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Add common and private coordinate shift

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Arthur Golubtsov
2019-03-29 20:35:39 +00:00
parent 7fc61bbe19
commit 958dad7901
1 changed files with 8 additions and 2 deletions
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10
Drone/client.py
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@@ -159,7 +159,7 @@ def animation_player(running_event, stop_event):
pause.until(takeoff_time)
print("Reach first point")
play_animation.reach_frame(frames[0]) #Reach first point at the same time with others
play_animation.reach_frame(frames[0], x0=X0+X0_COMMON, y0=Y0+Y0_COMMON) #Reach first point at the same time with others
rfp_time = takeoff_time + RFP_TIME
dt = rfp_time - time.time()
print("Wait reaching first point " + str(dt) + "s: " + time.ctime(rfp_time))
@@ -169,7 +169,7 @@ def animation_player(running_event, stop_event):
print("Start animation at " + str(time.time()))
for frame in frames:
#running_event.wait()
play_animation.animate_frame(frame)
play_animation.animate_frame(frame, x0=X0+X0_COMMON, y0=Y0+Y0_COMMON)
next_frame_time += delay_time
if stop_event.is_set():
running_animation_event.clear()
@@ -227,6 +227,7 @@ def load_config():
global files_directory, animation_file
global FRAME_ID, TAKEOFF_HEIGHT, TAKEOFF_TIME, SAFE_TAKEOFF, RFP_TIME
global USE_LEDS, COPTER_ID
global X0, X0_COMMON, Y0, Y0_COMMON
CONFIG_PATH = "client_config.ini"
config = ConfigParser.ConfigParser()
config.read(CONFIG_PATH)
@@ -248,6 +249,11 @@ def load_config():
RFP_TIME = config.getfloat('COPTERS', 'reach_first_point_time')
SAFE_TAKEOFF = config.getboolean('COPTERS', 'safe_takeoff')
X0_COMMON = config.getfloat('COPTERS', 'x0_common')
Y0_COMMON = config.getfloat('COPTERS', 'y0_common')
X0 = config.getfloat('PRIVATE', 'x0')
Y0 = config.getfloat('PRIVATE', 'y0')
USE_LEDS = config.getboolean('PRIVATE', 'use_leds')
play_animation.USE_LEDS = USE_LEDS