server2

1 files changed, 140 insertions, 0 deletions

diff --git a/libardrone/arnetwork.py b/libardrone/arnetwork.py
new file mode 100644
index 0000000..45964dd
--- /dev/null
+++ b/libardrone/arnetwork.py
@@ -0,0 +1,140 @@
+# Copyright (c) 2011 Bastian Venthur
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+import logging
+
+"""
+This module provides access to the data provided by the AR.Drone.
+"""
+import threading
+import select
+import socket
+import multiprocessing
+import libardrone
+
+class ARDroneNetworkProcess(threading.Thread):
+    """ARDrone Network Process.
+
+    This process collects data from the video and navdata port, converts the
+    data and sends it to the IPCThread.
+    """
+
+    def __init__(self, com_pipe, is_ar_drone_2, drone):
+        threading.Thread.__init__(self)
+        self._drone = drone
+        self.com_pipe = com_pipe
+        self.is_ar_drone_2 = is_ar_drone_2
+        self.stopping = False
+        if is_ar_drone_2:
+            import ar2video
+            self.ar2video = ar2video.ARVideo2(self._drone, libardrone.DEBUG)
+        else:
+            import arvideo
+
+    def run(self):
+
+        def _connect():
+            logging.warn('Connection to ardrone')
+            if self.is_ar_drone_2:
+                video_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+                video_socket.connect(('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
+                video_socket.setblocking(0)
+            else:
+                video_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+                video_socket.setblocking(0)
+                video_socket.bind(('', libardrone.ARDRONE_VIDEO_PORT))
+                video_socket.sendto("\x01\x00\x00\x00", ('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
+
+            nav_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
+            nav_socket.setblocking(0)
+            nav_socket.bind(('', libardrone.ARDRONE_NAVDATA_PORT))
+            nav_socket.sendto("\x01\x00\x00\x00", ('192.168.1.1', libardrone.ARDRONE_NAVDATA_PORT))
+
+            control_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            control_socket.connect(('192.168.1.1', libardrone.ARDRONE_CONTROL_PORT))
+            control_socket.setblocking(0)
+            logging.warn('Connection established')
+            return video_socket, nav_socket, control_socket
+
+        def _disconnect(video_socket, nav_socket, control_socket):
+            logging.warn('Disconnection to ardrone streams')
+            video_socket.close()
+            nav_socket.close()
+            control_socket.close()
+
+        video_socket, nav_socket, control_socket = _connect()
+
+        self.stopping = False
+        connection_lost = 1
+        reconnection_needed = False
+        while not self.stopping:
+            if reconnection_needed:
+                _disconnect(video_socket, nav_socket, control_socket)
+                video_socket, nav_socket, control_socket = _connect()
+                reconnection_needed = False
+            inputready, outputready, exceptready = select.select([nav_socket, video_socket, self.com_pipe, control_socket], [], [], 1.)
+            if len(inputready) == 0:
+                connection_lost += 1
+                reconnection_needed = True
+            for i in inputready:
+                if i == video_socket:
+                    while 1:
+                        try:
+                            data = video_socket.recv(65536)
+                            if self.is_ar_drone_2:
+                                self.ar2video.write(data)
+                        except IOError:
+                            # we consumed every packet from the socket and
+                            # continue with the last one
+                            break
+                        # Sending is taken care of by the decoder
+                    if not self.is_ar_drone_2:
+                        w, h, image, t = arvideo.read_picture(data)
+                        self._drone.set_image(image)
+                elif i == nav_socket:
+                    while 1:
+                        try:
+                            data = nav_socket.recv(500)
+                        except IOError:
+                            # we consumed every packet from the socket and
+                            # continue with the last one
+                            break
+                    navdata, has_information = libardrone.decode_navdata(data)
+                    if (has_information):
+                        self._drone.set_navdata(navdata)
+                elif i == self.com_pipe:
+                    _ = self.com_pipe.recv()
+                    self.stopping = True
+                    break
+                elif i == control_socket:
+                    reconnection_needed = False
+                    while not reconnection_needed:
+                        try:
+                            data = control_socket.recv(65536)
+                            if len(data) == 0:
+                                logging.warning('Received an empty packet on control socket')
+                                reconnection_needed = True
+                            else:
+                                logging.warning("Control Socket says : %s", data)
+                        except IOError:
+                            break
+        _disconnect(video_socket, nav_socket, control_socket)
+
+    def terminate(self):
+        self.stopping = True