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import libardrone.libardrone as libardrone
import pygame
import cv2
import os
import socket
import sys
import threading
import time
import struct
import math
from math import sin,cos,tan
OVERRIDE_THRESHOLD=0.01
def putStatusText(img, text, pos, activated):
cv2.putText(img, text, pos, cv2.FONT_HERSHEY_PLAIN, 1, (0,0,255) if activated else (127,127,127), 2 if activated else 1)
def encode_int(i):
i = int(i)
return chr( (i/(2**24))%256) + chr( (i/(2**16))%256 ) +\
chr( (i/(2**8))%256) + chr(i%256)
class ServerThread(threading.Thread):
def run(self):
while True:
# Wait for a connection
print >>sys.stderr, 'waiting for a connection'
connection, client_address = sock.accept()
#try:
if True:
print >>sys.stderr, 'connection from', client_address
while True:
data = connection.recv(16)
if data:
if data=="get\n":
lock.acquire()
framestr = global_frame.tostring()
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":
values = data[3:-1].split()
lock.acquire()
global_cmd_x = float(values[0])
global_cmd_y = float(values[1])
global_cmd_z = float(values[2])
global_cmd_rot = float(values[3])
global_cmd_hover = False # TODO XXX
lock.release()
else:
print >>sys.stderr, 'no more data from', client_address
break
#except:
# print "Dingens!!11!1!!!"
#finally:
# Clean up the connection
connection.close()
server_address = '/home/flo/uds_socket'
try:
os.unlink(server_address)
except OSError:
if os.path.exists(server_address):
raise
# Create a UDS socket
sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
# Bind the socket to the port
print >>sys.stderr, 'starting up on %s' % server_address
sock.bind(server_address)
# Listen for incoming connections
sock.listen(1)
no_flight = False
try:
pygame.init()
pygame.joystick.init()
js=pygame.joystick.Joystick(0)
js.init()
js_angle_shift = 0.0
except:
print "no joystick! disabling flight controls"
no_flight = True
manual_override_xy = True
manual_override_z = True
manual_override_rot = True
global_cmd_x = 0
global_cmd_y = 0
global_cmd_z = 0
global_cmd_rot = 0
global_cmd_hover = False # TODO XXX
drone = libardrone.ARDrone(True, True)
drone.reset()
serverthread=ServerThread()
lock=threading.Lock()
writer = cv2.VideoWriter("flight.avi",cv2.VideoWriter_fourcc(*'MP42'),25,(1280,720),1)
logfile = open("flight.log", "w")
global_phi = 0.
global_theta = 0.
global_psi = 0.
global_batt = 0.
global_frame = None
serverthread.start()
while True:
if no_flight == False:
pygame.event.pump()
btn_leftshoulder = js.get_button(4) or js.get_button(6)
btn_rightshoulder = js.get_button(5) or js.get_button(7)
btn_thumb = js.get_button(0) or js.get_button(1) or js.get_button(2) or js.get_button(3)
btn_all = js.get_button(0) and js.get_button(1) and js.get_button(2) and js.get_button(3)
btn_readjust = js.get_button(10)
if btn_thumb:
drone.land()
print "landing"
manual_override_xy = True
manual_override_z = True
manual_override_rot = True
if btn_leftshoulder and btn_rightshoulder and js.get_button(10):
drone.takeoff()
print "taking off"
manual_override_xy = True
manual_override_z = True
manual_override_rot = True
if btn_all:
print "resetting"
drone.reset()
manual_override_xy = True
manual_override_z = True
manual_override_rot = True
if btn_readjust:
js_angle_shift = drone.navdata.get(0, dict()).get('psi',0)
rel_angle = (drone.navdata.get(0, dict()).get('psi',0) - js_angle_shift)/180.*math.pi
js_x = js.get_axis(0)
js_y = js.get_axis(1)
js_z = -js.get_axis(4)
js_rot = js.get_axis(3)
js_radius = math.sqrt(js_x**2 + js_y**2)
if btn_leftshoulder==0:
js_x, js_y = ( js_x * cos(rel_angle) + js_y * sin(rel_angle) ) , ( -js_x * sin(rel_angle) + js_y * cos(rel_angle) )
js_hover = (btn_rightshoulder==0 and (js_radius <= 0.01))
if (js_radius > OVERRIDE_THRESHOLD): manual_override_xy = True
if (abs(js_z) > OVERRIDE_THRESHOLD): manual_override_z = True
if (abs(js_rot) > OVERRIDE_THRESHOLD): manual_override_rot = True
if manual_override_xy:
actual_hover, actual_x, actual_y = js_hover, js_x, js_y
else:
actual_hover, actual_x, actual_y = global_cmd_hover, global_cmd_x, global_cmd_y
if manual_override_z:
actual_z = js_z
else:
actual_z = global_cmd_z
if manual_override_rot:
actual_rot = js_rot
else:
actual_rot = global_cmd_rot
drone.move_freely( not actual_hover , actual_x, actual_y, actual_z, actual_rot)
lock.acquire()
rawimg = drone.get_image()
global_frame = cv2.cvtColor(rawimg, cv2.COLOR_BGR2RGB)
global_phi = drone.navdata.get(0, dict()).get('phi',1337)
global_theta = drone.navdata.get(0, dict()).get('theta',1337)
global_psi = drone.navdata.get(0, dict()).get('psi',1337)
global_batt = drone.navdata.get(0, dict()).get('batt',1337)
lock.release()
smallframe = cv2.resize(global_frame, (640,480))
cv2.rectangle(smallframe, (0,0), (640,30), (255,255,255), -1)
cv2.putText(smallframe, "override", (0,20), cv2.FONT_HERSHEY_PLAIN, 1, (255,0,0))
putStatusText(smallframe, "XY", (100,20), manual_override_xy)
putStatusText(smallframe, "height", (200,20), manual_override_z)
putStatusText(smallframe, "rotation", (300,20), manual_override_rot)
#cv2.putText(smallframe, "XY", (100,20), cv2.FONT_HERSHEY_PLAIN, 1, (0,0,255) if manual_override_xy else (127,127,127))
#cv2.putText(smallframe, "height", (250,20), cv2.FONT_HERSHEY_PLAIN, 1, (0,0,255) f manual_override_z else (127,127,127))
#cv2.putText(smallframe, "rotation", (400,20), cv2.FONT_HERSHEY_PLAIN, 1, (0,0,255) if manual_override_rot else (127,127,127))
cv2.imshow("frame", smallframe)
writer.write(global_frame)
logfile.write(str(global_phi)+"\t"+str(global_theta)+"\t"+str(global_psi)+"\n")
logfile.flush()
key = cv2.waitKey(10) & 0xFF
if key == ord("t"):
drone.trim()
if key == ord("z"):
drone.set_max_vz(750.0000)
drone.set_max_rotspeed(1.0)
drone.set_max_angle(0.1)
print "slow"
elif key == ord("a"):
drone.set_max_vz(10000.0000)
drone.set_max_rotspeed(10)
drone.set_max_angle(0.6)
print "fast"
if key == ord("1"):
manual_override_xy = False
elif key == ord("2"):
manual_override_z = False
elif key == ord("3"):
manual_override_rot = False
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