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arnetwork.py
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arnetwork.py
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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.
"""
This module provides access to the data provided by the AR.Drone.
"""
import select
import socket
import threading
import multiprocessing
import libardrone
import arvideo
class ARDroneNetworkProcess(multiprocessing.Process):
"""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, nav_pipe, video_pipe, com_pipe):
multiprocessing.Process.__init__(self)
self.nav_pipe = nav_pipe
self.video_pipe = video_pipe
self.com_pipe = com_pipe
def run(self):
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)
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))
stopping = False
while not stopping:
inputready, outputready, exceptready = select.select([nav_socket, video_socket, self.com_pipe], [], [])
for i in inputready:
if i == video_socket:
while 1:
try:
data = video_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
w, h, image, t = arvideo.read_picture(data)
self.video_pipe.send(image)
elif i == nav_socket:
while 1:
try:
data = nav_socket.recv(65535)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
navdata = libardrone.decode_navdata(data)
self.nav_pipe.send(navdata)
elif i == self.com_pipe:
_ = self.com_pipe.recv()
stopping = True
break
video_socket.close()
nav_socket.close()
class IPCThread(threading.Thread):
"""Inter Process Communication Thread.
This thread collects the data from the ARDroneNetworkProcess and forwards
it to the ARDreone.
"""
def __init__(self, drone):
threading.Thread.__init__(self)
self.drone = drone
self.stopping = False
def run(self):
while not self.stopping:
inputready, outputready, exceptready = select.select([self.drone.video_pipe, self.drone.nav_pipe], [], [], 1)
for i in inputready:
if i == self.drone.video_pipe:
while self.drone.video_pipe.poll():
image = self.drone.video_pipe.recv()
self.drone.image = image
elif i == self.drone.nav_pipe:
while self.drone.nav_pipe.poll():
navdata = self.drone.nav_pipe.recv()
self.drone.navdata = navdata
def stop(self):
"""Stop the IPCThread activity."""
self.stopping = True