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bebop.py
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bebop.py
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#!/usr/bin/python
"""
Basic class for communication to Parrot Bebop
usage:
./bebop.py <task> [<metalog> [<F>]]
"""
import sys
import socket
import datetime
import struct
from navdata import *
from commands import *
# this will be in new separate repository as common library fo robotika Python-powered robots
from apyros.metalog import MetaLog, disableAsserts
from apyros.manual import myKbhit, ManualControlException
# hits from https://github.com/ARDroneSDK3/ARSDKBuildUtils/issues/5
HOST = "192.168.42.1"
DISCOVERY_PORT = 44444
NAVDATA_PORT = 43210 # d2c_port
COMMAND_PORT = 54321 # c2d_port
class Bebop:
def __init__( self, metalog=None ):
if metalog is None:
self._discovery()
metalog = MetaLog()
self.navdata = metalog.createLoggedSocket( "navdata", headerFormat="<BBBI" )
self.navdata.bind( ('',NAVDATA_PORT) )
self.command = metalog.createLoggedSocket( "cmd", headerFormat="<BBBI" )
self.console = metalog.createLoggedInput( "console", myKbhit ).get
self.metalog = metalog
self.buf = ""
self.videoCbk = None
self.battery = None
self.flyingState = None
self.flatTrimCompleted = False
self.manualControl = False
self.time = None
self.altitude = None
self.config()
def _discovery( self ):
"start communication with the robot"
filename = "tmp.bin" # TODO combination outDir + date/time
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # TCP
s.connect( (HOST, DISCOVERY_PORT) )
s.send( '{"controller_type":"computer", "controller_name":"katarina", "d2c_port":"43210"}' )
f = open( filename, "wb" )
while True:
data = s.recv(10240)
if len(data) > 0:
print len(data)
f.write(data)
f.flush()
break
f.close()
s.close()
def _update( self, cmd ):
"internal send command and return navdata"
if not self.manualControl:
self.manualControl = self.console()
if self.manualControl:
# raise exception only once
raise ManualControlException()
while len(self.buf) == 0:
data = self.navdata.recv(4094)
self.buf += data
if cmd is not None:
self.command.sendto( cmd, (HOST, COMMAND_PORT) )
self.command.separator( "\xFF" )
data, self.buf = cutPacket( self.buf )
return data
def _parseData( self, data ):
try:
parseData( data, robot=self, verbose=False )
except AssertionError, e:
print "AssertionError", e
def update( self, cmd ):
"send command and return navdata"
if cmd is None:
data = self._update( None )
else:
data = self._update( packData(cmd) )
while True:
if ackRequired(data):
self._parseData( data )
data = self._update( createAckPacket(data) )
elif pongRequired(data):
self._parseData( data ) # update self.time
data = self._update( createPongPacket(data) )
elif videoAckRequired(data):
if self.videoCbk:
self.videoCbk( data )
data = self._update( createVideoAckPacket(data) )
else:
break
self._parseData( data )
return data
def config( self ):
# initial cfg
self.update( videoAutorecordingCmd( enabled=True ) )
def takeoff( self ):
print "Taking off ...",
self.update( cmd=takeoffCmd() )
prevState = None
for i in xrange(100):
print i,
self.update( cmd=None )
if self.flyingState != 1 and prevState == 1:
break
prevState = self.flyingState
print "FLYING"
def land( self ):
print "Landing ...",
self.update( cmd=landCmd() )
for i in xrange(100):
print i,
self.update( cmd=None )
if self.flyingState == 0: # landed
break
print "LANDED"
self.update( videoRecording( on=False ) ) # autorecording does not stop it (???)
for i in xrange(30):
print i,
self.update( cmd=None )
print
def emergency( self ):
self.update( cmd=emergencyCmd() )
def trim( self ):
print "Trim:",
self.flatTrimCompleted = False
for i in xrange(10):
print i,
self.update( cmd=None )
print
self.update( cmd=trimCmd() )
for i in xrange(10):
print i,
self.update( cmd=None )
if self.flatTrimCompleted:
break
def takePicture( self ):
self.update( cmd=takePictureCmd() )
def videoEnable( self ):
"enable video stream?"
# ARCOMMANDS_ID_PROJECT_ARDRONE3 = 1,
# ARCOMMANDS_ID_ARDRONE3_CLASS_MEDIASTREAMING = 21,
# ARCOMMANDS_ID_ARDRONE3_MEDIASTREAMING_CMD_VIDEOENABLE = 0,
self.update( cmd=struct.pack("BBHB", 1, 21, 0, 1) )
def moveCamera( self, tilt, pan ):
"Tilt/Pan camera consign for the drone (in degrees)"
# ARCOMMANDS_ID_PROJECT_ARDRONE3 = 1,
# ARCOMMANDS_ID_ARDRONE3_CLASS_CAMERA = 1,
# ARCOMMANDS_ID_ARDRONE3_CAMERA_CMD_ORIENTATION = 0,
self.update( cmd=struct.pack("BBHbb", 1, 1, 0, tilt, pan) )
def resetHome( self ):
# ARCOMMANDS_ID_PROJECT_ARDRONE3 = 1
# ARCOMMANDS_ID_ARDRONE3_CLASS_GPSSETTINGS = 23
# ARCOMMANDS_ID_ARDRONE3_GPSSETTINGS_CMD_RESETHOME = 1
self.update( cmd=struct.pack("BBH", 1, 23, 1) )
def wait( self, duration ):
print "Wait", duration
assert self.time is not None
startTime = self.time
while self.time-startTime < duration:
self.update()
def flyToAltitude( self, altitude, timeout=3.0 ):
print "Fly to altitude", altitude, "from", self.altitude
speed = 20 # 20%
assert self.time is not None
assert self.altitude is not None
startTime = self.time
if self.altitude > altitude:
while self.altitude > altitude and self.time-startTime < timeout:
self.update( movePCMDCmd( True, 0, 0, 0, -speed ) )
else:
while self.altitude < altitude and self.time-startTime < timeout:
self.update( movePCMDCmd( True, 0, 0, 0, speed ) )
self.update( movePCMDCmd( True, 0, 0, 0, 0 ) )
###############################################################################################
def testCamera( robot ):
for i in xrange(10):
print -i,
robot.update( cmd=None )
robot.resetHome()
robot.videoEnable()
for i in xrange(100):
print i,
robot.update( cmd=None )
robot.moveCamera( tilt=i, pan=i ) # up & right
def testEmergency( robot ):
"test of reported state change"
robot.takeoff()
robot.emergency()
for i in xrange(10):
print i,
robot.update( cmd=None )
def testTakeoff( robot ):
robot.videoEnable()
robot.takeoff()
for i in xrange(100):
print i,
robot.update( cmd=None )
robot.land()
for i in xrange(100):
print i,
robot.update( cmd=None )
print
def testManualControlException( robot ):
robot.videoEnable()
try:
robot.trim()
robot.takeoff()
robot.land()
except ManualControlException, e:
print
print "ManualControlException"
if robot.flyingState is None or robot.flyingState == 1: # taking off
# unfortunately it is not possible to land during takeoff for ARDrone3 :(
robot.emergency()
robot.land()
def testFlying( robot ):
robot.videoEnable()
try:
robot.trim()
robot.takeoff()
robot.flyToAltitude( 2.0 )
robot.wait( 2.0 )
robot.flyToAltitude( 1.0 )
robot.land()
except ManualControlException, e:
print
print "ManualControlException"
if robot.flyingState is None or robot.flyingState == 1: # taking off
# unfortunately it is not possible to land during takeoff for ARDrone3 :(
robot.emergency()
robot.land()
def testTakePicture( robot ):
print "TEST take picture"
robot.videoEnable()
for i in xrange(10):
print i,
robot.update( cmd=None )
robot.takePicture()
for i in xrange(10):
print i,
robot.update( cmd=None )
def videoCallback( data ):
print "Video", len(data)
def testVideoProcessing( robot ):
print "TEST video"
robot.videoCbk = videoCallback
robot.videoEnable()
for i in xrange(10):
print i,
robot.update( cmd=None )
if __name__ == "__main__":
if len(sys.argv) < 2:
print __doc__
sys.exit(2)
metalog=None
if len(sys.argv) > 2:
metalog = MetaLog( filename=sys.argv[2] )
if len(sys.argv) > 3 and sys.argv[3] == 'F':
disableAsserts()
robot = Bebop( metalog=metalog )
# testCamera( robot )
# testEmergency( robot )
# testTakeoff( robot )
# testManualControlException( robot )
# testTakePicture( robot )
testFlying( robot )
# testVideoProcessing( robot )
print "Battery:", robot.battery
# vim: expandtab sw=4 ts=4