _timeout=5) >> moveToChanged(
latitude=self.drone_location['latitude'],
longitude=self.drone_location['longitude'],
altitude=self.drone_location['altitude'],
orientation_mode=MoveTo_Orientation_mode.TO_TARGET,
status='DONE',
_policy='wait') >> FlyingStateChanged(state='hovering',
_timeout=5)).wait()
print('Done!')
def newCenterLocation(self, lat, lon):
# print('Flying state:', self.getFlyingState())
if self.getFlyingState() != 'landed':
self.bebop(
moveTo(lat, lon, self.drone_location['altitude'],
MoveTo_Orientation_mode.TO_TARGET, 0.0) >>
FlyingStateChanged(
state='hovering', _timeout=5) >> moveToChanged(
latitude=lat,
longitude=lon,
altitude=self.drone_location['altitude'],
orientation_mode=MoveTo_Orientation_mode.TO_TARGET,
status='DONE',
_policy='wait') >> FlyingStateChanged(state='hovering',
_timeout=5))
def AutomaticGoTo(self,coordinates):
"""Déplacement automatique"""
if isinstance(coordinates, dict):
coordinates = DroneCommandParams(**coordinates)
if not self._manual_unit :
if not self._on_test:
self._drone(
moveTo(coordinates.latitude,coordinates.longitude,self._drone_coordinates.altitude, MoveTo_Orientation_mode.TO_TARGET )
>> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
else :
self.my_log.info("Mode simulation: informations reçues {} ".format(coordinates.to_string()))
time.sleep(1)
self._brain_client.emit('on_command_success', {"name":self.my_name, "command":"AutomaticGoTo"})
else :
self.my_log.info("Mode Manuel : Commande ignorée")
def moveToCoords(self):
self.bebop(FlyingStateChanged(state='hovering', _timeout=5))
print(self.bebop.get_state(moveToChanged))
# -25.766915, 28.251963 - Francois pool
lat = -25.766915
lon = 28.251963
# alt = self.drone_location['altitude']
alt = 4
print('Moving to coords...', end='', flush=True)
self.bebop(
moveTo(lat, lon, alt, MoveTo_Orientation_mode.TO_TARGET, 0.0) >>
FlyingStateChanged(state='hovering', _timeout=5) >> moveToChanged(
latitude=lat,
longitude=lon,
altitude=alt,
orientation_mode=MoveTo_Orientation_mode.TO_TARGET,
status='DONE',
_policy='wait') >> FlyingStateChanged(state='hovering',
_timeout=5))
print('Done!')
def flyTo(self, longitude, latitude, altitude=-1):
drone_location = self.drone.get_state(GpsLocationChanged)
if (altitude == -1):
altitude = drone_location["altitude"]
if (longitude == 0.0 and latitude == 0.0):
longitude = drone_location["longitude"]
latitude = drone_location["latitude"]
if (self.drone.get_state(FlyingStateChanged)['state'] !=
FlyingStateChanged_State.landed):
self.drone(
moveTo(latitude, longitude, altitude,
MoveTo_Orientation_mode.TO_TARGET, 0.0) >>
FlyingStateChanged(
state="hovering", _timeout=self.timeout) >> moveToChanged(
latitude=latitude,
longitude=longitude,
altitude=2,
orientation_mode=MoveTo_Orientation_mode.TO_TARGET,
status='DONE',
_policy='wait') >> FlyingStateChanged(
state="hovering", _timeout=self.timeout)).wait()
return True
else:
return False
| FlyingStateChanged(state="flying", _policy="check")
| (GPSFixStateChanged(fixed=1, _timeout=10, _policy="check_wait") >>
(TakeOff(_no_expect=True)
& FlyingStateChanged(
state="hovering", _timeout=10, _policy="check_wait")))).wait()
# Get the home position
drone_location = drone.get_state(GpsLocationChanged)
# Move 10m
drone(
moveBy(10, 0, 0, math.pi) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
# Go back home
drone(
moveTo(drone_location["latitude"], drone_location["longitude"],
drone_location["altitude"], MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> FlyingStateChanged(state="hovering", _timeout=5) >> moveToChanged(
latitude=drone_location["latitude"],
longitude=drone_location["longitude"],
altitude=drone_location["altitude"],
orientation_mode=MoveTo_Orientation_mode.TO_TARGET,
status='DONE',
_policy='wait') >> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
# Landing
drone(Landing() >> FlyingStateChanged(state="landed", _timeout=5)).wait()
drone.disconnection()
every_event_listener.subscribe()
drone.connect()
casey.connect()
donatello.connect()
every_event_listener.unsubscribe()
# You can also subscribe/unsubscribe automatically using a with statement
with FlightListener(drone) as flight_listener:
for i in range(2):
assert drone(
FlyingStateChanged(state="hovering")
| (TakeOff()
& FlyingStateChanged(state="hovering"))).wait().success()
assert drone(
FlyingStateChanged(state="hovering", _timeout=5) >> moveTo(
21.371518652227294, -157.71239, 15, MoveTo_Orientation_mode
.TO_TARGET, 0.0) >> moveToChanged(status="DONE") >> moveTo(
21.371518652227294, -157.7116182859902, 15,
MoveTo_Orientation_mode.TO_TARGET, 0.0) >>
moveToChanged(status="DONE") >> moveTo(
21.3708, -157.7116182859902, 15, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> moveToChanged(status="DONE") >> moveTo(
21.370081347772704, -157.7116182859902, 15,
MoveTo_Orientation_mode.TO_TARGET, 0.0) >>
moveToChanged(status="DONE") >> moveTo(
21.370081347772704, -157.71239, 15, MoveTo_Orientation_mode
.TO_TARGET, 0.0) >> moveToChanged(status="DONE") >> moveTo(
21.370081347772704, -157.7131617140098, 15,
MoveTo_Orientation_mode.TO_TARGET, 0.0) >>
moveToChanged(status="DONE") >> moveTo(
21.3708, -157.7131617140098, 15, MoveTo_Orientation_mode.
from olympe.messages.ardrone3.PilotingState import FlyingStateChanged, moveToChanged
from olympe.messages.camera import start_recording, stop_recording
from olympe.messages import gimbal
from olympe.enums.ardrone3.Piloting import MoveTo_Orientation_mode
DRONE_IP = "10.202.0.1"
casey = olympe.Drone("10.202.1.1")
drone = olympe.Drone(DRONE_IP)
# if __name__ == "__main__":
# with olympe.Drone(DRONE_IP) as drone:
drone.connect()
casey.connect()
# Start a flying action asynchronously
drone(TakeOff() >> FlyingStateChanged(state="hovering", _timeout=5) >> moveTo(
21.37313, -157.7123, 15, MoveTo_Orientation_mode.NONE,
0.0) >> moveToChanged(status="DONE") >> moveTo(
21.37313, -157.7098, 15, MoveTo_Orientation_mode.NONE, 0.0) >>
moveToChanged(status="DONE") >> Landing())
casey(TakeOff() >> FlyingStateChanged(state="hovering", _timeout=5) >> moveTo(
21.3708, -157.709881, 15, MoveTo_Orientation_mode.NONE,
0.0) >> moveToChanged(status="DONE") >> moveTo(
21.368464, -157.71239, 15, MoveTo_Orientation_mode.NONE, 0.0) >>
moveToChanged(status="DONE") >> Landing()).wait().success()
# t:21.3708,lng:-157.709881 - east
# at:21.368464380261287,lng:-157.71239 - south
# Wait for the end of the flying action
# if not flyingAction.wait().success():
from olympe.enums.ardrone3.Piloting import MoveTo_Orientation_mode
april_ip = "10.202.0.1"
casey_ip = "10.202.1.1"
donatello_ip = "10.202.2.1"
leonardo_ip = "10.202.3.1"
michelangelo_ip = "10.202.4.1"
raphael_ip = "10.202.5.1"
splinter_ip = "10.202.6.1"
april = olympe.Drone(april_ip)
casey = olympe.Drone(casey_ip)
donatello = olympe.Drone(donatello_ip)
leonardo = olympe.Drone(leonardo_ip)
michelangelo = olympe.Drone(michelangelo_ip)
raphael = olympe.Drone(raphael_ip)
splinter = olympe.Drone(splinter_ip)
# Take-off
# drone(TakeOff()).wait()
april(TakeOff() >> casey(TakeOff()) >> donatello(TakeOff())).wait().success()
for coords in route:
april(
moveTo(coords[0], coords[1], 1, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> casey(
moveTo(coords[0], coords[1], 1, MoveTo_Orientation_mode.TO_TARGET,
0.0)) >> donatello(
moveTo(coords[0], coords[1], 1, MoveTo_Orientation_mode.
TO_TARGET, 0.0))).wait().success()
def moveto(drone, longt, lati, alti):
drone(moveTo(longt,lati,alti,0,0)
>> FlyingStateChanged(state="hovering", _timeout=5)).wait()
getgpsposition(drone)
print("*******************************************************************************************************")
print("TAKING OFF")
print("*******************************************************************************************************")
drone(
TakeOff()
>> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
#Go to HOME
os.system('cls' if os.name == 'nt' else 'clear')
clear_output(wait=True)
print("*******************************************************************************************************")
print("GOING TO HOME")
print("*******************************************************************************************************")
drone(
moveTo(latitude=homeLatitude,longitude=homeLongitude,altitude=homeAltitude, orientation_mode=0, heading=0)
>> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
#Go to picture point
os.system('cls' if os.name == 'nt' else 'clear')
clear_output(wait=True)
print("*******************************************************************************************************")
print("GOING TO PICTURE POINT")
print("*******************************************************************************************************")
drone(
moveTo(latitude=pictureLatitude,longitude=pictureLongitude,altitude=pictureAltitude, orientation_mode=0, heading=0)
>> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
#Rotate camera down
print("*******************************************************************************************************")
print("AIMING CAMERA")
def move(coords):
april(
moveTo(coords[0], coords[1], 1, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
updateSwarm()
michelangelo.connect()
raphael.connect()
splinter.connect()
every_event_listener.unsubscribe()
# You can also subscribe/unsubscribe automatically using a with statement
with FlightListener(drone) as flight_listener:
for i in range(2):
assert drone(
FlyingStateChanged(state="hovering")
| (TakeOff()
& FlyingStateChanged(state="hovering"))).wait().success()
assert drone(
FlyingStateChanged(state="hovering", _timeout=5) >> moveTo(
21.36945383, -157.7133445, 15, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> moveToChanged(status="DONE") >> moveTo(
21.37028804, -157.7134336, 15, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> moveToChanged(status="DONE") >>
moveTo(21.37040696, -157.7134463, 15, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> moveToChanged(status="DONE") >>
moveTo(21.37055568, -157.7134622, 15, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> moveToChanged(status="DONE") >>
moveTo(21.37079381, -157.7134876, 15, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> moveToChanged(status="DONE") >>
moveTo(21.37096092, -157.7135054, 15, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> moveToChanged(status="DONE") >>
moveTo(21.37136676, -157.7135488, 15, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> moveToChanged(status="DONE") >>
moveTo(21.37236059, -157.7128414, 15, MoveTo_Orientation_mode.
TO_TARGET, 0.0) >> moveToChanged(status="DONE") >>
& FlyingStateChanged(
state="hovering", _timeout=10, _policy="check_wait")))).wait()
donatello(
FlyingStateChanged(state="hovering", _policy="check")
| FlyingStateChanged(state="flying", _policy="check")
| (GPSFixStateChanged(fixed=1, _timeout=10, _policy="check_wait") >>
(TakeOff(_no_expect=True)
& FlyingStateChanged(
state="hovering", _timeout=10, _policy="check_wait")))).wait()
drone_location = drone.get_state(GpsLocationChanged)
coords = [21.377386152841197, -157.712818]
# Go back home
drone(
moveBy(0, -1000, 0, math.pi) >> casey(
moveTo(coords[0], coords[1], 50, MoveTo_Orientation_mode.TO_TARGET,
0.0)) >> donatello(
moveTo(coords[0], coords[1], 10,
MoveTo_Orientation_mode.TO_TARGET, 0.0)) >>
FlyingStateChanged(state="hovering", _timeout=5) >> moveToChanged(
latitude=drone_location["latitude"],
longitude=drone_location["longitude"],
altitude=drone_location["altitude"],
orientation_mode=MoveTo_Orientation_mode.TO_TARGET,
status='DONE',
_policy='wait') >> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
# Go back home
drone(
moveTo(drone_location["latitude"], drone_location["longitude"],
drone_location["altitude"], MoveTo_Orientation_mode.TO_TARGET, 0.0)
def onPositionChanged(self, event, scheduler):
global poiIndex
poiIndex += 1
# lat = event.args["latitude"]
# lon = event.args["longitude"]
# c_poi = (lat, lon)
# poi = (21.371518, -157.71161)
print('\n ------->')
print('\n ------->')
print('\n ------->')
#print(poiIndex)
print('\n ------->')
print('\n ------->')
print('\n ------->')
# two_lat = event.args["latitude"]
# two_lon = event.args["longitude"]
# if meters < 8:
# casey(moveToChanged(status="CANCELED")
# >> moveTo(21.370950, -157.709998, 10, MoveTo_Orientation_mode.TO_TARGET, 0.0)
# >> moveToChanged(status="DONE")
# )
# donatello(moveToChanged(status="CANCELED")
# >> moveTo(21.370950, -157.709998, 20, MoveTo_Orientation_mode.TO_TARGET, 0.0)
# >> moveToChanged(status="DONE")
# )
# leonardo(moveToChanged(status="CANCELED")
# >> moveTo(21.370950, -157.709998, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
# >> moveToChanged(status="DONE")
# )
# two_lat = 21.370950
# two_lon = -157.709998
# casey_coords = findOffset(two_lat,two_lon,-5,0)
# donatello_coords = findOffset(two_lat,two_lon,5,0)
# leonardo_coords = findOffset(two_lat,two_lon,0,5)
# michelangelo_coords = findOffset(event.args["latitude"],event.args["longitude"],0,-10)
# raphael_coords = findOffset(event.args["latitude"],event.args["longitude"],10,10)
# splinter_coords = findOffset(event.args["latitude"],event.args["longitude"],-10,-10)
donatello(
moveTo(float(d2[poiIndex]["lat"]), float(d2[poiIndex]["lng"]), 15,
MoveTo_Orientation_mode.TO_TARGET, 0.0))
leonardo(
moveTo(float(d3[poiIndex]["lat"]), float(d3[poiIndex]["lng"]), 15,
MoveTo_Orientation_mode.TO_TARGET, 0.0))
michelangelo(
moveTo(float(d4[poiIndex]["lat"]), float(d4[poiIndex]["lng"]), 15,
MoveTo_Orientation_mode.TO_TARGET, 0.0))
raphael(
moveTo(float(d5[poiIndex]["lat"]), float(d5[poiIndex]["lng"]), 15,
MoveTo_Orientation_mode.TO_TARGET, 0.0))
splinter(
moveTo(float(d6[poiIndex]["lat"]), float(d6[poiIndex]["lng"]), 15,
MoveTo_Orientation_mode.TO_TARGET, 0.0))
casey(
moveTo(float(d7[poiIndex]["lat"]), float(d7[poiIndex]["lng"]), 15,
MoveTo_Orientation_mode.TO_TARGET, 0.0))
# casey(moveTo(casey_coords[0], casey_coords[1], 10, MoveTo_Orientation_mode.TO_TARGET, 0.0))
# donatello(moveTo(donatello_coords[0], donatello_coords[1], 15, MoveTo_Orientation_mode.TO_TARGET, 0.0))
# leonardo(moveTo(leonardo_coords[0], leonardo_coords[1], 20, MoveTo_Orientation_mode.TO_TARGET, 0.0))
# michelangelo(moveTo(michelangelo_coords[0], michelangelo_coords[1], 25, MoveTo_Orientation_mode.TO_TARGET, 0.0))
# raphael(moveTo(raphael_coords[0], raphael_coords[1], 30, MoveTo_Orientation_mode.TO_TARGET, 0.0))
# splinter(moveTo(splinter_coords[0], splinter_coords[1], 35, MoveTo_Orientation_mode.TO_TARGET, 0.0))
print(
"latitude = {latitude} longitude = {longitude} altitude = {altitude}"
.format(**event.args))
print("Drone moving "+str(FW*math.cos(DIRECTION*math.pi/180))+" m forward and "+str(FW*math.sin(DIRECTION*math.pi/180))+" up.")
drone(
moveBy(FW*math.cos(DIRECTION*math.pi/180), 0, -FW*math.sin(DIRECTION*math.pi/180), 0)
>> FlyingStateChanged(state="hovering", _timeout=5)
).wait()
saver = threading.Thread(target=save_packets, args=(seconds, paths_CR1[STEP], CR1, paths_CR2[STEP], CR2))
saver.start()
saver.join()
print("\n\n\n ---- Experience finished, Back to home ---- \n\n\n")
drone(
moveTo(drone_home['latitude'], drone_home['longitude'], drone_home['altitude'], MoveTo_Orientation_mode.NONE, 0.0)
>> moveToChanged(status='DONE')
).wait()
print("\n\n\n ---- Landing... ---- \n\n\n")
drone(
Landing()
).wait()
print("\n\n\n ---- Drone landed ---- \n\n\n")
#Leaving the with statement and disconnecting the drone.
print("Ending thread:", threading.current_thread().name)
casey.connect()
donatello.connect()
leonardo.connect()
michelangelo.connect()
every_event_listener.unsubscribe()
# You can also subscribe/unsubscribe automatically using a with statement
with FlightListener(drone) as flight_listener:
for i in range(2):
assert drone(
FlyingStateChanged(state="hovering")
| (TakeOff() & FlyingStateChanged(state="hovering"))
).wait().success()
assert drone(
FlyingStateChanged(state="hovering", _timeout=5)
>> moveTo(21.371518652227294, -157.71239, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.371518652227294, -157.7116182859902, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.3708, -157.7116182859902, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.370081347772704, -157.7116182859902, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.370081347772704, -157.71239, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.370081347772704, -157.7131617140098, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.3708, -157.7131617140098, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.371518652227294, -157.7131617140098, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
def moveCasey(coords):
casey(
moveTo(coords[0], coords[1], 0.8, MoveTo_Orientation_mode.TO_TARGET,
0.0) >> PCMD(1, 0, 0, 0, 0, 0) >> FlyingStateChanged(
state="hovering", _timeout=5)).wait().success()
michelangelo.connect()
raphael.connect()
splinter.connect()
every_event_listener.unsubscribe()
# You can also subscribe/unsubscribe automatically using a with statement
with FlightListener(drone) as flight_listener:
for i in range(2):
assert drone(
FlyingStateChanged(state="hovering")
| (TakeOff() & FlyingStateChanged(state="hovering"))
).wait().success()
assert drone(
FlyingStateChanged(state="hovering", _timeout=5)
>> moveTo(21.36882162,-157.713277, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.36945383,-157.7133445, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.37028804,-157.7134336, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.37040696,-157.7134463, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.37055568,-157.7134622, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.37079381,-157.7134876, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.37096092,-157.7135054, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
>> moveTo(21.37136676,-157.7135488, 15, MoveTo_Orientation_mode.TO_TARGET, 0.0)
>> moveToChanged(status="DONE")
