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Client: add x_ratio, y_ratio and z_ratio settings for animation

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This commit is contained in:
Arthur Golubtsov
2019-10-21 08:33:27 +01:00
parent 8b3986438b
commit afcf880501
3 changed files with 25 additions and 14 deletions
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14
Drone/animation_lib.py
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@@ -40,7 +40,7 @@ def get_id(filepath="animation.csv"):
print("No animation id in file")
return anim_id
def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0, ratio=1):
def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0, x_ratio=1, y_ratio=1, z_ratio=1):
imported_frames = []
global anim_id
try:
@@ -62,9 +62,9 @@ def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0, ratio=1):
frame_number, x, y, z, yaw, red, green, blue = row_0
imported_frames.append({
'number': int(frame_number),
'x': ratio*float(x) + x0,
'y': ratio*float(y) + y0,
'z': ratio*float(z) + z0,
'x': x_ratio*float(x) + x0,
'y': y_ratio*float(y) + y0,
'z': z_ratio*float(z) + z0,
'yaw': float(yaw),
'red': int(red),
'green': int(green),
@@ -74,9 +74,9 @@ def load_animation(filepath="animation.csv", x0=0, y0=0, z0=0, ratio=1):
frame_number, x, y, z, yaw, red, green, blue = row
imported_frames.append({
'number': int(frame_number),
'x': ratio*float(x) + x0,
'y': ratio*float(y) + y0,
'z': ratio*float(z) + z0,
'x': x_ratio*float(x) + x0,
'y': y_ratio*float(y) + y0,
'z': z_ratio*float(z) + z0,
'yaw': float(yaw),
'red': int(red),
'green': int(green),

4
Drone/client_config.ini
View File

@@ -17,7 +17,9 @@ port = 123
takeoff_animation_check = True
land_animation_check = True
frame_delay = 0.1
ratio = 1.0
x_ratio = 1.0
y_ratio = 1.0
z_ratio = 1.0
[COPTERS]
frame_id = map

21
Drone/copter_client.py
View File

@@ -49,7 +49,9 @@ class CopterClient(client.Client):
self.TAKEOFF_CHECK = self.config.getboolean('ANIMATION', 'takeoff_animation_check')
self.LAND_CHECK = self.config.getboolean('ANIMATION', 'land_animation_check')
self.FRAME_DELAY = self.config.getfloat('ANIMATION', 'frame_delay')
self.RATIO = self.config.getfloat('ANIMATION', 'ratio')
self.X_RATIO = self.config.getfloat('ANIMATION', 'x_ratio')
self.Y_RATIO = self.config.getfloat('ANIMATION', 'y_ratio')
self.Z_RATIO = self.config.getfloat('ANIMATION', 'z_ratio')
self.X0 = self.config.getfloat('PRIVATE', 'x0')
self.Y0 = self.config.getfloat('PRIVATE', 'y0')
self.Z0 = self.config.getfloat('PRIVATE', 'z0')
@@ -261,7 +263,9 @@ def _response_animation_id(*args, **kwargs):
x0=client.active_client.X0 + client.active_client.X0_COMMON,
y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
z0=client.active_client.Z0 + client.active_client.Z0_COMMON,
ratio=client.active_client.RATIO,
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,
@@ -324,9 +328,12 @@ def _command_test(*args, **kwargs):
def _command_move_start_to_current_position(*args, **kwargs):
# Load animation
frames = animation.load_animation(os.path.abspath("animation.csv"),
x0=client.active_client.X0_COMMON,
y0=client.active_client.Y0_COMMON,
ratio=client.active_client.RATIO,
x0=client.active_client.X0 + client.active_client.X0_COMMON,
y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
z0=client.active_client.Z0 + client.active_client.Z0_COMMON,
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,
@@ -474,7 +481,9 @@ def _play_animation(*args, **kwargs):
x0=client.active_client.X0 + client.active_client.X0_COMMON,
y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
z0=client.active_client.Z0 + client.active_client.Z0_COMMON,
ratio=client.active_client.RATIO,
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,