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+# 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