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Rewrite the logic to support full animation files (with animated takeoff and landing)

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This commit is contained in:
Arthur Golubtsov
2019-09-07 04:30:55 +01:00
parent c42d54a962
commit f04d80b224
2 changed files with 79 additions and 45 deletions
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7
Drone/client_config.ini
View File

@@ -1,7 +1,7 @@
[SERVER]
port = 25000
broadcast_port = 8181
host = 192.168.11.169
host = 192.168.1.184
buffer_size = 1024
[FILETRANSFER]
@@ -13,6 +13,11 @@ use_ntp = False
host = ntp1.stratum2.ru
port = 123
[ANIMATION]
takeoff_animation_check = True
land_animation_check = True
frame_delay = 0.1
[COPTERS]
frame_id = aruco_map
takeoff_height = 2.5

117
Drone/copter_client.py
View File

@@ -33,9 +33,11 @@ class CopterClient(client.Client):
self.SAFE_TAKEOFF = self.config.getboolean('COPTERS', 'safe_takeoff')
self.RFP_TIME = self.config.getfloat('COPTERS', 'reach_first_point_time')
self.LAND_TIME = self.config.getfloat('COPTERS', 'land_time')
self.X0_COMMON = self.config.getfloat('COPTERS', 'x0_common')
self.Y0_COMMON = self.config.getfloat('COPTERS', 'y0_common')
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.X0 = self.config.getfloat('PRIVATE', 'x0')
self.Y0 = self.config.getfloat('PRIVATE', 'y0')
self.USE_LEDS = self.config.getboolean('PRIVATE', 'use_leds')
@@ -203,6 +205,7 @@ def _command_resume(**kwargs):
@messaging.message_callback("start")
def _play_animation(**kwargs):
start_time = float(kwargs["time"]) # TODO
land_time = 0.
if animation.get_id() == 'No animation':
print("Can't start animation without animation file!")
@@ -211,54 +214,80 @@ def _play_animation(**kwargs):
print("Start time = {}, wait for {} seconds".format(start_time, time.time() - start_time))
frames = animation.load_animation(os.path.abspath("animation.csv"),
x0=client.active_client.X0 + client.active_client.X0_COMMON,
y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
)
x0=client.active_client.X0 + client.active_client.X0_COMMON,
y0=client.active_client.Y0 + client.active_client.Y0_COMMON,
)
task_manager.add_task(start_time, 0, animation.takeoff,
task_kwargs={
"z": client.active_client.TAKEOFF_HEIGHT,
"timeout": client.active_client.TAKEOFF_TIME,
"safe_takeoff": client.active_client.SAFE_TAKEOFF,
# "frame_id": client.active_client.FRAME_ID,
"use_leds": client.active_client.USE_LEDS,
}
)
corrected_frames, start_action, start_delay = animation.correct_animation(frames,
check_takeoff=client.active_client.TAKEOFF_CHECK,
check_land=client.active_client.LAND_CHECK,
)
rfp_time = start_time + client.active_client.TAKEOFF_TIME
task_manager.add_task(rfp_time, 0, animation.execute_frame,
task_kwargs={
"point": animation.convert_frame(frames[0])[0],
"color": animation.convert_frame(frames[0])[1],
"frame_id": client.active_client.FRAME_ID,
"use_leds": client.active_client.USE_LEDS,
"flight_func": FlightLib.reach_point,
}
)
if start_action == 'takeoff':
task_manager.add_task(start_time, 0, animation.takeoff,
task_kwargs={
"z": client.active_client.TAKEOFF_HEIGHT,
"timeout": client.active_client.TAKEOFF_TIME,
"safe_takeoff": client.active_client.SAFE_TAKEOFF,
# "frame_id": client.active_client.FRAME_ID,
"use_leds": client.active_client.USE_LEDS,
}
)
frame_time = rfp_time + client.active_client.RFP_TIME
frame_delay = 0.125 # TODO from animation file
for frame in frames:
point, color, yaw = animation.convert_frame(frame) # TODO add param to calculate delta
task_manager.add_task(frame_time, 0, animation.execute_frame,
task_kwargs={
"point": point,
"color": color,
"frame_id": client.active_client.FRAME_ID,
"use_leds": client.active_client.USE_LEDS,
"flight_func": FlightLib.navto,
}
)
frame_time += frame_delay
rfp_time = start_time + client.active_client.TAKEOFF_TIME
task_manager.add_task(rfp_time, 0, animation.execute_frame,
task_kwargs={
"point": animation.convert_frame(corrected_frames[0])[0],
"color": animation.convert_frame(corrected_frames[0])[1],
"frame_id": client.active_client.FRAME_ID,
"use_leds": client.active_client.USE_LEDS,
"flight_func": FlightLib.reach_point,
}
)
land_time = frame_time + client.active_client.LAND_TIME
frame_time = rfp_time + client.active_client.RFP_TIME
for frame in corrected_frames:
point, color, yaw = animation.convert_frame(frame)
task_manager.add_task(frame_time, 0, animation.execute_frame,
task_kwargs={
"point": point,
"color": color,
"frame_id": client.active_client.FRAME_ID,
"use_leds": client.active_client.USE_LEDS,
"flight_func": FlightLib.navto,
}
)
frame_time += client.active_client.FRAME_DELAY
land_time = frame_time + client.active_client.LAND_TIME
else:
start_time += start_delay
task_manager.add_task(start_time, 0, FlightLib.arming_wrapper,
task_kwargs={
"state": True
}
)
frame_time = start_time + 0.5 # TODO Think about arming time
for frame in corrected_frames:
point, color, yaw = animation.convert_frame(frame) # TODO add param to calculate delta
task_manager.add_task(frame_time, 0, animation.execute_frame,
task_kwargs={
"point": point,
"color": color,
"frame_id": client.active_client.FRAME_ID,
"use_leds": client.active_client.USE_LEDS,
"flight_func": FlightLib.navto,
}
)
land_time = frame_time
task_manager.add_task(land_time, 0, animation.land,
task_kwargs={
"timeout": client.active_client.TAKEOFF_TIME,
"frame_id": client.active_client.FRAME_ID,
"use_leds": client.active_client.USE_LEDS,
},
)
task_kwargs={
"timeout": client.active_client.TAKEOFF_TIME,
"frame_id": client.active_client.FRAME_ID,
"use_leds": client.active_client.USE_LEDS,
},
)
if __name__ == "__main__":