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client: change logic of animation starting

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This commit is contained in:
Arthur Golubtsov
2019-03-22 04:34:22 +00:00
parent 9c8e77cdaf
commit c3d8387c1d
1 changed files with 26 additions and 6 deletions
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32
Drone/client.py
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@@ -133,14 +133,30 @@ def recive_file(filename):
break
file.write(data)
def wait_start(start_time):
while start_time > time.time():
time.sleep(1)
def animation_player(running_event, stop_event):
print("Animation thread activated")
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) # TODO change to flightlib reach_point
print("Takeoff")
play_animation.takeoff(TAKEOFF_HEIGHT)
takeoff_time = starttime + TAKEOFF_TIME
dt = takeoff_time - time.time()
print("Wait until takeoff " + str(dt) + "s: " + time.ctime(takeoff_time))
wait_start(takeoff_time)
print("Reach first point")
play_animation.reach_frame(frames[0]) #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))
wait_start(rfp_time)
print("Start animation at " + str(time.time()))
for frame in frames:
running_event.wait()
if stop_event.is_set():
@@ -199,7 +215,7 @@ def load_config():
global broadcast_port, port, host, BUFFER_SIZE
global USE_NTP, NTP_HOST, NTP_PORT
global files_directory, animation_file
global TAKEOFF_HEIGHT, TAKEOFF_TIME
global TAKEOFF_HEIGHT, TAKEOFF_TIME, RFP_TIME
global USE_LEDS, COPTER_ID
CONFIG_PATH = "client_config.ini"
config = ConfigParser.ConfigParser()
@@ -217,7 +233,8 @@ def load_config():
animation_file = config.get('FILETRANSFER', 'animation_file')
TAKEOFF_HEIGHT = config.getfloat('COPTERS', 'takeoff_height')
TAKEOFF_TIME = config.getint('COPTERS', 'takeoff_time')
TAKEOFF_TIME = config.getfloat('COPTERS', 'takeoff_time')
RFP_TIME = config.getfloat('COPTERS', 'reach_first_point_time')
USE_LEDS = config.getboolean('PRIVATE', 'use_leds')
play_animation.USE_LEDS = USE_LEDS
@@ -259,9 +276,12 @@ try:
elif command == 'config_reload':
load_config()
elif command == "starttime":
global starttime
starttime = float(list(args.values())[0])
print("Starting on:", time.ctime(starttime))
dt = starttime - get_ntp_time(NTP_HOST, NTP_PORT)
dt = starttime - time.time()
if USE_NTP:
dt = starttime - get_ntp_time(NTP_HOST, NTP_PORT)
print("Until start:", dt)
rospy.Timer(rospy.Duration(dt), start_animation, oneshot=True)
elif command == 'takeoff':