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Client: modify move_start function

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This commit is contained in:
Arthur Golubtsov
2019-10-25 15:32:49 +01:00
parent dc85d9bd3f
commit 46802667bd
2 changed files with 4 additions and 16 deletions
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4
Drone/animation_lib.py
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@@ -41,7 +41,7 @@ def get_id(filepath="animation.csv"):
print("No animation id in file")
return anim_id
def get_start_xy(filepath="animation.csv"):
def get_start_xy(filepath="animation.csv", x_ratio=1, y_ratio=1):
try:
animation_file = open(filepath)
except IOError:
@@ -71,7 +71,7 @@ def get_start_xy(filepath="animation.csv"):
frame_number, x, y, z, yaw, red, green, blue = row_0
except:
return float('nan'), float('nan')
return float(x), float(y)
return float(x)*x_ratio, float(y)*y_ratio
def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0, x_ratio=1, y_ratio=1, z_ratio=1):

16
Drone/copter_client.py
View File

@@ -21,7 +21,6 @@ from tf.transformations import quaternion_from_euler, euler_from_quaternion, qua
import tf2_ros
static_bloadcaster = tf2_ros.StaticTransformBroadcaster()
# logging.basicConfig( # TODO all prints as logs
# level=logging.DEBUG, # INFO
# format="%(asctime)s [%(name)-7.7s] [%(threadName)-12.12s] [%(levelname)-5.5s] %(message)s",
@@ -95,7 +94,7 @@ class CopterClient(client.Client):
trans.child_frame_id = self.FRAME_ID
static_bloadcaster.sendTransform(trans)
start_subscriber()
# print(check_state_topic())
super(CopterClient, self).start()
@@ -331,19 +330,10 @@ def _command_test(*args, **kwargs):
@messaging.message_callback("move_start")
def _command_move_start_to_current_position(*args, **kwargs):
# Load animation
frames = animation.load_animation(os.path.abspath("animation.csv"),
x_start, y_start = animation.get_start_xy(os.path.abspath("animation.csv"),
x_ratio=client.active_client.X_RATIO,
y_ratio=client.active_client.Y_RATIO,
z_ratio=client.active_client.Z_RATIO,
)
# 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 = frames[0]['x']
y_start = frames[0]['y']
print("x_start = {}, y_start = {}".format(x_start, y_start))
telem = FlightLib.get_telemetry(client.active_client.FRAME_ID)
print("x_telem = {}, y_telem = {}".format(telem.x, telem.y))
@@ -596,8 +586,6 @@ def _play_animation(*args, **kwargs):
},
)
#print(task_manager.task_queue)
if __name__ == "__main__":
copter_client = CopterClient()