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Merge pull request #2 from goldarte/master

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Add first point reaching separately from others and some small corrections in configuration files
This commit is contained in:
artem30801
2019-03-09 23:14:59 +03:00
committed by GitHub
parent b1d409463b dee5974b2b
commit 725d02bf77
7 changed files with 8 additions and 327 deletions
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1
.gitignore vendored
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@@ -105,3 +105,4 @@ venv.bak/
.vscode/settings.json
Server/tests.py
Drone/test_animation/
Drone/animation.csv

1
.gitmodules vendored
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@@ -1,6 +1,7 @@
[submodule "Drone/FlightLib"]
path = Drone/FlightLib
url = https://github.com/artem30801/CleverFlightLib.git
#url = https://github.com/goldarte/CleverFlightLib.git
[submodule "blender-csv-animation"]
path = blender-csv-animation
url = https://github.com/artem30801/blender-csv-animation

320
Drone/animation.csv
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@@ -1,320 +0,0 @@
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257 257 0.5 1.391623616218567 2.0 0.5381870269775391 132 9 0 0.7853981852531433
258 258 0.5 1.339261531829834 2.0 0.5236208438873291 128 12 0 0.7853981852531433
259 259 0.5 1.289032220840454 2.0 0.5022931098937988 124 16 0 0.7853981852531433
260 260 0.5 1.2415533065795898 2.0 0.4747891426086426 119 20 0 0.7853981852531433
261 261 0.5 1.197371482849121 2.0 0.4418182373046875 115 25 0 0.7853981852531433
262 262 0.5 1.1569559574127197 2.0 0.40415525436401367 110 30 0 0.7853981852531433
263 263 0.5 1.1206932067871094 2.0 0.3626275062561035 105 35 0 0.7853981852531433
264 264 0.5 1.0888890027999878 2.0 0.3180420398712158 100 41 1 0.7853981852531433
265 265 0.5 1.0617718696594238 2.0 0.27117133140563965 95 47 1 0.7853981852531433
266 266 0.5 1.03950035572052 2.0 0.22271513938903809 91 53 2 0.7853981852531433
267 267 0.5 1.0221692323684692 2.0 0.1733112335205078 86 60 2 0.7853981852531433
268 268 0.5 1.00981867313385 2.0 0.1235055923461914 81 67 3 0.7853981852531433
269 269 0.5 1.0024433135986328 2.0 0.07375359535217285 76 73 3 0.7853981852531433
270 270 0.5 1.0 2.0 0.024433135986328125 71 80 4 0.7853981852531433
271 271 0.5 1.0 2.002755641937256 0.027556419372558594 67 87 5 0.7853981852531433
272 272 0.5 1.0 2.01108455657959 0.08328914642333984 62 94 6 0.7853981852531433
273 273 0.5 1.0 2.0250115394592285 0.13926982879638672 58 100 7 0.7853981852531433
274 274 0.5 1.0 2.0444445610046387 0.19433021545410156 54 106 8 0.7853981852531433
275 275 0.5 1.0 2.0691423416137695 0.2469778060913086 50 113 9 0.7853981852531433
276 276 0.5 1.0 2.0986857414245605 0.29543399810791016 47 118 10 0.7853981852531433
277 277 0.5 1.0 2.1324563026428223 0.3377056121826172 43 124 12 0.7853981852531433
278 278 0.5 1.0 2.169630765914917 0.37174463272094727 40 129 13 0.7853981852531433
279 279 0.5 1.0 2.209197521209717 0.39566755294799805 38 133 15 0.7853981852531433
280 280 0.5 1.0 2.25 0.40802478790283203 35 138 16 0.7853981852531433
281 281 0.5 1.0 2.290802478790283 0.40802478790283203 33 141 18 0.7853981852531433
282 282 0.5 1.0 2.330369234085083 0.39566755294799805 31 144 20 0.7853981852531433
283 283 0.5 1.0 2.3675436973571777 0.37174463272094727 30 147 22 0.7853981852531433
284 284 0.5 1.0 2.4013142585754395 0.3377056121826172 28 149 24 0.7853981852531433
285 285 0.5 1.0 2.4308576583862305 0.29543399810791016 27 151 26 0.7853981852531433
286 286 0.5 1.0 2.4555556774139404 0.2469801902770996 27 152 28 0.7853981852531433
287 287 0.5 1.0 2.4749884605407715 0.19432783126831055 26 153 30 0.7853981852531433
288 288 0.5 1.0 2.48891544342041 0.13926982879638672 26 153 32 0.7853981852531433
289 289 0.5 1.0 2.4972445964813232 0.08329153060913086 26 153 35 0.7853981852531433
290 290 0.5 1.0 2.5 0.027554035186767578 27 153 38 0.7853981852531433
291 291 0.5 1.0 2.4963347911834717 0.0366520881652832 28 153 41 0.7834791541099548
292 292 0.5 1.0 2.48527193069458 0.11062860488891602 30 153 44 0.7776866555213928
293 293 0.5 1.0 2.4667463302612305 0.1852560043334961 33 153 48 0.7679865956306458
294 294 0.5 1.0 2.440749406814575 0.25996923446655273 36 153 52 0.754374623298645
295 295 0.5 1.0 2.407341957092285 0.3340744972229004 39 153 57 0.7368825674057007
296 296 0.5 1.0 2.366666555404663 0.4067540168762207 43 153 61 0.715584933757782
297 297 0.5 1.0 2.318960428237915 0.47706127166748047 48 153 66 0.6906059980392456
298 298 0.5 1.0 2.26456618309021 0.5439424514770508 52 153 72 0.662125289440155
299 299 0.5 1.0 2.2039425373077393 0.606236457824707 57 153 77 0.6303829550743103
300 300 0.5 1.0 2.1376702785491943 0.6627225875854492 63 153 82 0.5956827998161316
301 301 0.5 1.0 2.0664515495300293 0.7121872901916504 68 153 88 0.5583928227424622
302 302 0.5 1.0 1.9911075830459595 0.7534396648406982 74 153 93 0.5189427137374878
303 303 0.5 1.0 1.9125645160675049 0.7854306697845459 80 153 99 0.47781771421432495
304 304 0.5 1.0 1.8318367004394531 0.8072781562805176 86 153 104 0.43554866313934326
305 305 0.5 1.0 1.75 0.8183670043945312 91 153 109 0.39269909262657166
306 306 0.5 1.0 1.6681634187698364 0.8183658123016357 97 153 114 0.3498495817184448
307 307 0.5 1.0 1.5874354839324951 0.8072793483734131 102 153 118 0.30758047103881836
308 308 0.5 1.0 1.50889253616333 0.7854294776916504 106 153 122 0.2664554715156555
309 309 0.5 1.0 1.4335483312606812 0.7534420490264893 111 153 126 0.22700533270835876
310 310 0.5 1.0 1.3623297214508057 0.7121860980987549 115 153 129 0.18971538543701172
311 311 0.5 1.0 1.2960573434829712 0.6627237796783447 118 153 132 0.155015230178833
312 312 0.5 1.0 1.2354340553283691 0.6062328815460205 121 153 134 0.1232728362083435
313 313 0.5 1.0 1.1810396909713745 0.5439436435699463 124 153 136 0.0947921872138977
314 314 0.5 1.0 1.133333444595337 0.477062463760376 126 153 138 0.06981313228607178
315 315 0.5 1.0 1.0926578044891357 0.4067564010620117 127 153 139 0.048515498638153076
316 316 0.5 1.0 1.0592505931854248 0.3340721130371094 128 153 140 0.031023502349853516
317 317 0.5 1.0 1.0332539081573486 0.2599668502807617 128 153 140 0.01741158962249756
318 318 0.5 1.0 1.0147278308868408 0.18526077270507812 128 153 140 0.007711648941040039
319 319 0.5 1.0 1.0036649703979492 0.11062860488891602 128 153 140 0.0019191503524780273
320 320 0.5 1.0 1.0 0.03664970397949219 128 153 140 0.0

2
Drone/client.py
View File

@@ -120,6 +120,8 @@ def animation_player(running_event, stop_event):
frames = play_animation.read_animation_file()
rate = rospy.Rate(1000 / 125)
play_animation.takeoff()
play_animation.animate_frame(frames[0]) #Reach first point at the same time with others
rospy.sleep(5)
for frame in frames:
running_event.wait()
if stop_event.is_set():

6
Drone/client_config.ini
View File

@@ -1,6 +1,6 @@
[SERVER]
port = 25000
host = 192.168.43.168
host = 192.168.1.2
buffer_size = 1024
[FILETRANSFER]
@@ -11,8 +11,8 @@ host = ntp1.stratum2.ru
port = 123
[COPTER]
id = default
takeoff_height = 1.75
id = copter2
takeoff_height = 1
takeoff_timeout = 7
use_leds = True
animation_file = animation.csv

2
Drone/play_animation.py
View File

@@ -5,7 +5,7 @@ from FlightLib.FlightLib import FlightLib
#FlightLib.init('SingleCleverFlight')
from FlightLib.FlightLib import LedLib
animation_file_path = 'test_animation/test_1.csv'
animation_file_path = 'animation.csv'
USE_LEDS = True

3
Server/server_config.ini
View File

@@ -6,6 +6,3 @@ buffer_size = 1024
host = ntp1.stratum2.ru
port = 123
#pool.ntp.org
[FILETRANSFER]
animation = animation.csv