mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-05-26 15:13:26 +00:00
389 lines
14 KiB
Python
389 lines
14 KiB
Python
import os
|
|
import csv
|
|
import copy
|
|
import math
|
|
import time
|
|
import numpy
|
|
import rospy
|
|
import logging
|
|
import threading
|
|
|
|
logger = logging.getLogger(__name__)
|
|
|
|
# Import flight control
|
|
try:
|
|
import modules.flight as flight
|
|
except ImportError:
|
|
logger.debug("Can't import flight control module!")
|
|
|
|
# Import led control
|
|
try:
|
|
import modules.led as led
|
|
except ImportError:
|
|
logger.debug("Can't import led control module for Raspberry Pi!")
|
|
|
|
interrupt_event = threading.Event()
|
|
|
|
def moving(f1, f2, delta, x=True, y=True, z=True):
|
|
return ((abs(f1.x - f2.x) > delta) and x
|
|
or (abs(f1.y - f2.y) > delta) and y
|
|
or (abs(f1.z - f2.z) > delta) and z)
|
|
|
|
def get_numbers(frames):
|
|
numbers = []
|
|
if frames:
|
|
for frame in frames:
|
|
numbers.append(frame.number)
|
|
return numbers
|
|
|
|
class Frame(object):
|
|
params_dict = {
|
|
"number": None,
|
|
"x": None,
|
|
"y": None,
|
|
"z": None,
|
|
"yaw": None,
|
|
"red": None,
|
|
"green": None,
|
|
"blue": None,
|
|
"delay": None,
|
|
}
|
|
def __init__(self, csv_row=None, delay=None):
|
|
for key, value in self.params_dict.items():
|
|
setattr(self, key, value)
|
|
if csv_row:
|
|
self.load_csv_row(csv_row)
|
|
if delay:
|
|
self.delay = delay
|
|
|
|
def load_csv_row(self, csv_row):
|
|
number, x, y, z, yaw, red, green, blue = csv_row
|
|
self.number = int(number)
|
|
self.x = float(x)
|
|
self.y = float(y)
|
|
self.z = float(z)
|
|
self.yaw = float(yaw)
|
|
self.red = int(red)
|
|
self.green = int(green)
|
|
self.blue = int(blue)
|
|
|
|
def get_pos(self):
|
|
if None in [self.x, self.y, self.z]:
|
|
return []
|
|
else:
|
|
return [self.x, self.y, self.z]
|
|
|
|
def get_color(self):
|
|
if None in [self.red, self.green, self.blue]:
|
|
return []
|
|
else:
|
|
return [self.red, self.green, self.blue]
|
|
|
|
def set_yaw(self, yaw):
|
|
if yaw != "animation":
|
|
self.yaw = math.radians(float(yaw))
|
|
|
|
def pose_is_valid(self):
|
|
return self.get_pos() and (self.yaw is not None)
|
|
|
|
class Animation(object):
|
|
def __init__(self, config=None, filepath="animation.csv"):
|
|
self.reset(filepath)
|
|
if config is not None:
|
|
self.update_frames(config, filepath)
|
|
|
|
def reset(self, filepath):
|
|
self.id = None
|
|
self.start_delay = 0
|
|
self.original_frames = None
|
|
self.static_begin_frames = None
|
|
self.static_begin_time = 0
|
|
self.takeoff_frames = None
|
|
self.takeoff_time = 0
|
|
self.route_frames = None
|
|
self.route_time = 0
|
|
self.land_frames = None
|
|
self.land_time = 0
|
|
self.static_end_frames = None
|
|
self.static_end_time = 0
|
|
self.output_frames = None
|
|
self.output_frames_min_z = None
|
|
self.filepath = filepath
|
|
self.state = None
|
|
|
|
def load(self, filepath="animation.csv", config = None):
|
|
self.original_frames = []
|
|
self.corrected_frames = []
|
|
self.filepath = filepath
|
|
self.state = "OK"
|
|
delay = config.animation_frame_delay
|
|
try:
|
|
animation_file = open(filepath)
|
|
except IOError:
|
|
logger.debug("File {} can't be opened".format(filepath))
|
|
self.state = "No animation"
|
|
else:
|
|
with animation_file:
|
|
current_frame_delay = delay
|
|
csv_reader = csv.reader(
|
|
animation_file, delimiter=',', quotechar='|'
|
|
)
|
|
row_0 = csv_reader.next()
|
|
if len(row_0) == 1:
|
|
self.id = row_0[0]
|
|
logger.debug("Got animation_id: {}".format(self.id))
|
|
elif len(row_0) == 2:
|
|
current_frame_delay = float(row_0[1])
|
|
logger.debug("Got new frame delay: {}".format(current_frame_delay))
|
|
else:
|
|
logger.debug("No animation id in file")
|
|
self.id = "No animation id"
|
|
try:
|
|
frame = Frame(row_0, current_frame_delay)
|
|
except ValueError as e:
|
|
logger.error("Can't parse row in csv file. {}".format(e))
|
|
self.state = "Bad animation file"
|
|
return
|
|
try:
|
|
frame.set_yaw(config.animation_yaw)
|
|
except ValueError as e:
|
|
logger.error("Can't set yaw from configuration")
|
|
self.state = "Bad yaw from config"
|
|
return
|
|
self.original_frames.append(frame)
|
|
for row in csv_reader:
|
|
if len(row) == 2:
|
|
current_frame_delay = float(row[1])
|
|
logger.debug("Got new frame delay: {}".format(current_frame_delay))
|
|
else:
|
|
try:
|
|
frame = Frame(row, current_frame_delay)
|
|
except ValueError as e:
|
|
logger.error("Can't parse row in csv file. {}".format(e))
|
|
self.state = "Bad animation file"
|
|
return
|
|
try:
|
|
frame.set_yaw(config.animation_yaw)
|
|
except ValueError as e:
|
|
logger.error("Can't set yaw from configuration")
|
|
self.state = "Bad yaw from config"
|
|
return
|
|
self.original_frames.append(frame)
|
|
self.split_animation()
|
|
|
|
'''
|
|
Split animation into 5 parts: static_begin, takeoff, route, land, static_end
|
|
* static_begin and static_end are chains of frames in the beginning and the end of animation,
|
|
where the drone doesn't move
|
|
* takeoff and land are chains of frames after and before static frames of animation,
|
|
where the drone doesn't move in xy plane, and it's z coordinate only increases or decreases, respectively.
|
|
* route is the rest of the animation
|
|
Count static_begin_time and takeoff_time
|
|
'''
|
|
def split_animation(self, move_delta=0.01):
|
|
self.static_begin_frames = []
|
|
self.takeoff_frames = []
|
|
self.route_frames = []
|
|
self.land_frames = []
|
|
self.static_end_frames = []
|
|
self.static_begin_time = 0
|
|
self.takeoff_time = 0
|
|
self.route_time = 0
|
|
self.land_time = 0
|
|
if len(self.original_frames) == 0:
|
|
return
|
|
frames = copy.deepcopy(self.original_frames)
|
|
i = 0 # Moving index from the beginning
|
|
# Select static begin frames
|
|
while i < len(frames) - 1:
|
|
self.static_begin_time += frames[i].delay
|
|
if moving(frames[i], frames[i+1], move_delta):
|
|
break
|
|
i += 1
|
|
if i > 0:
|
|
self.static_begin_frames = frames[:i+1]
|
|
frames = frames[i+1:]
|
|
i = 0
|
|
else:
|
|
self.static_begin_time = 0
|
|
# Select takeoff frames
|
|
while i < len(frames) - 1:
|
|
self.takeoff_time += frames[i].delay
|
|
if moving(frames[i], frames[i+1], move_delta, z = False) or (frames[i+1].z - frames[i].z <= 0):
|
|
break
|
|
i += 1
|
|
if i > 0:
|
|
self.takeoff_frames = frames[:i+1]
|
|
frames = frames[i+1:]
|
|
else:
|
|
self.takeoff_time = 0
|
|
i = len(frames) - 1 # Moving index from the end
|
|
# Select static end frames
|
|
while i >= 0:
|
|
self.static_end_time += frames[i].delay
|
|
if moving(frames[i], frames[i-1], move_delta):
|
|
break
|
|
i -= 1
|
|
if i < len(frames) - 1:
|
|
self.static_end_frames = frames[i+1:]
|
|
frames = frames[:i+1]
|
|
i = len(frames) - 1
|
|
else:
|
|
self.static_end_time = 0
|
|
# Select land frames
|
|
while i >= 0:
|
|
self.land_time += frames[i].delay
|
|
if moving(frames[i], frames[i-1], move_delta, z = False) or (frames[i-1].z - frames[i].z <= 0):
|
|
break
|
|
i -= 1
|
|
if i < len(frames) - 1:
|
|
self.land_frames = frames[i+1:]
|
|
frames = frames[:i+1]
|
|
else:
|
|
self.land_time = 0
|
|
# Get route frames
|
|
self.route_frames = frames
|
|
for frame in self.route_frames:
|
|
self.route_time += frame.delay
|
|
|
|
def make_output_frames(self, static_begin, takeoff, route, land, static_end):
|
|
self.output_frames = []
|
|
self.output_frames_min_z = None
|
|
self.start_delay = 0.
|
|
if not self.original_frames:
|
|
return
|
|
if not static_begin and not takeoff and not route and not land and not static_end:
|
|
return
|
|
if static_begin:
|
|
self.output_frames += self.static_begin_frames
|
|
if not static_begin:
|
|
self.start_delay += self.static_begin_time
|
|
if takeoff:
|
|
self.output_frames += self.takeoff_frames
|
|
if not static_begin and not takeoff:
|
|
self.start_delay += self.takeoff_time
|
|
if route:
|
|
self.output_frames += self.route_frames
|
|
if not static_begin and not takeoff and not route:
|
|
self.start_delay += self.route_time
|
|
if land:
|
|
self.output_frames += self.land_frames
|
|
if not static_begin and not takeoff and not route and not land:
|
|
self.start_delay += self.land_time
|
|
if static_end:
|
|
self.output_frames += self.static_end_frames
|
|
if self.output_frames:
|
|
self.output_frames_min_z = min(self.output_frames, key = lambda p: p.z).z
|
|
|
|
def update_frames(self, config, filepath):
|
|
self.reset(filepath)
|
|
self.load(filepath, config)
|
|
self.make_output_frames(config.animation_output_static_begin,
|
|
config.animation_output_takeoff,
|
|
config.animation_output_route,
|
|
config.animation_output_land,
|
|
config.animation_output_static_end)
|
|
|
|
def get_scaled_output(self, ratio=(1,1,1), offset=(0,0,0)):
|
|
x0, y0, z0 = offset
|
|
x_ratio, y_ratio, z_ratio = ratio
|
|
scaled_frames = copy.deepcopy(self.output_frames)
|
|
if scaled_frames:
|
|
for frame in scaled_frames:
|
|
frame.x = x_ratio*frame.x + x0
|
|
frame.y = y_ratio*frame.y + y0
|
|
frame.z = z_ratio*frame.z + z0
|
|
return scaled_frames
|
|
|
|
def get_scaled_output_min_z(self, ratio=(1,1,1), offset=(0,0,0)):
|
|
if self.output_frames_min_z is None:
|
|
return None
|
|
z0 = offset[2]
|
|
z_ratio = ratio[2]
|
|
return self.output_frames_min_z*z_ratio + z0
|
|
|
|
def get_start_point(self, ratio=(1,1,1), offset=(0,0,0)):
|
|
if not self.output_frames:
|
|
return []
|
|
x0, y0, z0 = offset
|
|
x_ratio, y_ratio, z_ratio = ratio
|
|
first_frame = self.output_frames[0]
|
|
x = x_ratio*first_frame.x + x0
|
|
y = y_ratio*first_frame.y + y0
|
|
z = z_ratio*first_frame.z + z0
|
|
return [x, y, z]
|
|
|
|
def get_start_yaw(self):
|
|
if not self.output_frames:
|
|
return float('nan')
|
|
return math.degrees(self.output_frames[0].yaw)
|
|
|
|
def check_ground(self, ground_level=0, ratio=(1,1,1), offset=(0,0,0)):
|
|
return ground_level <= self.get_scaled_output_min_z(ratio, offset)
|
|
|
|
def get_start_action(self, start_action, current_height, takeoff_level,
|
|
ground_level, ratio=(1,1,1), offset=(0,0,0)):
|
|
# Check output frames
|
|
if not self.output_frames:
|
|
return 'error: empty output frames'
|
|
if math.isnan(current_height):
|
|
return 'error: bad current_height'
|
|
# Check that bottom point of animation is higher than ground level
|
|
if ground_level > self.get_scaled_output_min_z(ratio, offset):
|
|
return 'error: some animation points are lower than ground level'
|
|
# Select start action
|
|
if start_action == 'auto':
|
|
if self.get_start_point(ratio, offset)[2] - current_height > takeoff_level:
|
|
return 'takeoff'
|
|
else:
|
|
return 'fly'
|
|
elif start_action in ('takeoff', 'fly'):
|
|
return start_action
|
|
else:
|
|
return 'error'
|
|
|
|
# Need for tests
|
|
def save_corrected_animation(self):
|
|
name, ext = os.path.splitext(self.filepath)
|
|
filepath = name + '_corrected' + ext
|
|
with open(filepath, mode='w+') as corrected_animation:
|
|
csv_writer = csv.writer(corrected_animation, delimiter=',', quotechar='"', quoting=csv.QUOTE_MINIMAL)
|
|
for frame in self.corrected_frames:
|
|
csv_writer.writerow([frame.number, frame.x, frame.y, frame.z, frame.red, frame.green, frame.blue, frame.delay])
|
|
|
|
try:
|
|
def execute_frame(frame, frame_id='aruco_map', use_leds=True,
|
|
flight_func=flight.navto, auto_arm=False, flight_kwargs=None, interrupter=interrupt_event):
|
|
if flight_kwargs is None:
|
|
flight_kwargs = {}
|
|
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")
|
|
if use_leds:
|
|
if frame.get_color:
|
|
led.fill(*color)
|
|
|
|
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)
|
|
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':
|
|
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)
|
|
|
|
|
|
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)
|
|
flight.land(z=z, descend=descend, timeout_land=timeout, frame_id_land=frame_id, interrupter=interrupter)
|
|
if use_leds:
|
|
led.off()
|
|
|
|
except NameError:
|
|
print("Can't create flying functions")
|