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Client: Add moving and resetting start commands

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This commit is contained in:
Arthur Golubtsov
2019-09-19 15:14:40 +01:00
parent 424f1cbec2
commit 2c7f28d0dc
2 changed files with 30 additions and 2 deletions
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2
Drone/animation_lib.py
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@@ -19,7 +19,6 @@ anim_id = "Empty id"
# TODO refactor as class
# TODO separate code for frames transformations (e.g. for gps)
def get_id(filepath="animation.csv"):
global anim_id
try:
@@ -41,7 +40,6 @@ def get_id(filepath="animation.csv"):
print("No animation id in file")
return anim_id
def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0):
imported_frames = []
global anim_id

30
Drone/copter_client.py
View File

@@ -196,6 +196,36 @@ def _command_test(**kwargs):
logger.info("logging info test")
print("stdout test")
@messaging.message_callback("move_start")
def _command_move_start_to_current_position(**kwargs):
# Load animation
frames = animation.load_animation(os.path.abspath("animation.csv"),
x0=client.active_client.X0_COMMON,
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,
)
x_start = corrected_frames[0]['x']
y_start = corrected_frames[0]['y']
telem = FlightLib.get_telemetry(client.active_client.FRAME_ID)
client.active_client.config.set('PRIVATE', 'x0', telem.x - x_start)
client.active_client.config.set('PRIVATE', 'y0', telem.y - y_start)
client.active_client.rewrite_config()
client.active_client.load_config()
print ("Start delta: {:.2f} {:.2f}".format(client.active_client.X0, client.active_client.Y0))
@messaging.message_callback("reset_start")
def _command_reset_start(**kwargs):
client.active_client.config.set('PRIVATE', 'x0', 0)
client.active_client.config.set('PRIVATE', 'y0', 0)
client.active_client.rewrite_config()
client.active_client.load_config()
print ("Reset start to {:.2f} {:.2f}".format(client.active_client.X0, client.active_client.Y0))
@messaging.message_callback("update_repo")
def _command_update_repo(**kwargs):
os.system("git reset --hard origin/master")