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drone: Fix animation module

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This commit is contained in:
Arthur Golubtsov
2020-06-17 21:59:17 +03:00
parent 0968d6546d
commit 4b3f4e2db6
1 changed files with 59 additions and 23 deletions
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82
drone/modules/animation.py
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@@ -34,6 +34,24 @@ def get_numbers(frames):
numbers.append(frame.number)
return numbers
def get_actions(frames):
actions = []
for frame in frames:
actions.append(frame.action)
return actions
def get_delays(frames):
delays = []
for frame in frames:
delays.append(frame.delay)
return delays
def get_stats(frames):
stats = []
for frame in frames:
stats.append([frame.number, frame.action, frame.delay])
return stats
def get_duration(frames):
duration = 0
for frame in frames:
@@ -208,37 +226,47 @@ class Animation(object):
'''
if len(self.original_frames) == 0:
return
self.land_index = len(self.original_frames) - 1
frames = copy.deepcopy(self.original_frames)
# Get takeoff index
i = 0 # Moving index from the beginning
self.takeoff_index = 0
while i < len(frames):
if moving(frames[i], frames[i+1], move_delta):
break
i += 1
self.takeoff_index = i
if i > 0:
self.takeoff_index = i+1
# Get route index
i = self.takeoff_index
self.route_index = self.takeoff_index
while i < len(frames):
if moving(frames[i], frames[i+1], move_delta, z = False) or (frames[i+1].z - frames[i].z <= 0):
break
i += 1
self.route_index = i
if i - self.route_index > 0:
self.route_index = i+1
# Get static end index
i = len(frames) - 1 # Moving index from the end
self.static_end_index = len(self.original_frames) - 1
while i >= 0:
if moving(frames[i], frames[i-1], move_delta):
break
i -= 1
self.static_end_index = i
if self.static_end_index - i > 0:
self.static_end_index = i
# Get land index
self.land_index = self.static_end_index
while i >= 0:
if moving(frames[i], frames[i-1], move_delta, z = False) or (frames[i-1].z - frames[i].z <= 0):
break
i -= 1
self.land_index = i
if self.land_index - i > 0:
self.land_index = i
def transform(self):
try:
x0, y0, z0 = self.config.animation_offset
x0, y0, z0 = numpy.array(self.config.animation_common_offset) + numpy.array(self.config.animation_private_offset)
except (ValueError, KeyError):
self.set_state("Can't transform animation: bad or empty config (offset in 'ANIMATION')", log_error=True)
return
@@ -297,22 +325,24 @@ class Animation(object):
except (ValueError, KeyError):
self.set_state("Can't set frame actions: bad or empty config (takeoff_level in 'ANIMATION')", log_error=True)
return
output_frames = copy.deepcopy(self.transformed_frames)
output_frames_takeoff = copy.deepcopy(self.transformed_frames)
if static_begin:
self.output_frames += self.transformed_frames[:self.takeoff_index]
self.output_frames_takeoff += self.transformed_frames[:self.takeoff_index]
self.output_frames += output_frames[:self.takeoff_index]
self.output_frames_takeoff += output_frames_takeoff[:self.takeoff_index]
if takeoff:
self.output_frames += self.transformed_frames[self.takeoff_index:self.route_index]
self.output_frames += output_frames[self.takeoff_index:self.route_index]
if self.transformed_frames[self.takeoff_index].z >= takeoff_level:
self.output_frames_takeoff += self.transformed_frames[self.takeoff_index:self.route_index]
self.output_frames_takeoff += output_frames_takeoff[self.takeoff_index:self.route_index]
if route:
self.output_frames += self.transformed_frames[self.route_index:self.land_index]
self.output_frames_takeoff += self.transformed_frames[self.route_index:self.land_index]
self.output_frames += output_frames[self.route_index:self.land_index]
self.output_frames_takeoff += output_frames_takeoff[self.route_index:self.land_index]
if land:
self.output_frames += self.transformed_frames[self.land_index:self.static_end_index]
self.output_frames_takeoff += self.transformed_frames[self.land_index:self.static_end_index]
self.output_frames += output_frames[self.land_index:self.static_end_index]
self.output_frames_takeoff += output_frames_takeoff[self.land_index:self.static_end_index]
if static_end:
self.output_frames += self.transformed_frames[self.static_end_index:]
self.output_frames_takeoff += self.transformed_frames[self.static_end_index:]
self.output_frames += output_frames[self.static_end_index:]
self.output_frames_takeoff += output_frames_takeoff[self.static_end_index:]
if self.output_frames:
self.output_frames_min_z = min(self.output_frames, key = lambda p: p.z).z
if self.output_frames_takeoff:
@@ -356,20 +386,26 @@ class Animation(object):
while i >=0:
if self.output_frames[i].action == 'fly':
frame = copy.deepcopy(self.output_frames[i])
frame.action = 'land'
self.output_frames[i].delay = land_delay
frame.delay = land_delay
self.output_frames[i].action = 'land'
self.output_frames.insert(i, frame)
break
i -= 1
i = len(self.output_frames_takeoff) - 1
# add land frame to output_frames_takeoff
while i >=0:
if self.output_frames_takeoff[i].action == 'fly':
frame = copy.deepcopy(self.output_frames_takeoff[i])
frame.action = 'land'
self.output_frames_takeoff[i].delay = land_delay
frame.delay = land_delay
self.output_frames_takeoff[i].action = 'land'
self.output_frames_takeoff.insert(i, frame)
break
i -= 1
def on_animation_update(self, filepath="animation.csv"):
self.filepath = filepath
def on_animation_update(self, filepath="animation.csv", config=None):
if config is None:
config = self.config
self.reset(filepath, config)
self.load()
if self.original_frames:
self.on_config_update(self.config)
@@ -377,7 +413,7 @@ class Animation(object):
def on_config_update(self, config):
self.config = config
self.transform()
self.mark_stand_frames
self.mark_stand_frames()
self.apply_flags()
self.mark_flight()
@@ -386,7 +422,7 @@ class Animation(object):
return Frame()
return self.output_frames[0]
def get_start_action(self, current_height, state="STANDBY", tolerance = 0.2):
def get_start_action(self, current_height=0, state="STANDBY", tolerance = 0.2):
# Check output frames
if not self.output_frames:
return 'error: empty output frames'