def main():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument('--baseurl', default=USB_URL)
parser.add_argument('--takeoff', action='store_true')
parser.add_argument('--land', action='store_true')
args = parser.parse_args()
# Ask for a 360x240 jpeg stream at 7.5fps
stream_settings = {'source': 'NATIVE', 'port': 55004}
# Acquire pilot access
client = HTTPClient(baseurl=args.baseurl,
pilot=True,
stream_settings=stream_settings)
if args.takeoff:
print('taking off')
client.takeoff()
if args.land:
print('landing')
client.land()
print('looping now')
while True:
print('status ping')
client.update_pilot_status()
time.sleep(2)
print('done')
def main():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument('--baseurl', default=USB_URL)
parser.add_argument('--takeoff', action='store_true')
parser.add_argument('--land', action='store_true')
parser.add_argument('--repeat', action='store_true')
parser.add_argument('--remote-host', type=str, default=REMOTE_HOST)
args = parser.parse_args()
# Ask for a 360x240 jpeg stream at 7.5fps
stream_settings = {'source': 'NATIVE', 'port': REMOTE_PORT}
# Acquire pilot access
while True:
try:
client = HTTPClient(baseurl=args.baseurl,
pilot=True,
stream_settings=stream_settings)
break
except:
print('failed to connect')
if args.repeat:
time.sleep(1)
else:
return
# proxy RTP packets to a remote host
subprocess.Popen([
'python', 'gstreamer_proxy.py', '--remote-host', args.remote_host,
'--remote-port',
str(REMOTE_PORT)
])
if args.takeoff:
print('taking off')
client.takeoff()
if args.land:
print('landing')
client.land()
print('looping now')
while True:
print('status ping')
client.update_pilot_status()
time.sleep(2)
print('done')
def main():
parser = argparse.ArgumentParser(
description="Control R1 from a computer with a connected gamepad.")
parser.add_argument('--baseurl',
metavar='URL',
default='http://192.168.10.1',
help='the url of the vehicle')
parser.add_argument(
'--skill-key',
required=True,
type=str,
help='name of the RemoteControl skill to run on the vehicle. '
'e.g. my_skillset.remote_control.RemoteControl')
# NOTE: you'll need a token file in order to connect to a simulator.
# Tokens are NOT required for real R1s.
parser.add_argument('--token-file',
help='path to the auth token for your simulator')
parser.add_argument('--takeoff',
action='store_true',
help='send a takeoff command (must be pilot)')
parser.add_argument('--land',
action='store_true',
help='send a land command (must be pilot)')
parser.add_argument(
'--update-skillsets-email',
type=str,
help='The email of the user to get skillsets for and send them to the '
'vehicle (must be pilot)')
parser.add_argument('--skydio-api-url',
type=str,
help='Override the skydio api url')
parser.add_argument(
'--stream',
choices=['h264', 'jpeg'],
default='jpeg',
help='The video stream type that the vehicle should produce')
args = parser.parse_args()
if 'sim' in args.baseurl:
# Due to Network Address Translation, RTP tends not to work on the open internet.
# The sim will send packets, but your firewall will reject them.
# You may be able to add port-forwarding to your firewall to fix this.
raise RuntimeError(
'RTP streaming is not supported in the simulator yet.')
if args.stream == 'h264':
# H264 is the 720P 15fps h264 encoded stream directly from the camera.
stream_settings = {'source': 'h264', 'port': 55004}
# TODO: this stream seems like have client-induced lag
# Perhaps due to incorrect timestamps.
stream_file = 'h264_stream.sdp'
elif args.stream == 'jpeg':
# NATIVE is the raw images, though we convert to 240p jpeg by default before sending.
stream_settings = {'source': 'NATIVE', 'port': 55004}
stream_file = 'jpeg_stream.sdp'
else:
raise ValueError('Unknown stream format {}'.format(args.stream))
# Create the client to use for all requests.
client = HTTPClient(args.baseurl,
pilot=True,
token_file=args.token_file,
stream_settings=stream_settings)
if not client.check_min_api_version():
print('Your vehicle is running an older api version.'
' Update recommended in order to enable streaming.')
if args.land:
client.land()
# Dont do anything else after landing.
return
if args.update_skillsets_email:
client.update_skillsets(args.update_skillsets_email,
api_url=args.skydio_api_url)
# Periodically poll the status endpoint to keep ourselves the active pilot.
def update_loop():
while True:
client.update_pilot_status()
time.sleep(2)
status_thread = threading.Thread(target=update_loop)
status_thread.setDaemon(True)
status_thread.start()
# Create a low-latency udp link for quickly sending messages to the vehicle.
remote_address = client.get_udp_link_address()
link = UDPLink(client.client_id,
local_port=50112,
remote_address=remote_address)
# Connect the UDPLink to the vehicle before trying to takeoff.
link.connect()
if args.takeoff:
# Ensure that the vehicle has taken off before continuing.
client.takeoff()
if Gamepad.available():
controller = Gamepad()
else:
print(
'USB gamepad not available, falling back to using keyboard input instead.'
)
controller = None
# Switch into the RemoteControl skill so that our commands are followed.
# If the skill isn't on the vehicle, the commands will be ignored.
client.set_skill(args.skill_key)
# Create an opencv video input source from the RTP stream description file.
cap = cv2.VideoCapture(stream_file)
while True:
# Get a frame and show it.
_, frame = cap.read()
cv2.imshow('skydio', frame)
key = cv2.waitKey(66)
# Quit the program if you press Q
if key & 0xff == QUIT:
break
# Get the current values for the command axes, either from the gamepad or the keyboard.
# Axis values range from -1 to 1
if controller:
cmd_axes = controller.get_command()
else:
cmd_axes = key_to_command(key)
# Scale each axis into the correct units.
scales = [
10, # x-velocity [m/s]
10, # y-velocity [m/s]
10, # z-velocity [m/s]
1, # yaw-rate [rad/s]
1, # pitch-rate [rad/s]
]
request = {}
request['move'] = [
scale * axis for scale, axis in zip(scales, cmd_axes)
]
# Continously send movement commands to the Gamepad skill.
link.send_json(args.skill_key, request)