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drone: Update animation module with new led service

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This commit is contained in:
Arthur Golubtsov
2020-06-09 11:48:01 +03:00
parent a6f096cdf7
commit e07e4beed6
1 changed files with 13 additions and 9 deletions
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22
drone/modules/animation.py
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@@ -19,7 +19,7 @@ except ImportError:
try:
import modules.led as led
except ImportError:
logger.debug("Can't import led control module for Raspberry Pi!")
logger.debug("Can't import led control module!")
interrupt_event = threading.Event()
@@ -366,30 +366,34 @@ try:
if frame.pose_is_valid():
flight_func(x=frame.x, y=frame.y, z=frame.z, yaw=frame.yaw, frame_id=frame_id, auto_arm=auto_arm, interrupter=interrupt_event, **flight_kwargs)
else:
logger.debug("Frame pose is not valid for flying")
logger.error("Frame pose is not valid for flying")
if use_leds:
if frame.get_color:
led.fill(*color)
try:
red, green, blue = frame.get_color()
except ValueError:
logger.error("Can't get frame color!")
else:
led.set_effect(r=red, g=green, b=blue)
def takeoff(z=1.5, safe_takeoff=True, frame_id='map', timeout=5.0, use_leds=True,
interrupter=interrupt_event):
if use_leds:
led.wipe_to(255, 0, 0, interrupter=interrupter)
led.set_effect(effect='wipe', r=255, g=0, b=0)
result = flight.takeoff(height=z, timeout_takeoff=timeout, frame_id=frame_id,
emergency_land=safe_takeoff, interrupter=interrupter)
if result == 'not armed' or result == 'timeout':
if result == 'not armed':
raise Exception('STOP') # Raise exception to clear task_manager if copter can't arm
if use_leds:
led.blink(0, 255, 0, wait=50, interrupter=interrupter)
led.set_effect(effect='flash', r=0, g=255, b=0)
def land(z=1.5, descend=False, timeout=5.0, frame_id='aruco_map', use_leds=True,
interrupter=interrupt_event):
if use_leds:
led.blink(255, 0, 0, interrupter=interrupter)
led.set_effect(effect='blink', r=255, g=0, b=0)
flight.land(z=z, descend=descend, timeout_land=timeout, frame_id_land=frame_id, interrupter=interrupter)
if use_leds:
led.off()
led.set_effect(r=0, g=0, b=0)
except NameError:
print("Can't create flying functions")