Add saving corrected frames for testing

Drone/animation_lib.py

@@ -119,6 +119,14 @@ def correct_animation(frames, frame_delay=0.1, min_takeoff_height=0.5, move_delt
             del corrected_frames[i]
     return corrected_frames, start_action, start_delay
 
+# Needs for test
+def save_corrected_animation(frames, filename="corrected_animation.csv"):
+    corrected_animation = open(filename, mode='w+')
+    csv_writer = csv.writer(corrected_animation, delimiter=',', quotechar='"', quoting=csv.QUOTE_MINIMAL)
+    for frame in frames:
+        csv_writer.writerow([frame['number'],frame['x'], frame['y'], frame['z']])
+        # print frame
+    corrected_animation.close()
 
 def convert_frame(frame):
     return ((frame['x'], frame['y'], frame['z']), (frame['red'], frame['green'], frame['blue']), frame['yaw'])

Drone/client_config.ini

@@ -1,7 +1,7 @@
 [SERVER]
 port = 25000
 broadcast_port = 8181
-host = 192.168.1.184
+host = 192.168.1.101
 buffer_size = 1024
 
 [FILETRANSFER]

Drone/copter_client.py

@@ -103,7 +103,23 @@ def _response_selfcheck():
 
 @messaging.request_callback("anim_id")
 def _response_animation_id():
-    return animation.get_id()
+    # Load animation
+    result = animation.get_id()
+    if result != 'No animation':
+        print ("Saving corrected animation")
+        frames = animation.load_animation(os.path.abspath("animation.csv"),
+                                            x0=client.active_client.X0 + client.active_client.X0_COMMON,
+                                            y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
+                                            )
+        # Correct start and land frames in animation
+        corrected_frames, start_action, start_delay = animation.correct_animation(frames,
+                                            check_takeoff=client.active_client.TAKEOFF_CHECK,
+                                            check_land=client.active_client.LAND_CHECK,
+                                            )
+        print("Start action: {}".format(start_action))
+        # Save corrected animation
+        animation.save_corrected_animation(corrected_frames)
+    return result
 
 
 @messaging.request_callback("batt_voltage")
@@ -247,7 +263,7 @@ def _play_animation(**kwargs):
         # Calculate first frame start time
         frame_time = rfp_time + client.active_client.RFP_TIME
 
-    elif start_action == 'arm'
+    elif start_action == 'arm':
         # Calculate start time
         start_time += start_delay
         # Arm