CopterExpress/clever-show
1
0
Fork 0
mirror of https://github.com/CopterExpress/clever-show.git synced 2026-05-31 09:19:33 +00:00
Code Issues Packages Projects Releases Wiki Activity

Drone: Fix bugs

Browse Source
This commit is contained in:
Arthur Golubtsov
2020-01-21 03:14:49 +00:00
parent 2f3e2bb987
commit abfe7e86cd
2 changed files with 10 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
Drone/animation_lib.py
View File

@@ -21,11 +21,6 @@ logger = logging.getLogger(__name__)
interrupt_event = threading.Event()
config = ConfigParser.ConfigParser()
config.read("client_config.ini")
default_delay = config.getfloat('ANIMATION', 'frame_delay')
anim_id = "Empty id"
# TODO refactor as class
@@ -83,7 +78,7 @@ def get_start_xy(filepath="animation.csv", x_ratio=1, y_ratio=1, z_ratio=1):
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):
def load_animation(filepath="animation.csv", default_delay = 0.1, x0=0, y0=0, z0=0, x_ratio=1, y_ratio=1, z_ratio=1):
imported_frames = []
global anim_id
try:

16
Drone/copter_client.py
View File

@@ -135,7 +135,7 @@ class CopterClient(client.Client):
if self.config.floor_frame_enabled:
self.start_floor_frame_broadcast()
else:
rospy.logerror("Can't make floor frame!")
rospy.logerr("Can't make floor frame!")
start_subscriber()
telemetry.start_loop()
@@ -143,9 +143,9 @@ class CopterClient(client.Client):
def start_floor_frame_broadcast(self):
trans = TransformStamped()
trans.transform.translation.x = self.config.floor_frame_transtation[0]
trans.transform.translation.y = self.config.floor_frame_transtation[1]
trans.transform.translation.z = self.config.floor_frame_transtation[2]
trans.transform.translation.x = self.config.floor_frame_translation[0]
trans.transform.translation.y = self.config.floor_frame_translation[1]
trans.transform.translation.z = self.config.floor_frame_translation[2]
trans.transform.rotation = Quaternion(*quaternion_from_euler(math.radians(self.config.floor_frame_rotation[0]),
math.radians(self.config.floor_frame_rotation[1]),
math.radians(self.config.floor_frame_rotation[2])))
@@ -332,7 +332,8 @@ def _response_animation_id(*args, **kwargs):
if result != 'No animation':
logger.debug("Saving corrected animation")
offset = numpy.array(client.active_client.config.private_offset) + numpy.array(client.active_client.config.copter_common_offset)
frames = animation.load_animation(os.path.abspath("animation.csv"), offset[0], offset[1], offset[2], *client.active_client.config.animation_ratio)
frames = animation.load_animation(os.path.abspath("animation.csv"), client.active_client.config.animation_frame_delay,
offset[0], offset[1], offset[2], *client.active_client.config.animation_ratio)
# Correct start and land frames in animation
corrected_frames, start_action, start_delay = animation.correct_animation(frames,
check_takeoff=client.active_client.config.animation_takeoff_detection,
@@ -597,7 +598,8 @@ def _play_animation(*args, **kwargs):
logger.info("Start time = {}, wait for {} seconds".format(start_time, start_time - time.time()))
# Load animation
offset = numpy.array(client.active_client.config.private_offset) + numpy.array(client.active_client.config.copter_common_offset)
frames = animation.load_animation(os.path.abspath("animation.csv"), offset[0], offset[1], offset[2], *client.active_client.config.animation_ratio)
frames = animation.load_animation(os.path.abspath("animation.csv"), client.active_client.config.animation_frame_delay,
offset[0], offset[1], offset[2], *client.active_client.config.animation_ratio)
# Correct start and land frames in animation
corrected_frames, start_action, start_delay = animation.correct_animation(frames,
check_takeoff=client.active_client.config.animation_takeoff_detection,
@@ -651,7 +653,7 @@ def _play_animation(*args, **kwargs):
}
)
# Calculate first frame start time
frame_time += client.active_client.config.animation_frame_delay # TODO Think about arming time
frame_time += corrected_frames[0]["delay"] # TODO Think about arming time
logger.debug(task_manager.task_queue)
# Play animation file
for frame in corrected_frames: