From b300db8601e12601cdc1da8f9458e9c010c8154a Mon Sep 17 00:00:00 2001
From: Artem30801 <artem30801@gmail.com>
Date: Sun, 20 Jan 2019 12:07:27 +0300
Subject: [PATCH] Leds off + takeoff fix

---
 Drone/client.py         | 10 +++++++---
 Drone/client_config.ini |  3 ++-
 Drone/play_animation.py | 21 +++++++++++++--------
 3 files changed, 22 insertions(+), 12 deletions(-)

diff --git a/Drone/client.py b/Drone/client.py
index e7f30eb..bf94fdd 100644
--- a/Drone/client.py
+++ b/Drone/client.py
@@ -102,7 +102,7 @@ def animation_player(running_event, stop_event):
     print("Animation thread activated")
     rate = rospy.Rate(1000 / 100)
     play_animation.takeoff(TAKEOFF_HEIGHT)
-    for current_frame in play_animation.frame():
+    for current_frame in play_animation.get_frames():
         running_event.wait()
         if stop_event.is_set():
             break
@@ -165,6 +165,9 @@ if COPTER_ID == 'default':
 
 TAKEOFF_HEIGHT = float(config.get('COPTER', 'takeoff_height'))
 
+USE_LEDS = bool(config.get('COPTER', 'use_leds'))
+play_animation.USE_LEDS = USE_LEDS
+
 print("Client started on copter:", COPTER_ID)
 print("NTP time:", time.ctime(get_ntp_time(NTP_HOST, NTP_PORT)))
 print("System time", time.ctime(time.time()))
@@ -200,8 +203,9 @@ try:
                     send_all(bytes(form_command("response", response)))
                     print("Request responded with:",  response)
                     
-        except socket.error:
-            print("Connection lost... reconnecting")
+        except socket.error as e:
+            print("Connection lost due error:", e)
+            print("Reconnecting...")
             reconnect()
             print("Re-connection successful")
 except KeyboardInterrupt:
diff --git a/Drone/client_config.ini b/Drone/client_config.ini
index 71439a9..c121f7c 100644
--- a/Drone/client_config.ini
+++ b/Drone/client_config.ini
@@ -11,7 +11,8 @@ host = ntp1.stratum2.ru
 port = 123
 
 [COPTER]
-id = copter6349
+id = default
 takeoff_height = 1.75
 takeoff_timeout = 7
+use_leds = True
 animation_file = animation.csv
diff --git a/Drone/play_animation.py b/Drone/play_animation.py
index dcc3838..62adbb9 100644
--- a/Drone/play_animation.py
+++ b/Drone/play_animation.py
@@ -6,17 +6,21 @@ from FlightLib.FlightLib import LedLib
 
 animation_file_path = 'drone.csv'
 frames = []
+USE_LEDS = True
 
 
 def takeoff(h=1.75):
-    LedLib.wipe_to(0, 255, 0)
-    FlightLib.takeoff(h)
+    if USE_LEDS:
+        LedLib.wipe_to(0, 255, 0)
+    FlightLib.takeoff(h, fixed_delay=True)
 
 
 def land():
-    LedLib.rainbow()
+    if USE_LEDS:
+        LedLib.blink(0, 255, 0)
     FlightLib.land()
-    LedLib.off()
+    if USE_LEDS:
+        LedLib.off()
 
 
 def do_next_animation(current_frame):
@@ -24,9 +28,10 @@ def do_next_animation(current_frame):
         round(float(current_frame['x']), 4), round(float(current_frame['y']), 4), round(float(current_frame['z']), 4),
         round(float(current_frame['yaw']), 4), speed=round(float(current_frame['speed']), 4)
     )
-    LedLib.fill(
-        int(current_frame['green']), int(current_frame['red']), int(current_frame['blue'])
-    )
+    if USE_LEDS:
+        LedLib.fill(
+            int(current_frame['green']), int(current_frame['red']), int(current_frame['blue'])
+        )
 
 
 def read_animation_file(filepath=animation_file_path):
@@ -49,7 +54,7 @@ def read_animation_file(filepath=animation_file_path):
             })
 
 
-def frame():
+def get_frames():
     global frames
     return frames