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fre_drone.py
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fre_drone.py
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#!/usr/bin/python
"""
Field Robot Event 2014 (ver0 - autonomous landing on heliport sign)
usage:
./fre_drone.py <task>
"""
import sys
import datetime
import multiprocessing
import cv2
import math
import numpy as np
from pave import PaVE, isIFrame, frameNumber, timestamp, correctTimePeriod, frameEncodedWidth, frameEncodedHeight
from sourcelogger import SourceLogger
from ardrone2 import ARDrone2, ManualControlException, manualControl, normalizeAnglePIPI, distance
import viewlog
from line import Line
from pose import Pose
from green import processAvoidGreen
import cvideo
#from rr_drone import downloadOldVideo
MAX_ALLOWED_SPEED = 0.8
ROW_WIDTH = 0.75 #0.4
###### -------------------- ready for major refactoring -------------------------
def timeName( prefix, ext ):
dt = datetime.datetime.now()
filename = prefix + dt.strftime("%y%m%d_%H%M%S.") + ext
return filename
g_pave = None
g_img = None
def wrapper( packet ):
global g_pave
global g_img
if g_pave == None:
g_pave = PaVE()
cvideo.init()
g_img = np.zeros([360,640,3], dtype=np.uint8)
g_pave.append( packet )
header,payload = g_pave.extract()
while payload:
if isIFrame( header ):
w,h = frameEncodedWidth(header), frameEncodedHeight(header)
if g_img.shape[0] != h or g_img.shape[1] != w:
print g_img.shape, (w,h)
g_img = np.zeros([h,w,3], dtype=np.uint8)
ret = cvideo.frame( g_img, isIFrame(header) and 1 or 0, payload )
frame = g_img
assert ret
if ret:
result = processAvoidGreen( frame, debug=False )
return (frameNumber( header ), timestamp(header)), result
header,payload = g_pave.extract()
g_queueResults = multiprocessing.Queue()
def getOrNone():
if g_queueResults.empty():
return None
return g_queueResults.get()
###### --------------------------------------------------------------------------
# TODO for bottom cammera (!)
def project2plane( imgCoord, coord, height, heading, angleFB, angleLR ):
FOW = math.radians(70)
EPS = 0.0001
x,y = imgCoord[0]-1280/2, 720/2-imgCoord[1]
angleLR = -angleLR # we want to compensate the turn
x,y = x*math.cos(angleLR)-y*math.sin(angleLR), y*math.cos(angleLR)+x*math.sin(angleLR)
h = -x/1280*FOW + heading
tilt = y/1280*FOW + angleFB
if tilt > -EPS:
return None # close to 0.0 AND projection behind drone
dist = height/math.tan(-tilt)
return (coord[0]+math.cos(h)*dist , coord[1]+math.sin(h)*dist)
class FieldRobotDrone( ARDrone2 ):
def __init__( self, replayLog=None, speed = 0.2, skipConfigure=False, metaLog=None, console=None ):
self.loggedVideoResult = None
self.lastImageResult = None
self.videoHighResolution = False
ARDrone2.__init__( self, replayLog, speed, skipConfigure, metaLog, console )
if replayLog == None:
name = timeName( "logs/src_cv2_", "log" )
metaLog.write("cv2: "+name+'\n' )
self.loggedVideoResult = SourceLogger( getOrNone, name ).get
self.startVideo( wrapper, g_queueResults, record=True, highResolution=self.videoHighResolution )
else:
assert metaLog
self.loggedVideoResult = SourceLogger( None, metaLog.getLog("cv2:") ).get
self.startVideo( record=True, highResolution=self.videoHighResolution )
def update( self, cmd="AT*COMWDG=%i,\r" ):
ARDrone2.update( self, cmd )
if self.loggedVideoResult != None:
self.lastImageResult = self.loggedVideoResult()
def stayAtPosition( drone, desiredHeight = 1.5, timeout = 10.0 ):
maxControlGap = 0.0
desiredSpeed = MAX_ALLOWED_SPEED
refPoint = (0,0)
foundTagTime = None
searchSeq = [(0,0), (2,0), (0,-2), (-2,0), (0,2), (0,0)]
startTime = drone.time
sx,sy,sz,sa = 0,0,0,0
stepTime = drone.time
while drone.time < startTime + timeout:
altitude = desiredHeight
if drone.altitudeData != None:
altVision = drone.altitudeData[0]/1000.0
altSonar = drone.altitudeData[3]/1000.0
altitude = (altSonar+altVision)/2.0
# TODO selection based on history? panic when min/max too far??
if abs(altSonar-altVision) > 0.5:
print altSonar, altVision
altitude = max( altSonar, altVision ) # sonar is 0.0 sometimes (no ECHO)
sz = max( -0.2, min( 0.2, desiredHeight - altitude ))
if altitude > 2.5:
# wind and "out of control"
sz = max( -0.5, min( 0.5, desiredHeight - altitude ))
sx = 0.0 #max( 0, min( drone.speed, desiredSpeed - drone.vx ))
# tiltCompensation = Pose(desiredHeight*oldAngles[0], desiredHeight*oldAngles[1], 0) # TODO real height?
# print "FRAME", frameNumber/15, "[%.1f %.1f]" % (math.degrees(oldAngles[0]), math.degrees(oldAngles[1])),
# if drone.battery < 10:
# print "BATTERY LOW!", drone.battery
# error definition ... if you substract that you get desired position or angle
# error is taken from the path point of view, x-path direction, y-positive left, angle-anticlockwise
errX, errY, errA = 0.0, 0.0, 0.0
# if refLine:
# errY = refLine.signedDistance( drone.coord )
# errA = normalizeAnglePIPI( drone.heading - refLine.angle )
if len(drone.visionTag) > 0:
SCALE = 0.17/(2*74)
tagX, tagY, tagDist = drone.visionTag[0][0], drone.visionTag[0][1], drone.visionTag[0][4]/100.0
tiltCompensation = Pose(tagDist*drone.angleFB, tagDist*drone.angleLR, 0)
pose = Pose(drone.coord[0], drone.coord[1], drone.heading).add(tiltCompensation)
offset = Pose(tagDist*(480-tagY)*SCALE, tagDist*(tagX-640)*SCALE, 0.0)
pose = pose.add( offset )
refPoint = (pose.x, pose.y)
if foundTagTime == None:
print drone.visionTag
print "%.2f\t%.2f\t%.2f\t%.1f\t%.1f" % (drone.time, tagDist*(tagY-480)*SCALE, tagDist*(tagX-640)*SCALE, math.degrees(drone.angleFB), math.degrees(drone.angleLR))
print refPoint
foundTagTime = drone.time
else:
if foundTagTime != None and drone.time - foundTagTime > 3.0:
foundTagTime = None
print "LOST TAG"
searchSeq = [(x+drone.coord[0], y+drone.coord[1]) for (x,y) in [(0,0), (2,0), (0,-2), (-2,0), (0,2), (0,0)]]
if foundTagTime == None and len(searchSeq) > 0 and drone.time - stepTime > 3.0:
refPoint = searchSeq[0]
searchSeq = searchSeq[1:]
print "STEP", refPoint
stepTime = drone.time
if refPoint:
pose = Pose(drone.coord[0], drone.coord[1], drone.heading)
landPose = Pose( refPoint[0], refPoint[1], drone.heading ) # ignore heading for the moment
diff = pose.sub( landPose )
#print diff
errX, errY = diff.x, diff.y
# get the height first
# if drone.coord[2] < desiredHeight - 0.1 and drone.time-startTime < 5.0:
# sx = 0.0
# error correction
# the goal is to have errY and errA zero in 1 second -> errY defines desired speed at given distance from path
sx = max( -0.2, min( 0.2, -errX-drone.vx ))/2.0
sy = max( -0.2, min( 0.2, -errY-drone.vy ))/2.0
# there is no drone.va (i.e. derivative of heading) available at the moment ...
sa = max( -0.1, min( 0.1, -errA/2.0 ))*1.35*(desiredSpeed/0.4) # originally set for 0.4=OK
# print "%0.2f\t%d\t%0.2f\t%0.2f\t%0.2f" % (errY, int(math.degrees(errA)), drone.vy, sy, sa)
prevTime = drone.time
drone.moveXYZA( sx, sy, sz, sa )
maxControlGap = max( drone.time - prevTime, maxControlGap )
return maxControlGap
def groundPose( (x,y), (xBottom,yBottom), scale ):
a = math.atan2( xBottom-x, yBottom-y )
return Pose( scale*(360/2-y), scale*(640/2-x), a )
def evalRowData( rowTopBottom ):
(xL,xR),(xbL,xbR) = rowTopBottom
if min(xL,xbL) > 0 and max(xR,xbR) < 640:
widthTop, widthBottom = xR-xL, xbR-xbL
if min(widthTop, widthBottom) > 150 and max(widthTop, widthBottom) < 350:
return (xL+xR)/2, (xbL+xbR)/2
def followRow( drone, desiredHeight = 1.5, timeout = 10.0 ):
maxControlGap = 0.0
maxVideoDelay = 0.0
desiredSpeed = MAX_ALLOWED_SPEED
startTime = drone.time
sx,sy,sz,sa = 0,0,0,0
lastUpdate = None
refLine = None
while drone.time < startTime + timeout:
altitude = desiredHeight
if drone.altitudeData != None:
altVision = drone.altitudeData[0]/1000.0
altSonar = drone.altitudeData[3]/1000.0
altitude = (altSonar+altVision)/2.0
# TODO selection based on history? panic when min/max too far??
if abs(altSonar-altVision) > 0.5:
# print altSonar, altVision
altitude = max( altSonar, altVision ) # sonar is 0.0 sometimes (no ECHO)
sz = max( -0.2, min( 0.2, desiredHeight - altitude ))
if altitude > 2.5:
# wind and "out of control"
sz = max( -0.5, min( 0.5, desiredHeight - altitude ))
if drone.lastImageResult:
lastUpdate = drone.time
assert len( drone.lastImageResult ) == 2 and len( drone.lastImageResult[0] ) == 2, drone.lastImageResult
(frameNumber, timestamp), rowTopBottom = drone.lastImageResult
viewlog.dumpVideoFrame( frameNumber, timestamp )
# keep history small
videoTime = correctTimePeriod( timestamp/1000., ref=drone.time )
videoDelay = drone.time - videoTime
if videoDelay > 1.0:
print "!DANGER! - video delay", videoDelay
maxVideoDelay = max( videoDelay, maxVideoDelay )
toDel = 0
for oldTime, oldPose, oldAngles in drone.poseHistory:
toDel += 1
if oldTime >= videoTime:
break
drone.poseHistory = drone.poseHistory[:toDel]
tiltCompensation = Pose(desiredHeight*oldAngles[0], desiredHeight*oldAngles[1], 0) # TODO real height?
validRow = evalRowData( rowTopBottom )
print "FRAME", frameNumber/15, "[%.1f %.1f]" % (math.degrees(oldAngles[0]), math.degrees(oldAngles[1])), validRow
if validRow:
sp = groundPose( *rowTopBottom, scale=ROW_WIDTH/((validRow[0]+validRow[1])/2.0))
sPose = Pose( *oldPose ).add(tiltCompensation).add( sp )
refLine = Line( (sPose.x,sPose.y), (sPose.x + math.cos(sPose.heading), sPose.y + math.sin(sPose.heading)) )
errY, errA = 0.0, 0.0
if refLine:
errY = refLine.signedDistance( drone.coord )
errA = normalizeAnglePIPI( drone.heading - refLine.angle )
sx = max( 0, min( drone.speed, desiredSpeed - drone.vx ))
sy = max( -0.2, min( 0.2, -errY-drone.vy ))/2.0
sa = max( -0.1, min( 0.1, -errA/2.0 ))*1.35*(desiredSpeed/0.4)
prevTime = drone.time
drone.moveXYZA( sx, sy, sz, sa )
drone.poseHistory.append( (drone.time, (drone.coord[0], drone.coord[1], drone.heading), (drone.angleFB, drone.angleLR)) )
maxControlGap = max( drone.time - prevTime, maxControlGap )
return maxControlGap
def competeFieldRobot( drone, desiredHeight = 1.5 ):
drone.speed = 0.1
maxVideoDelay = 0.0
maxControlGap = 0.0
try:
drone.wait(1.0)
drone.setVideoChannel( front=False )
drone.takeoff()
drone.poseHistory = []
print "NAVI-ON"
startTime = drone.time
# maxControlGap = stayAtPosition( drone, desiredHeight=desiredHeight, timeout=30.0 )
maxControlGap = followRow( drone, desiredHeight=desiredHeight, timeout=25.0 )
lastUpdate = None
print "NAVI-OFF", drone.time - startTime
drone.hover(0.5)
drone.land()
drone.setVideoChannel( front=True )
except ManualControlException, e:
print "ManualControlException"
if drone.ctrlState == 3: # CTRL_FLYING=3 ... i.e. stop the current motion
drone.hover(0.1)
drone.land()
drone.wait(1.0)
drone.stopVideo()
# print "MaxVideoDelay", maxVideoDelay
print "MaxControlGap", maxControlGap
print "Battery", drone.battery
if __name__ == "__main__":
if len(sys.argv) > 2 and sys.argv[1] == "img":
imgmain( sys.argv[1:], processFrame )
sys.exit( 0 )
import launcher
launcher.launch( sys.argv, FieldRobotDrone, competeFieldRobot )