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client: modify animation time logic

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Arthur Golubtsov
2019-03-22 05:21:32 +00:00
parent c3d8387c1d
commit 165942c91c
1 changed files with 13 additions and 10 deletions
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23
Drone/client.py
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@@ -133,38 +133,41 @@ def recive_file(filename):
break break
file.write(data) file.write(data)
def wait_start(start_time): def wait_until(certain_time):
while start_time > time.time(): while certain_time > time.time():
time.sleep(1) continue
def animation_player(running_event, stop_event): def animation_player(running_event, stop_event):
print("Animation thread activated") print("Animation thread activated")
frames = play_animation.read_animation_file() frames = play_animation.read_animation_file()
rate = rospy.Rate(1000 / 125) #rate = rospy.Rate(1000 / 125)
delay_time = 0.1
print("Takeoff") print("Takeoff")
play_animation.takeoff(TAKEOFF_HEIGHT) play_animation.takeoff(TAKEOFF_HEIGHT)
takeoff_time = starttime + TAKEOFF_TIME takeoff_time = starttime + TAKEOFF_TIME
dt = takeoff_time - time.time() dt = takeoff_time - time.time()
print("Wait until takeoff " + str(dt) + "s: " + time.ctime(takeoff_time)) print("Wait until takeoff " + str(dt) + "s: " + time.ctime(takeoff_time))
wait_start(takeoff_time) wait_until(takeoff_time)
print("Reach first point") print("Reach first point")
play_animation.reach_frame(frames[0]) #Reach first point at the same time with others play_animation.reach_frame(frames[0]) #Reach first point at the same time with others
rfp_time = takeoff_time + RFP_TIME rfp_time = takeoff_time + RFP_TIME
dt = rfp_time - time.time() dt = rfp_time - time.time()
print("Wait reaching first point " + str(dt) + "s: " + time.ctime(rfp_time)) print("Wait reaching first point " + str(dt) + "s: " + time.ctime(rfp_time))
wait_start(rfp_time) wait_until(rfp_time)
next_frame_time = rfp_time + 0.5
print("Start animation at " + str(time.time())) print("Start animation at " + str(time.time()))
wait_until(next_frame_time)
for frame in frames: for frame in frames:
running_event.wait() #running_event.wait()
play_animation.animate_frame(frame)
next_frame_time += delay_time
if stop_event.is_set(): if stop_event.is_set():
running_animation_event.clear() running_animation_event.clear()
break break
wait_until(next_frame_time)
play_animation.animate_frame(frame)
rate.sleep()
else: else:
play_animation.land() play_animation.land()
print("Animation ended") print("Animation ended")