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-rw-r--r--Makefile2
-rw-r--r--client2.cpp50
-rw-r--r--ringbuf.h5
-rw-r--r--server.py11
4 files changed, 48 insertions, 20 deletions
diff --git a/Makefile b/Makefile
index 4e31c7d..e234fa9 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,4 @@
-client2: client2.cpp lib.cpp
+client2: client2.cpp lib.cpp ringbuf.h
g++ -std=c++11 -g client2.cpp lib.cpp -lglfw -lGLEW -lGLU -lGL `pkg-config --libs opencv` -lm -o client2
client: client.c
gcc client.c -lX11 -lXi -lXmu -lglut -lGL -lGLU -lm -o client
diff --git a/client2.cpp b/client2.cpp
index 49eb776..e412878 100644
--- a/client2.cpp
+++ b/client2.cpp
@@ -81,13 +81,13 @@ float vertices[] = {
float quadVertices[] = {
- -1.f, -1.f, 0.4f,0.4f, // Vertex 1 (X, Y)
- 1.f, -1.f, 0.6f,0.4f, // Vertex 2 (X, Y)
- 1.f, 1.f, 0.6f,0.6f, // Vertex 3 (X, Y)
+ -1.f, -1.f, 0.f,0.f, // Vertex 1 (X, Y)
+ 1.f, -1.f, 1.f,0.f, // Vertex 2 (X, Y)
+ 1.f, 1.f, 1.f,1.f, // Vertex 3 (X, Y)
- 1.f, 1.f, 0.6f,0.6f, // Vertex 3 (X, Y)
- -1.f, 1.f, 0.4f,0.6f, // Vertex 4 (X, Y)
- -1.f, -1.f, 0.4f,0.4f // Vertex 1 (X, Y)
+ 1.f, 1.f, 1.f,1.f, // Vertex 3 (X, Y)
+ -1.f, 1.f, 0.f,1.f, // Vertex 4 (X, Y)
+ -1.f, -1.f, 0.f,0.f // Vertex 1 (X, Y)
};
@@ -317,7 +317,7 @@ int main(int argc, const char** argv)
Mat screencontent_(real_canvas_height,real_canvas_width, CV_8UC3);
Mat screencontent_mask(real_canvas_height,real_canvas_width, CV_8UC3);
- #define RINGBUF_SIZE 10
+ #define RINGBUF_SIZE 4
ModuloRingbuffer ringbuf_x(RINGBUF_SIZE, -virtual_canvas_width/2, virtual_canvas_width/2);
Ringbuffer ringbuf_y(RINGBUF_SIZE);
ModuloRingbuffer ringbuf_a(RINGBUF_SIZE, -180,180);
@@ -326,6 +326,12 @@ int main(int argc, const char** argv)
ModuloRingbuffer ringbuf_theta(RINGBUF_SIZE, -180,180);
+ #define DELAY_SIZE 6
+ Ringbuffer delay_phi(DELAY_SIZE); // should delay sensor data by ~0.2sec
+ Ringbuffer delay_psi(DELAY_SIZE); // that's the amount the video lags behind
+ Ringbuffer delay_theta(DELAY_SIZE); // the sensor data
+
+
for (int i=0; i<400;i++)
{
drone.get(frame_, &navdata);
@@ -333,9 +339,22 @@ int main(int argc, const char** argv)
cvtColor(frame, oldgray, COLOR_BGR2GRAY);
}
- while (waitKey(1) != 'x')
+ char key;
+ int adjust_phi=0;
+ while ((key=waitKey(1)) != 'x')
{
drone.get(frame_, &navdata);
+ delay_phi.put(navdata.phi);
+ delay_psi.put(navdata.psi);
+ delay_theta.put(navdata.theta);
+ navdata.phi = delay_phi.front();
+ navdata.psi = delay_psi.front();
+ navdata.theta = delay_theta.front();
+
+ navdata.phi = fixup_angle(navdata.phi + adjust_phi);
+
+ if (key=='q') adjust_phi++;
+ if (key=='w') adjust_phi--;
//for (int i=0; i<1280; i+=50) frame_.col(i)=Scalar(0,255,255);
//for (int i=0; i<720; i+=50) frame_.row(i)=Scalar(0,255,255);
@@ -367,8 +386,8 @@ int main(int argc, const char** argv)
printf("no mat!\n");
}
- total_x += shift_x;
- total_y += shift_y;
+ total_x += cos(total_rot*PI/180.)*shift_x + sin(total_rot*PI/180.)*shift_y;
+ total_y += -sin(total_rot*PI/180.)*shift_x + cos(total_rot*PI/180.)*shift_y;
total_rot = fixup_angle(total_rot+angle);
ringbuf_x.put(total_x);
@@ -386,16 +405,19 @@ int main(int argc, const char** argv)
//if (fabs(ydiff) < px_per_deg) ydiff = 0.0;
//if (fabs(adiff) < 2) adiff = 0.0;
- xdiff*=0.0;
- ydiff*=0.0;
- adiff*=0.1;
+ xdiff*=0.5;
+ ydiff*=0.5;
+ adiff*=0.5;
total_x = fixup_range(total_x - xdiff, -virtual_canvas_width/2, virtual_canvas_width/2);
total_y = total_y - ydiff;
total_rot = fixup_angle(total_rot - adiff);
ringbuf_x.add(-xdiff);
ringbuf_y.add(-ydiff);
ringbuf_a.add(-adiff);
-
+
+ //total_x = navdata.psi * px_per_deg;
+ //total_y = - navdata.theta * px_per_deg;
+ //total_rot = -navdata.phi;
diff --git a/ringbuf.h b/ringbuf.h
index 1f97a12..59d43b7 100644
--- a/ringbuf.h
+++ b/ringbuf.h
@@ -33,6 +33,11 @@ class Ringbuffer
return avg;
}
+
+ double front()
+ {
+ return buf[idx];
+ }
void put(double val)
{
diff --git a/server.py b/server.py
index ed90c74..e633579 100644
--- a/server.py
+++ b/server.py
@@ -27,7 +27,8 @@ class ServerThread(threading.Thread):
# Wait for a connection
print >>sys.stderr, 'waiting for a connection'
connection, client_address = sock.accept()
- try:
+ #try:
+ if True:
print >>sys.stderr, 'connection from', client_address
while True:
@@ -36,7 +37,7 @@ class ServerThread(threading.Thread):
if data=="get\n":
lock.acquire()
framestr = global_frame.tostring()
- lenframestr=len(global_framestr)
+ lenframestr=len(framestr)
connection.sendall(struct.pack(">i",lenframestr)+framestr+struct.pack("@dddd", global_phi, global_theta, global_psi, global_batt));
lock.release()
elif data[0:3] == "fly" and data[-1]=="\n":
@@ -51,9 +52,9 @@ class ServerThread(threading.Thread):
else:
print >>sys.stderr, 'no more data from', client_address
break
- except:
- print "Dingens!!11!1!!!"
- finally:
+ #except:
+ # print "Dingens!!11!1!!!"
+ #finally:
# Clean up the connection
connection.close()