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ps_drone.py
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#########
# ps_drone.py
# (w)+(c) J. Philipp de Graaff, www.playsheep.de, [email protected], 2012-2014
# Project homepage: www.playsheep.de/drone and https://sourceforge.net/projects/ps-drone/
# Dependencies: a POSIX OS, openCV2 for video-support.
# Base-program of the PS-Drone API: "An open and enhanced API for universal control of the Parrot AR.Drone 2.0 quadcopter."
##########
# Modified and advanced version, based on a part of the master of computer science degree dissertation "Universelle
# Kontrolle und Ueberwachung einer Parrot AR.Drone 2.0 auf Basis eines offenen und erweiterten Toolkits"
# by J. Philipp de Graaff, faculty of computer science, Prof. Dr. Hedrich, at the University of Frankfurt / Germany
# Linked at http://www.em.cs.uni-frankfurt.de/index.php?id=43&L=1
# For further details, information, documentation or tutorials visit: www.playsheep.de/drone
##########
# LICENCE:
# Artistic License 2.0 as seen on http://opensource.org/licenses/artistic-license-2.0 (retrieved December 2014)
# If the terms of this license do not permit the full use that you propose to make of PS-Drone, please contact me for a
# different licensing arrangement.
# Visit www.playsheep.de/drone or see the PS-Drone-API-documentation for an abstract from the Artistic License 2.0.
##########
# Dedicated to my beloved wife.
###########
import threading, select, socket, time, tempfile, multiprocessing, struct, os, sys
import thread, signal, subprocess
if os.name == 'posix': import termios, fcntl # for getKey(), ToDo: Reprogram for Windows
commitsuicideV, showVid, vCruns, lockV, debugV = False, False, False, threading.Lock(), False # Global variables for video-decoding
offsetND, suicideND, commitsuicideND = 0, False, False # Global variables for NavDava-decoding
class Drone(object):
######################################=-
### Start and stop using the drone ###=-
######################################=-
###### Bootup and base configuration
def __init__(self):
self.__Version = "2.0.2"
self.__lock = threading.Lock() # To prevent semaphores
self.__startTime = time.time()
self.__speed = 0.2 # Default drone moving speed in percent.
self.showCommands = False # Shows all sent commands (but not the keepalives)
self.debug = False # Shows some additional debug information
self.valueCorrection = False
self.selfRotation = 0.0185 # use this value, if not checked by getSelfRotation()
self.stopOnComLoss = False # when there is a communication-problem, drone will land or not
# Drone communication variables
self.DroneIP = "192.168.1.1"
self.NavDataPort = 5554
self.VideoPort = 5555
self.CmdPort = 5556
self.CTLPort = 5559
# NavData variables
self.__NavData = ""
self.__State = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
self.__NavDataCount = 0
self.__NavDataTimeStamp = 0.0
self.__NavDataDecodingTime = 0.0
self.__NoNavData = False
# Video variables
self.__VideoImage = None
self.__VideoImageCount = 0
self.__VideoDecodeTimeStamp = 0
self.__VideoDecodeTime = 0
self.__VideoReady = False
self.__vKey = ""
self.__SaveVideo = False
# Config variables
self.__ConfigData = []
self.__ConfigDataCount = 0
self.__ConfigDataTimeStamp = 0
self.__ConfigSending = True
self.__ConfigSessionID = "03016321"
self.__ConfigUserID = "0a100407"
self.__ConfigApplicationID = "03016321"
self.sendConfigSaveMode = False
# Internal variables
self.__NavDataProcess = ""
self.__VideoProcess = ""
self.__vDecodeProcess = ""
self.__ConfigQueue = []
self.__networksuicide = False
self.__receiveDataRunning = False
self.__sendConfigRunning = False
self.__shutdown = False
self.__pDefaultStr = "\033[0m"
self.__pRedStr = "\033[91m"
self.__pGreenStr = "\033[92m"
self.__pYellowStr = "\033[93m"
self.__pBlueStr = "\033[94m"
self.__pPurpleStr = "\033[95m"
self.__pLineUpStr = "\033[1A"
###### Connect to the drone and start all procedures
def startup(self):
# Check for drone in the network and wake it up
try:
socket.socket().connect((self.DroneIP, 21))
socket.socket().close()
except:
self.printRed()
print "Drone is not online"
self.printDefault()
sys.exit(9)
# Internal variables
self.__CmdCounter = 3 # as there are two raw commands, send next steps
self.__calltime = 0 # to get some time-values to debug
#send the first four initial-commands to the drone
self.__sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # Open network connection
self.__sock.setblocking(0) # Network should not block
self.__sendrawmsg("\r") # Wakes up command port
time.sleep(0.01)
self.__sendrawmsg("AT*PMODE=1,2\rAT*MISC=2,2,20,2000,3000\r") # Initialising drone as sniffed from datastream demo-tool to AR.Drone
##### Initialising timed thread(s) for drone communication
# Opening NavData- and Video- Processes
self.__VidPipePath = tempfile.gettempdir()+"/dronevid-"+str(threading.enumerate()[0])[-12:-2]+"-"+str(time.time())[-7:].replace(".","")+".h264"
self.__net_pipes = []
self.__NavData_pipe, navdataChild_pipe = multiprocessing.Pipe()
self.__Video_pipe, videoChild_pipe = multiprocessing.Pipe()
self.__vdecode_pipe, self.__vdecodeChild_pipe = multiprocessing.Pipe()
self.__NavDataProcess = multiprocessing.Process( target=mainloopND, args=(self.DroneIP,self.NavDataPort,navdataChild_pipe,os.getpid()))
self.__NavDataProcess.start()
self.__VideoProcess = multiprocessing.Process( target=mainloopV, args=(self.DroneIP,self.VideoPort,self.__VidPipePath,videoChild_pipe,os.getpid()))
self.__VideoProcess.start()
self.__vDecodeProcess = multiprocessing.Process( target=vDecode, args=(self.__VidPipePath,self.__vdecodeChild_pipe,os.getpid()))
# There is a third process called "self.__vDecodeProcess" for decoding video, initiated and started around line 880
# Final settings
self.useDemoMode(True) # This entry is necessary for the drone's firmware, otherwise the NavData contains just header and footer
self.setConfig("custom:session_id","-all")
self.getNDpackage(["demo"])
time.sleep(1)
#setup Network-thread
while not self.__receiveDataRunning or not self.__sendConfigRunning or len(self.__ConfigQueue): # sometimes they would not start why ever, so TK has to double-check
if not self.__receiveDataRunning:
self.__threadReceiveData=threading.Thread(target=self.__receiveData)
self.__threadReceiveData.start()
time.sleep(0.05)
if not self.__sendConfigRunning:
self.__threadSendConfig=threading.Thread(target=self.__sendConfig)
self.__threadSendConfig.start()
time.sleep(0.05)
time.sleep(0.01)
###### Clean Shutdown
def shutdown(self):
if self.__shutdown: sys.exit()
self.__shutdown = True
if self.debug: print "Shutdown..."
self.land()
self.thrust(0,0,0,0)
try: self.__NavData_pipe.send("die!")
except: pass
self.__Video_pipe.send("uninit")
t=time.time()
while self.__VideoReady and (time.time()-t)<5: time.sleep(0.1)
try: self.__Video_pipe.send("die!")
except: pass
time.sleep(0.5)
try: self.__VideoProcess.terminate()
except: pass
try: self.__vDecodeProcess.terminate()
except: pass
try: self.__NavDataProcess.terminate()
except: pass
self.__stopnetwork()
try: self.__threadSendConfig.join()
except: pass
try: self.__threadReceiveData.join()
except: pass
self.__keepalive.cancel()
sys.exit()
##############################################################=-
### Make internal variables to external read-only variables ###=-
##############################################################=-
@property
def Version(self): return self.__Version
@property
def startTime(self): return self.__startTime
@property
def speed(self): return self.__speed
@property
def NavData(self): return self.__NavData
@property
def State(self): return self.__State
@property
def NavDataCount(self): return self.__NavDataCount
@property
def NavDataTimeStamp(self): return self.__NavDataTimeStamp
@property
def NavDataDecodingTime(self): return self.__NavDataDecodingTime
@property
def NoNavData(self): return self.__NoNavData
@property
def VideoImage(self): return self.__VideoImage
@property
def VideoImageCount(self): return self.__VideoImageCount
@property
def VideoDecodeTimeStamp(self): return self.__VideoDecodeTimeStamp
@property
def VideoDecodeTime(self): return self.__VideoDecodeTime
@property
def VideoReady(self): return self.__VideoReady
@property
def SaveVideo(self): return self.__SaveVideo
@property
def ConfigData(self): return self.__ConfigData
@property
def ConfigDataCount(self): return self.__ConfigDataCount
@property
def ConfigDataTimeStamp(self): return self.__ConfigDataTimeStamp
@property
def ConfigSending(self): return self.__ConfigSending
@property
def ConfigSessionID(self): return self.__ConfigSessionID
@property
def ConfigUserID(self): return self.__ConfigUserID
@property
def ConfigApplicationID(self): return self.__ConfigApplicationID
######################=-
### Drone commands ###=-
######################=-
###### Commands for configuration
# change some value
def setConfig(self, name, value): # e.g. drone.setConfig(control:altitude_max","5000")
self.__ConfigQueue.append([str(name), str(value), False]) # Note: changes are not immediately and could take some time
# change some value and send the configuration Identifier (sendConfigIDs) ahead
def setMConfig(self, name, value): # Usage like setConfig
self.__ConfigQueue.append([str(name), str(value), True]) # Note: changes are not immediately and could take some time
# get actual configuration
def getConfig(self): # Stored in "ConfigData"
self.at("CTRL", [5,0]) # Wow, that is new, was not necessary before
self.at("CTRL", [4,0]) # Note: Actual configuration data will be received after setting...
if self.showCommands: self.__calltime = time.time() # ... automatically. An update will take up to 0.015 sec)
# setting IDs to store Konfigurations for later
def setConfigSessionID(self, *args):
try:
value = float(*args[0])
self.__ConfigSessionID = normalLen8(value)
self.setConfig("custom:session_id", self.__ConfigSessionID)
except: return (self.__ConfigSessionID)
def setConfigUserID(self, *args):
try:
value = float(*args[0])
self.__ConfigUserID = normalLen8(value)
self.setConfig("custom:profile_id", self.__ConfigUserID)
except: return (self.__ConfigUserID)
def setConfigApplicationID(self, *args):
try:
value = float(*args[0])
self.__ConfigApplicationID = normalLen8(value)
self.setConfig("custom:application_id", self.__ConfigApplicationID)
except: return (self.__ConfigApplicationID)
def setConfigAllID(self):
self.setConfig("custom:session_id", self.__ConfigSessionID)
self.setConfig("custom:profile_id", self.__ConfigUserID)
self.setConfig("custom:application_id", self.__ConfigApplicationID)
# Reminds the drone which IDs it has to use (important for e.g. switch cameras)
def sendConfigIDs(self):
self.at("CONFIG_IDS", [self.__ConfigSessionID,self.__ConfigUserID,self.__ConfigApplicationID])
###### Calibration
def trim(self):
self.at("FTRIM", [])
def mtrim(self):
self.at("CALIB", [0])
def mantrim(self, thetaAngle, phiAngle, yawAngle): # manual Trim
if self.valueCorrection:
try: thetaAngle = float(thetaAngle)
except: thetaAngle = 0.0
try: phiAngle = float(phiAngle)
except: phiAngle = 0.0
try: yawAngle = float(yawAngle)
except: yawAngle = 0.0
self.at("MTRIM", [thetaAngle,phiAngle,yawAngle]) # floats
def getSelfRotation(self, wait):
if self.valueCorrection:
try: wait = float(wait)
except: wait = 1.0
reftime = time.time()
oangle = self.__NavData["demo"][2][2] # detects the self-rotation-speed of the yaw-sensor
time.sleep(wait)
self.selfRotation = (self.__NavData["demo"][2][2]-oangle)/(time.time()-reftime)
return self.selfRotation
###### Movement
# Default speed of movement
def setSpeed(self, *speed):
try: self.__speed = self.__checkSpeedValue(*speed)
except: pass
return self.__speed
# Absolute movement in x, y and z-direction and rotation
def move(self, leftright, backwardforward, downup, turnleftright): # Absolute movement in x, y and z-direction and rotation
if self.valueCorrection:
try: leftright = float(leftright)
except: leftright = 0.0
try: backwardforward = float(backwardforward)
except: backwardforward = 0.0
try: downup = float(downup)
except: downup = 0.0
try: turnleftright = float(turnleftright)
except: turnleftright = 0.0
if leftright > 1.0: leftright = 1.0
if leftright < -1.0: leftright = -1.0
if backwardforward > 1.0: backwardforward = 1.0
if backwardforward < -1.0: backwardforward = -1.0
if downup > 1.0: downup = 1.0
if downup < -1.0: downup = -1.0
if turnleftright > 1.0: turnleftright = 1.0
if turnleftright < -1.0: turnleftright = -1.0
self.at("PCMD", [3 ,leftright, -backwardforward, downup, turnleftright])
# Relative movement to controller in x, y and z-direction and rotation
def relMove(self, leftright, backwardforward, downup, turnleftright, eastwest, northturnawayaccuracy):
if self.valueCorrection:
try: leftright = float(leftright)
except: leftright = 0.0
try: backwardforward = float(backwardforward)
except: backwardforward = 0.0
try: downup = float(downup)
except: downup = 0.0
try: turnleftright = float(turnleftright)
except: turnleftright = 0.0
if leftright > 1.0: leftright = 1.0
if leftright < -1.0: leftright = -1.0
if backwardforward > 1.0: backwardforward = 1.0
if backwardforward < -1.0: backwardforward = -1.0
if downup > 1.0: downup = 1.0
if downup < -1.0: downup = -1.0
if turnleftright > 1.0: turnleftright = 1.0
if turnleftright < -1.0: turnleftright = -1.0
self.at("PCMD_MAG", [1 ,leftright, -backwardforward, downup, turnleftright, eastwest, northturnawayaccuracy])
# Stop moving
def hover(self):
self.at("PCMD", [0,0.0,0.0,0.0,0.0])
def stop(self): # Hammertime !
self.hover()
# Basic movements
def moveLeft(self,*args):
try: speed=args[0]
except: speed=self.__speed
self.move(-self.__checkSpeedValue(speed),0.0,0.0,0.0)
def moveRight(self,*args):
try: speed=args[0]
except: speed=self.__speed
self.move( self.__checkSpeedValue(speed),0.0,0.0,0.0)
def moveForward(self,*args):
try: speed=args[0]
except: speed=self.__speed
self.move(0.0, self.__checkSpeedValue(speed),0.0,0.0)
def moveBackward(self,*args):
try: speed=args[0]
except: speed=self.__speed
self.move(0.0,-self.__checkSpeedValue(speed),0.0,0.0)
def moveUp(self,*args):
try: speed=args[0]
except: speed=self.__speed
self.move(0.0,0.0, self.__checkSpeedValue(speed),0.0)
def moveDown(self,args):
try: speed=args[0]
except: speed=self.__speed
self.move(0.0,0.0,-self.__checkSpeedValue(speed),0.0)
def turnLeft(self,*args):
try: speed=args[0]
except: speed=self.__speed
self.move(0.0,0.0,0.0,-self.__checkSpeedValue(speed))
def turnRight(self,*args):
try: speed=args[0]
except: speed=self.__speed
self.move(0.0,0.0,0.0, self.__checkSpeedValue(speed))
# Lets the drone rotate defined angle
# BUG: does not work with 180deg. turns
# ToDo: Should be able to stop in case of failures
def turnAngle(self,ndir,speed,*args):
opos = self.__NavData["demo"][2][2] # get the source/current (original) angle
npos = opos+ndir # calculate the destination (new) angle
minaxis = opos # to make sure, that the jump from -180 to 180 will...
maxaxis = opos # ...be correctly handled
speed = self.__checkSpeedValue(speed)
ospeed = speed # stores the given speed-value
reftime = time.time()
accurateness = 0
try: accurateness = args[0]
except: pass
if accurateness<=0:
accurateness = 0.005 # Destination angle can differ +/- this value (not demo-mode)
if self.__State[10]: accurateness = 0.1 # Destination angle can differ +/- this value in demo-mode
stop = False
while not stop:
ndc = self.__NavDataCount # wait for the next NavData-package
while ndc == self.__NavDataCount: time.sleep(0.001)
kalib = (time.time()-reftime)*self.selfRotation # trys to recalibrate, causing moving sensor-values around 0.0185 deg/sec
cpos = self.__NavData["demo"][2][2] # get the current angle
if minaxis > cpos: minaxis = cpos # set the minimal seen angle
if maxaxis < cpos: maxaxis = cpos # set the maximal seen angle
if cpos-minaxis >= 180: cpos = cpos-360 # correct the angle-value if necessary...
elif maxaxis-cpos >= 180: cpos = cpos+360 # ...for an easier calculation
speed = abs(cpos-npos+kalib) / 10.0 # the closer to the destination the slower the drone turns
if speed > ospeed: speed = ospeed # do not turn faster than recommended
if speed < 0.05: speed = 0.05 # too slow turns causes complications with calibration
self.__speed = speed
if cpos > (npos+kalib): self.turnLeft() # turn left, if destination angle is lower
else: self.turnRight() # turn right if destination angle is higher
if cpos < (npos+kalib+accurateness) and cpos > (npos+kalib-accurateness):# if angle is reached...
self.stop() # ...stop turning
time.sleep(0.01)
stop = True
return(True)
def takeoff(self):
self.at("REF", [290718208]) #290718208=10001010101000000001000000000
def land(self):
self.at("REF", [290717696]) #290717696=10001010101000000000000000000
###### NavData commands
# Switches to Demo- or Full-NavData-mode
def useDemoMode(self,value):
if value: self.setConfig("general:navdata_demo", "TRUE")
else: self.setConfig("general:navdata_demo", "FALSE")
def useMDemoMode(self,value):
if value: self.setMConfig("general:navdata_demo", "TRUE")
else: self.setMConfig("general:navdata_demo", "FALSE")
def getNDpackage(self,packets):
self.__NavData_pipe.send(("send",packets))
def addNDpackage(self,packets):
self.__NavData_pipe.send(("add",packets))
def delNDpackage(self,packets):
self.__NavData_pipe.send(("block",packets))
def reconnectNavData(self):
self.__NavData_pipe.send("reconnect")
###### Video & Marker commands
# This makes the drone fly around and follow 2D tags which the camera is able to detect.
def aflight(self, flag):
self.at("AFLIGHT", [flag]) #Integer: 1: start flight, 0: stop flight
def slowVideo(self, *args):
try: do = args[0]
except: do = True
if do: self.__Video_pipe.send("slowVideo")
else: self.__Video_pipe.send("fastVideo")
def midVideo(self, *args):
try: do = args[0]
except: do = True
if do: self.__Video_pipe.send("midVideo")
else: self.__Video_pipe.send("fastVideo")
def fastVideo(self, *args):
try: do = args[0]
except: do = True
if do: self.__Video_pipe.send("fastVideo")
else: self.__Video_pipe.send("slowVideo")
def saveVideo(self, *args):
try: do = args[0]
except: do = True
if do: self.__Video_pipe.send("saveVideo")
else: self.__Video_pipe.send("unsaveVideo")
def startVideo(self, *args):
try: do = args[0]
except: do = True
if do: self.__Video_pipe.send("init")
else: self.stopVideo()
def stopVideo(self, *args):
try: do = args[0]
except: do = True
if do: self.__Video_pipe.send("uninit")
else: self.startVideo()
def showVideo(self, *args):
try: do = args[0]
except: do = True
if do:
self.__Video_pipe.send("init")
self.__Video_pipe.send("show")
else: self.hideVideo()
def hideVideo(self, *args):
try: do = args[0]
except: do = True
if do:
self.__Video_pipe.send("init")
self.__Video_pipe.send("hide")
else: self.showVideo()
# Selects which video stream to send on the video UDP port.
def hdVideo(self, *args):
try: do = args[0]
except: do = True
if do: self.setMConfig("video:video_codec","131")
else: self.setMConfig("video:video_codec","129")
def sdVideo(self, *args):
try: do = args[0]
except: do = True
if do: self.setMConfig("video:video_codec","129")
else: self.setMConfig("video:video_codec","131")
def mp4Video(self, *args):
try: do = args[0]
except: do = True
if do: self.setMConfig("video:video_codec","128")
else: self.setMConfig("video:video_codec","129")
# Selects which video-framerate (in frames per second) to send on the video UDP port.
def videoFPS(self, fps):
try:
int(fps)
if fps>60: fps = 60
elif fps<1: fps = 1
self.setMConfig("video:codec_fps",fps)
except: pass
# Selects which video-bitrate (in kilobit per second) to send on the video UDP port.
def videoBitrate(self, bitrate):
try:
int(bitrate)
if bitrate > 20000: bitrate = 20000
if bitrate < 250: bitrate = 250
self.setMConfig("video:bitrate",bitrate)
except: pass
# Selects which video stream to send on the video UDP port.
def frontCam(self, *args):
try: do = args[0]
except: do = True
if do: self.setMConfig("video:video_channel","0")
else: self.setMConfig("video:video_channel","1")
def groundCam(self, *args):
try: do = args[0]
except: do = True
if do: self.setMConfig("video:video_channel","1")
else: self.setMConfig("video:video_channel","0")
### Misc commands
def reset(self):
if self.NavDataCount>0 and self.State[31]==1:
self.at("REF", [290717952]) #290717952=10001010101000000000100000000
def thrust(self, fl, fr, rl, rr): # Controls engines directly, overriding control loops.
fl *= 2
if fl > 64000: fl = 64000
elif fl < 0: fl = 0
fr *= 2
if fr > 64000: fr = 64000
elif fr < 0: fr = 0
rl *= 2
if rl > 64000: rl = 64000
elif rl < 0: rl = 0
rr *= 2
if rr > 64000: rr = 64000
elif rr < 0: rr = 0
self.at("PWM", [int(fl), int(fr), int(rr), int(rl)])
# Seems that integer-values could be between 0 (stop) to 511 (full); more than 511 seem to have no effect.
# Beware: if using too high values (e.g. floats (>64k ?)), there will be side-effects like restarting other motors, etc.
# Drone will shut down, if its flight-angle is more than set.
# Control the drone's LED.
def led(self, animation, frequency, duration):
if animation < 21 and frequency > 0 and duration >= 0:
self.at("LED", [animation, float(frequency), duration])
# Makes the drone execute a predefined movement (animation).
def anim(self, animation, duration):
if animation < 20 and duration >= 0:
self.at("ANIM", [animation, duration])
#########################=-
### Low-level Commands ###=-
#########################=-
# Upgrading the basic drone commands to low-level drone commands:vid
# Adding command-number, checking the values, convert 32-bit float to 32-bit integer and put it in quotes
def at(self, command, params):
self.__lock.acquire()
paramLn = ""
if params:
for p in params:
if type(p) == int: paramLn += ","+str(p)
elif type(p) == float: paramLn += ","+str(struct.unpack("i", struct.pack("f", p))[0])
elif type(p) == str: paramLn += ",\""+p+"\""
msg = "AT*"+command+"="+str(self.__CmdCounter)+paramLn+"\r"
self.__CmdCounter += 1
self.__sendrawmsg(msg)
self.__lock.release()
# Sending the low-level drone-readable commands to the drone...better do not use
def __sendrawmsg(self, msg):
try: self.__keepalive.cancel()
except: pass
if self.showCommands:
if msg.count("COMWDG") < 1: print msg
self.__sock.sendto(msg, (self.DroneIP, self.CmdPort))
self.__keepalive = threading.Timer(0.1, self.__heartbeat)
self.__keepalive.start()
#############################=-
### Convenient Commands ###=-
#############################=-
# Just add water
# Checks the battery-status
def getBattery(self):
batStatus = "OK"
batValue = 0
if self.__State[15] == 1: batStatus = "empty"
try: batValue = self.__NavData['demo'][1]
except: batValue = -1
return (batValue,batStatus) # Percent & status ("OK", "empty")
# Calculates the minor difference between two angles as the drone gives values from -180 to 180...
# ...so e.g. 170 and -160 are +30 difference and drone will turn to the correct direction
def angleDiff(self, base, value):
adiff = ((base+180)-(value+180)) %360
if adiff>180: adiff-=360
return adiff
# Grabs the pressed key (not yet for Windows)
# ToDo: Reprogram for Windows
def getKey(self):
key = ""
fd = sys.stdin.fileno()
if os.name == 'posix':
oldterm = termios.tcgetattr(fd)
newattr = termios.tcgetattr(fd)
newattr[3] = newattr[3] & ~termios.ICANON & ~termios.ECHO
termios.tcsetattr(fd, termios.TCSANOW, newattr)
oldflags = fcntl.fcntl(fd, fcntl.F_GETFL)
fcntl.fcntl(fd, fcntl.F_SETFL, oldflags | os.O_NONBLOCK)
try:
try: key = sys.stdin.read(1)
except IOError: pass
finally:
termios.tcsetattr(fd, termios.TCSAFLUSH, oldterm)
fcntl.fcntl(fd, fcntl.F_SETFL, oldflags)
if os.name == 'nt':
if msvcrt.kbhit(): key = msvcrt.getch()
key += self.__vKey
# self.__vKey = ""
return key
# Drone hops like an excited dog
def doggyHop(self):
ospeed = self.__speed
self.__speed = 1
for i in range (0,4,1):
self.moveUp()
time.sleep(0.20)
self.moveDown()
time.sleep(0.20)
self.hover()
self.__speed = ospeed
# Drone wags like a happy dog
def doggyWag(self):
ospeed = self.__speed
self.__speed = 1
for i in range (0,4,1):
self.moveLeft()
time.sleep(0.25)
self.moveRight()
time.sleep(0.25)
self.hover()
self.__speed = ospeed
# Drone nods
def doggyNod(self):
ospeed = self.__speed
self.__speed = 1
for i in range (0,4,1):
self.moveForward()
time.sleep(0.25)
self.moveBackward()
time.sleep(0.25)
self.hover()
self.__speed = ospeed
def printDefault(self, *args):
if os.name == 'posix':
print self.__pDefaultStr,
try:
if len(*args) > 0:
for i in args: print i,
print self.__pDefaultStr
except: pass
def printRed(self, *args):
if os.name == 'posix':
print self.__pRedStr,
try:
if len(*args) > 0:
for i in args: print i,
print self.__pDefaultStr
except: pass
def printGreen(self, *args):
if os.name == 'posix':
print self.__pGreenStr,
try:
if len(*args) > 0:
for i in args: print i,
print self.__pDefaultStr
except: pass
def printYellow(self, *args):
if os.name == 'posix':
print self.__pYellowStr,
try:
if len(*args) > 0:
for i in args: print i,
print self.__pDefaultStr
except: pass
def printBlue(self, *args):
if os.name == 'posix':
print self.__pBlueStr,
try:
if len(*args) > 0:
for i in args: print i,
print self.__pDefaultStr
except: pass
def printPurple(self, *args):
if os.name == 'posix':
print self.__pPurpleStr,
try:
if len(*args) > 0:
for i in args: print i,
print self.__pDefaultStr
except: pass
def printLineUp(self):
if os.name == 'posix': print self.__pLineUpStr,
##################################=-
### Threads & Thread-Sidekicks ###=-
##################################=-
# Idea: the network thread listens to the given network-stream and communication-pipes of other processes, such as for video or navdata-decoding.
# In case the connection to the drone is cut off for more than 2 seconds (so no keep-alive-command has been sent) the network
# needs to reconnect. In order to do so the (private) function "__netrecon" starts after 0.1 seconds of no incoming navdata-datapacket to
# reconnect all given network-sockets.
def __heartbeat(self):
# If the drone does not get a command, it will mutter after 50ms (CTRL watchdog / state[28] will set to 1)
# and panic after 2 seconds and abort data-communication on port 5554 (then you have to initialize the network again).
# Heartbeat will reset the watchdog and, by the way, the ACK_BIT (state[6], to accept any other AT*CONFIG command)
# If mainthread isn't alive anymore (because program crashed or whatever), heartbeat will initiate the shutdown.
if str(threading.enumerate()).count("MainThread, stopped") or str(threading.enumerate()).count("MainThread")==0: self.shutdown()
else: self.at("COMWDG",[])
# CheckAndReact is periodically called by the receiveData-Thread to check for mainly for critical status-error(s) and
# changed debug-modes.
def __checkAndReact(self, debug, showCommands):
# Automatic process-commands, used for syncing debugging-bits to child-processes
if debug != self.debug:
debug = self.debug
if debug:
self.__NavData_pipe.send("debug")
self.__Video_pipe.send("debug")
else:
self.__NavData_pipe.send("undebug")
self.__Video_pipe.send("undebug")
if showCommands != self.showCommands:
showCommands = self.showCommands
if showCommands:
self.__NavData_pipe.send("showCommands")
self.__Video_pipe.send("showCommands")
else:
self.__NavData_pipe.send("hideCommands")
self.__Video_pipe.send("hideCommands")
# Communication problem, shutting down
if self.stopOnComLoss and self.__State[30]:
self.shutdown()
sys.exit()
return (debug,showCommands)
# Thread for sending the configuration. It is asynchronous but save.
# The configuration-requests are in a queue, the first entry is sent. NavData will contain a "Control command ACK" status-bit,...
# ...that configuration is ready to be set. This will be confirmed and the procedure waits until this bit is 0 again; then the next entry will be processed.
# In savemode, there is a check whether the configuration has been changed correctly by requesting the current/latest configuration and double-checking this value.
def __sendConfig(self):
sleeptime, getconfigtag, self.__sendConfigRunning = 0.001, False, True
while not self.__networksuicide:
if len(self.__ConfigQueue): # If there is something in the queue...
if self.__ConfigQueue[0][-1]: self.sendConfigIDs() # ...check for multiuserconfig-request (and send it)
self.__ConfigSending = True # Set tag, to show sending is in process
qlen = len(self.__ConfigQueue)
if qlen > 1: # Testing for double entries, preventing a ping-pong in save-mode
i = 1
while True:
if i >= qlen: break
if self.__ConfigQueue[0][0].lower() == self.__ConfigQueue[i][0].lower():
self.__ConfigQueue.remove(self.__ConfigQueue[0])# Delete double entries
qlen = len(self.__ConfigQueue)
else: i+=1
self.at("CONFIG",self.__ConfigQueue[0][:-1]) # Send the first entry in queue
getconfigtag, configconfirmed, configreconfirmed = False, False, False
while not configconfirmed and not self.__networksuicide: # Wait for confirmation-bit from drone...
if self.__State[6] and not configreconfirmed and not self.__networksuicide:
self.at("CTRL",[5,0]) # ...and send reset the confirmation-bit
configreconfirmed = True
if not self.__State[6] and configreconfirmed and not self.__networksuicide:
configconfirmed = True # Wait for the reset of the confirmation-bit
time.sleep(sleeptime)
# It seems that the drone stores configurations not always correctly; therfore, here is a save-mode:
if self.sendConfigSaveMode and not self.__networksuicide:
lastConfigDataCount = self.__ConfigDataCount # Wait for the next configuration-list
self.getConfig()
while lastConfigDataCount == self.__ConfigDataCount and not self.__networksuicide: time.sleep(sleeptime)
# New & Optimized
for i in range (0,len(self.__ConfigData),1):
if self.__ConfigData[i][0].find(self.__ConfigQueue[0][0]) > -1:
if self.__ConfigData[i][1] != self.__ConfigQueue[0][1]:
if self.debug:
print " Configuration missmatched, resending !"
print " "+self.__ConfigData[i][0]+" should be \""+self.__ConfigQueue[0][1]+"\" is \""+self.__ConfigData[i][1]+"\""
self.__ConfigQueue.append(self.__ConfigQueue[0]) # If value is not correctly set, requeue !
self.__ConfigQueue.remove(self.__ConfigQueue[0]) # Configuration has been (correctly) set, delete request from queue and go on
if self.__networksuicide: self.__ConfigQueue=[]
if not len(self.__ConfigQueue):
if not getconfigtag:
self.getConfig()
getconfigtag = True
self.__ConfigSending = False
else: time.sleep(sleeptime)
if self.debug: print "sendConfig-Tread : committed suicide"
def __receiveData(self):
self.__net_pipes=[]
self.__net_pipes.append(self.__NavData_pipe)
self.__net_pipes.append(self.__Video_pipe)
self.__Config_pipe = socket.socket(socket.AF_INET, socket.SOCK_STREAM) #TCP
self.__Config_pipe.setblocking(0)
self.__Config_pipe.connect_ex((self.DroneIP, self.CTLPort))
self.__net_pipes.append(self.__Config_pipe)
VideoIsDead, configdata, cfgdata, cmd = False, [], "", ""
self.__vDecodeRunning, debug, showCommands, self.__receiveDataRunning = False, False, False, True
while not self.__networksuicide:
in_pipe, dummy1, dummy2 = select.select(self.__net_pipes, [], [], 0.1) # When something is in a pipe...
for ip in in_pipe: # ...go and get it
if ip == self.__NavData_pipe: ### Receiving sensor-values from NavData-process
self.__NavData, self.__State, self.__NavDataCount, self.__NavDataTimeStamp, self.__NavDataDecodingTime, self.__NoNavData = self.__NavData_pipe.recv()
if ip == self.__vdecode_pipe: ### Receiving imagedata and feedback from videodecode-process
cmd, VideoImageCount, VideoImage, VideoDecodeTime = self.__vdecode_pipe.recv() # Imagedata
if self.showCommands and cmd!="Image" : print "** vDec -> Com :",cmd
if cmd == "suicided": self.__Video_pipe.send("vd died") # videodecode-process died
if cmd == "foundCodec": self.__Video_pipe.send("foundCodec") # the codec of the videostream has been found, do not flood anymore
if cmd == "VideoUp": self.__VideoReady = True # Imagedata is available
if cmd == "keypressed": self.__vKey = VideoImage # Pressed key on window
if cmd == "reset": self.__Video_pipe.send(cmd) # proxy to videodecode-process
if cmd == "Image": # Imagedata !
self.__VideoImageCount = VideoImageCount
self.__VideoImage = VideoImage
self.__VideoDecodeTime = VideoDecodeTime
self.__VideoDecodeTimeStamp = time.time()-self.__startTime
if ip == self.__Video_pipe: ### Receiving feedback from videostream-process
cmd = self.__Video_pipe.recv()
if self.showCommands and cmd != "": print "** Vid -> Com : ",cmd
if cmd == "vDecProc": # videodecode-process should start
if not self.__vDecodeRunning:
self.__vDecodeProcess = multiprocessing.Process( target=vDecode, args=(self.__VidPipePath,self.__vdecodeChild_pipe,os.getpid()))
#self.__vDecodeProcess.start()
self.__net_pipes.append(self.__vdecode_pipe)
self.__vDecodeRunning = True
self.__Video_pipe.send("vDecProcON")
# else: self.__vdecode_pipe.send(cmd) # If / elif / else is somehow not working here...whyever
if cmd == "VideoDown": self.__VideoReady=False # videodecode-process stopped
if cmd == "saveVideo": self.__SaveVideo=True # no preprocessing of the video
if cmd == "unsaveVideo": self.__SaveVideo=False # preprocessing activated again
if cmd == "debug": self.__vdecode_pipe.send(cmd) # proxy to videodecode-process
if cmd == "showCommands": self.__vdecode_pipe.send(cmd) # proxy to videodecode-process
if cmd == "hideCommands": self.__vdecode_pipe.send(cmd) # proxy to videodecode-process
if cmd == "show": self.__vdecode_pipe.send(cmd) # proxy to videodecode-process
if cmd == "hide": self.__vdecode_pipe.send(cmd) # proxy to videodecode-process
if cmd == "vDecProcKill":
self.__vdecode_pipe.send("die!") # videodecode-process should switch off
vDecodeRunning = False
if ip==self.__Config_pipe and not self.__networksuicide: ### Receiving drone-configuration
try:
if self.__networksuicide: break # Does not stop sometimes, so the loop will be forced to stop
cfgdata = cfgdata+self.__Config_pipe.recv(65535) # Data comes in two or three packages
if cfgdata.count("\x00"): # Last byte of sent config-file, everything was received
if self.__networksuicide: break
configdata = (cfgdata.split("\n")) # Split the huge package into a configuration-list
for i in range(0, len(configdata), 1):
configdata[i] = configdata[i].split(" = ") # Split the single configuration-lines into configuration and value
self.__ConfigData = configdata[:-1] # Last value is "\x00"
self.__ConfigDataTimeStamp = time.time()-self.__startTime # Set a timestamp for a better coordination
self.__ConfigDataCount+=1 # Alters the count of received Configdata for a better coordination
configdata, cfgdata = [], ""
if self.showCommands: print "Got "+str(len(self.__ConfigData))+" Configdata "+str(time.time()-self.__calltime)
self.__calltime=0
except IOError: pass
debug, showCommands = self.__checkAndReact(debug, showCommands) # Check for errors and things to change
if self.debug: print "receiveData-Thread : committed suicide"
def __stopnetwork(self):
self.__networksuicide = True
#############################=-
### Compatibility Commands ###=-
#############################=-
# While programming this API I changed some command-names
# This section converts the old commands into the new ones
def pwm(self, fl, fr, rl, rr): # Controls engines directly, overriding control loops.
if fl > 64000: fl = 64000
if fr > 64000: fr = 64000
if rl > 64000: rl = 64000
if rr > 64000: rr = 64000
self.at("PWM", [int(fl), int(fr), int(rr), int(rl)])
def groundVideo(self, *args): self.groundCam(*args)
def frontVideo(self, *args): self.frontCam(*args)
###############################################################################
### Internal Subfunctions
###############################################################################
def __checkSpeedValue(self,value):
try:
speed = float(value)
if self.valueCorrection:
speed = max(-1.0,speed)
speed = min( 1.0,speed)
except: speed = self.__speed
return speed
# Checks the inputs for the right length
def normalLen8(value):
value, zero = str(value), "00000000"
vlen = min(len(value),8)
normal = zero[0:8-vlen] + value[0:8]
return normal[0:8].lower()
##################################################################################################
###### Receive and Decode Video ######
##################################################################################################
# If the ps_drone-process has crashed, recognize it and kill yourself
def watchdogV(parentPID, ownPID):
global commitsuicideV
while not commitsuicideV:
time.sleep(1)
try : os.getpgid(parentPID)
except:
try: subprocess.Popen(["kill",str(os.getpid())],stdin=subprocess.PIPE,stdout=subprocess.PIPE,stderr=subprocess.PIPE)
except: pass
# Thread to capture, decode and display the video-stream
def vCapture(VidPipePath, parent_pipe):
import cv2
global vCruns, commitsuicideV, showVid, lockV, debugV