def Record_Transmit(Dr_Obj):
Mr_IP = '192.168.8.240' # Master IP
drone(stop_recording(cam_id=0))
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
drone(start_recording(cam_id=0))
print(colored( ("Recording Started"), "blue"))
time.sleep(2)
drone(stop_recording(cam_id=0))
photo_saved.wait()
print(colored( ("Recording Completed"), "blue"))
print(colored( ("Starting transfer to Drone Computer"), "green"))
media_id = photo_saved.received_events().last().args["media_id"]
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(colored( ("File transfer to Drone Computer in progress"), "green"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(colored( ("File transfer to Drone computer completed !!"), "green"))
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect(hostname= Mr_IP, username = '******',password ='******',port= 22)
sftp_client = ssh.open_sftp()
#rem_path = '/home/spacetrex/Results/'+ media_id+'.MP4'
rem_path = '/home/spacetrex/Results/ANAFI_2.MP4'
loc_path = download_path
print(colored( ("Starting transfer to Master Computer"), "cyan"))
sftp_client.put(loc_path, rem_path)
sftp_client.close()
ssh.close()
print(colored( ("File transfer to Master computer completed !!"), "cyan"))
def record_and_fetch(Dr_Obj, X_Tar, ran_V, rec_Vid):
Pose_Topic = "/vicon/anafi_2/odom"
pose_subscriber = rospy.Subscriber(Pose_Topic, Odometry, poseCallback)
global x, y, z, vx, vy, vz, wx, wy, wz, roll, pitch, yaw
rec_Vid = 0
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
X_St = [x, y, z, vx, vy, vz, roll, pitch, yaw]
DT = np.array(X_Tar) - np.array(X_St[0:3])
r_tar = vec_mag(DT)
if r_tar <= 1.001 * ran_V and rec_Vid == 0:
print(colored(("Recording Started"), "blue"))
drone(start_recording(cam_id=0))
elif r_tar <= 1.001 * ran_V and rec_Vid == 1:
print(colored(("Recording In Progress"), "blue"))
elif r_tar > .001 * ran_V and rec_Vid == 2:
print(colored(("Recording Completed"), "blue"))
drone(stop_recording(cam_id=0))
photo_saved = drone(
recording_progress(result="stopped", _policy="wait"))
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
print(media_id)
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"],
stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(colored(("File Transfer in progress"), "blue"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(colored(("File Transfer Completed !!!!!!!!!!"), "green"))
rec_Vid = 2
def Record_Transmit(Dr_Obj):
Mr_IP = '192.168.8.240' # Master IP
drone(stop_recording(cam_id=0))
Setup_Video_mode(drone)
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
drone(start_recording(cam_id=0))
print(colored(("Recording Started"), "blue"))
time.sleep(2)
drone(stop_recording(cam_id=0))
photo_saved.wait()
print(colored(("Recording Completed"), "blue"))
print(colored(("Starting transfer to Drone Computer"), "green"))
media_id = photo_saved.received_events().last().args["media_id"]
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(colored(("File transfer to Drone Computer in progress"),
"green"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(
colored(("File transfer to Drone computer completed !!"), "green"))
def take_Map_Video_Move(drone, th_mov, th_R0, dxm):
# take a photo burst and get the associated media_id
xc, yc, zc = R3_Mat_Cords(th_R0, dxm)
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
# drone(
# MaxRotationSpeed(1)
# >> MaxRotationSpeedChanged(current=1, _policy='wait')
# ).wait()
#drone(setAutonomousFlightMaxRotationSpeed(1e-7)).wait()
drone(start_recording(cam_id=0) & moveBy(xc, yc, zc, th_mov)).wait()
drone(stop_recording(cam_id=0)).wait()
print('Action Completed')
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
print(media_id)
# download the photos associated with this media id
os.chdir("/home/rnallapu/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print('Hello')
print(download_path)
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
#shutil.copy2(download_path, "/home/rnallapu/code/Photos/")
shutil.copy2(download_path, Res_dir)
def Drone_Map_Opn2(Dr_Obj, X_Ref, X_Tar, ran_V, Tp, vyT, X_End):
Mr_IP = '192.168.8.240' # Master IP
drone(stop_recording(cam_id=0))
thr_vec = Dr_Obj.thr_vec
X_tol = Dr_Obj.X_tol
yw_tol = Dr_Obj.yw_tol
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
Drone_Move_Orient(Dr_Obj, X_Ref)
print(colored(("Moved home, executing map command!"), "green"))
time.sleep(0.5)
X_Ref2 = X_Ref
y0 = X_Ref[1]
global x, y, z, vx, vy, vz, wx, wy, wz, roll, pitch, yaw
Pose_Topic = "/vicon/anafi_5/odom"
lr = 20
print(colored(("Loop Rate: ", lr, " Hz"), "magenta"))
print(colored(("Travel Time: ", Tp, " s"), "magenta"))
print(colored(("Velocity: ", vyT, " m/s"), "magenta"))
looprate = rospy.Rate(lr)
dt = 1.0 / lr
X_tol = 0.1
gn_mat = [5.5, 18, 4.3, 2, 12, 1.3] # Controller Gains
rec_Vid = 0
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
for t in np.arange(0, Tp + dt, dt):
pose_subscriber = rospy.Subscriber(Pose_Topic, Odometry, poseCallback)
X_St = [x, y, z, vx, vy, vz, roll, pitch, yaw]
X_Ref[1] = y0 + vyT * t
X_Ref[4] = vyT
X_Ref[8] = wrapTo2Pi(atan2(-y, -x))
DT = np.array(X_Tar) - np.array(X_St[0:3])
r_tar = vec_mag(DT)
th0 = asin(DT[2] / r_tar) * 180 / pi
gimbal_target(drone, th0)
drone_center(drone, X_St, X_Ref, gn_mat, thr_vec, X_tol, yw_tol)
print(colored(("Distance to target: ", r_tar), "red"))
print(colored(("Record Status: ", rec_Vid), "red"))
print(colored(("Distance threshhold: ", 1.01 * ran_V), "blue"))
# print(colored(("Gimbal angle computed: ", th0),"blue"))
if r_tar <= 1.01 * ran_V and rec_Vid == 0:
rec_Vid = 1
drone(start_recording(cam_id=0))
print(colored(("Recording Started"), "blue"))
elif r_tar > 1.01 * ran_V and rec_Vid == 1:
rec_Vid = 2
print(colored(("Recording Completed"), "blue"))
drone(stop_recording(cam_id=0))
photo_saved.wait()
looprate.sleep()
print(colored(("Current Time: ", t, "sec"), "cyan"))
print(colored(("Targetted End Y: ", X_Ref[1], "m/s"), "cyan"))
print(colored(("Achieved End Y: ", X_St[1], "m/s"), "cyan"))
drone_center(drone, X_St, X_End, gn_mat, thr_vec, X_tol, yw_tol)
drone(Landing()).wait()
if rec_Vid == 2:
print(colored(("Starting transfer to drone computer!"), "green"))
media_id = photo_saved.received_events().last().args["media_id"]
print(colored((media_id), "green"))
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"],
stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(
colored(("File transfer to drone computer in progress"),
"green"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(colored(("File transfer to drone computer !!"), "green"))
ssh = paramiko.SSHClient()
ssh.set_missing_host_key_policy(paramiko.AutoAddPolicy())
ssh.connect(hostname=Mr_IP,
username='******',
password='******',
port=22)
sftp_client = ssh.open_sftp()
loc_path = download_path
rem_path = '/home/spacetrex/Results/ANAFI_5.MP4'
print(colored(("Starting transfer to Master Computer"), "cyan"))
sftp_client.put(loc_path, rem_path)
sftp_client.close()
ssh.close()
print(
colored(("File transfer to Master computer completed !!"), "cyan"))
else:
print(colored(("No Recording obtained!!"), "red"))
print(
colored(("Mapping done!! Holding drone at Final Desitination!"),
"green"))
def Drone_Map_Opn2(Dr_Obj, X_Ref, X_Tar, ran_V):
drone(stop_recording(cam_id=0))
thr_vec = Dr_Obj.thr_vec
X_tol = Dr_Obj.X_tol
yw_tol = Dr_Obj.yw_tol
ANAFI_MEDIA_API_URL = Dr_Obj.ANAFI_MEDIA_API_URL
ANAFI_URL = Dr_Obj.ANAFI_URL
Drone_Move_Orient(Dr_Obj, X_Ref)
print(colored(("Moved home, executing map command!"), "green"))
time.sleep(0.5)
X_Ref2 = X_Ref
y0 = X_Ref[1]
global x, y, z, vx, vy, vz, wx, wy, wz, roll, pitch, yaw
# Pose_Topic = "/vicon/anafi_2/odom"
vyT = -0.15
Tp = 30
lr = 35
looprate = rospy.Rate(lr)
dt = 1.0 / lr
X_tol = 0.1
gn_mat = [5, 15, 4, 4, 12, 1.8] # Controller Gains
rec_Vid = 0
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
for t in np.arange(0, Tp + dt, dt):
pose_subscriber = rospy.Subscriber(Pose_Topic, Odometry, poseCallback)
X_St = [x, y, z, vx, vy, vz, roll, pitch, yaw]
X_Ref[1] = y0 + vyT * t
X_Ref[4] = vyT
X_Ref[8] = wrapTo2Pi(atan2(-y, -x))
Yaw_Ref_D = X_Ref[8] * 180 / pi
DT = np.array(X_Tar) - np.array(X_St[0:3])
r_tar = vec_mag(DT)
Er = np.array(X_Ref[0:3]) - np.array(X_St[0:3])
er = vec_mag(Er)
th0 = asin(DT[2] / r_tar) * 180 / pi
Yaw_D = yaw * 180 / pi
yw_er = abs(Yaw_Ref_D - Yaw_D)
gimbal_target(drone, th0)
drone_center(drone, X_St, X_Ref, gn_mat, thr_vec, X_tol, yw_tol)
print(" ")
print(colored(("Reference tracking error: ", er), "yellow"))
print(colored(("Yaw tracking Error: ", yw_er), "yellow"))
print(colored(("Z desired: ", X_Ref[2]), "green"))
print(colored(("Z achieved: ", z), "green"))
print(colored(("Distance to target: ", r_tar), "red"))
print(colored(("Record Status: ", rec_Vid), "red"))
print(colored(("Distance threshhold: ", 1.01 * ran_V), "blue"))
print(colored(("Gimbal angle computed: ", th0), "blue"))
if r_tar <= 1.01 * ran_V and rec_Vid == 0:
rec_Vid = 1
drone(start_recording(cam_id=0))
print(colored(("Recording Started"), "blue"))
elif r_tar > 1.01 * ran_V and rec_Vid == 1:
rec_Vid = 2
print(colored(("Recording Completed"), "blue"))
drone(stop_recording(cam_id=0))
photo_saved.wait()
looprate.sleep()
time.sleep(0.5)
# X_Ref2[1] = -2.0
# Drone_Move_Orient(Dr_Obj, X_Ref2)
drone(Landing()).wait()
print(colored(("Starting Transfer"), "green"))
# photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
# photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
print(colored((media_id), "green"))
os.chdir("/home/spacetrex/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(colored(("File Transfer in progress"), "blue"))
image_response.raise_for_status()
with open(download_path, "wb") as image_file:
shutil.copyfileobj(image_response.raw, image_file)
shutil.copy2(download_path, Res_dir)
print(colored(("File Transfer Completed !!!!!!!!!!"), "green"))
print(
colored(("Mapping done !! Holding drone at Final Desitination!"),
"green"))
X_St = [x, y, z, vx, vy, vz, roll, pitch, yaw]
DT = np.array(X_Tar) - np.array(X_St[0:3])
r_tar = vec_mag(DT)
if r_tar<=1.001*ran_V and rec_Vid==0:
print(colored( ("Recording Started"), "blue"))
drone(start_recording(cam_id=0))
elif r_tar<=1.001*ran_V and rec_Vid==1:
print(colored( ("Recording In Progress"), "blue"))
elif r_tar>.001*ran_V and rec_Vid==2:
print(colored( ("Recording Completed"), "blue"))
drone(stop_recording(cam_id=0))
photo_saved = drone(recording_progress(result="stopped", _policy="wait"))
photo_saved.wait()
media_id = photo_saved.received_events().last().args["media_id"]
print(media_id)
os.chdir("/home/rnallapu/code/Results")
media_info_response = requests.get(ANAFI_MEDIA_API_URL + media_id)
media_info_response.raise_for_status()
download_dir = tempfile.mkdtemp()
Res_dir = filecreation()
#tempfile.gettempdir()
for resource in media_info_response.json()["resources"]:
image_response = requests.get(ANAFI_URL + resource["url"], stream=True)
download_path = os.path.join(download_dir, resource["resource_id"])
print(colored( ("File Transfer in progress"), "blue"))
