argus 0.0.0 → 0.3.0

checksums.yaml

@@ -0,0 +1,7 @@
+---
+SHA1:
+  metadata.gz: 2f89d5eb3a36569a8fb2d9e6c17a2eebd17e92d8
+  data.tar.gz: ec1b2d028705b04ae55f8eeaa5dfb91c4352347f
+SHA512:
+  metadata.gz: 80bde0b4804b76b9be1d79d8c3c2537767a1fc35027bf52811d1324fc4a407d645412ab441675049e2dcf9bdaac14382c5f39fb2520f71e9469dbb4dafe533e9
+  data.tar.gz: 330df98c125cfb917f81da99d26dcdc9b25a506e5ffe57ad0c55bc6aad08d035bc2fa6050a377be3f02fe1df58b0d3a1f6e8d587883c5e5753aaba56165244e2

data/MIT-LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2012 Jim Weirich
+Copyright (c) 2012, 2013 Jim Weirich
 
 Permission is hereby granted, free of charge, to any person obtaining
 a copy of this software and associated documentation files (the

data/README.md

@@ -1,3 +1,27 @@
 # Argus -- Parrot AR Drone Ruby API
 
-Coming soon
+## Current Status
+
+* Experimental
+* Subject to change
+* Use at your own risk
+* May cause cancer
+
+## Example
+
+<pre>
+  require 'argus'
+
+  drone = Argus::Drone.new
+  drone.start
+
+  drone.take_off
+  sleep 5
+  drone.turn_right(1.0)
+  sleep 5
+  drone.turn_left(1.0)
+  sleep 5
+  drone.hover.land
+  sleep 5
+  drone.stop
+</pre>

data/Rakefile

@@ -7,3 +7,7 @@ task :default => :specs
 task :specs do
   sh "rspec spec"
 end
+
+task :land do
+  ruby "-Ilib examples/land.rb"
+end

data/lib/argus.rb

@@ -0,0 +1,5 @@
+# Require all the top level files in argus/*.rb
+
+Dir[File.dirname(__FILE__) + "/argus/*.rb"].sort.each do |pn|
+  require "argus/#{File.basename(pn, '.rb')}"
+end

data/lib/argus/ardrone_control_modes.rb

@@ -0,0 +1,14 @@
+module Argus
+  module ArdroneControlModes
+    # ARDRONE_CONTROL_MODE values from the ardrone_api.h file.
+
+    CFG_GET_CONTROL_MODE        = 4 # Send active configuration file
+                                    # to a client through the
+                                    # 'control' socket UDP 5559
+
+    ACK_CONTROL_MODE            = 5 # Reset command mask in navdata
+
+    CUSTOM_CFG_GET_CONTROL_MODE = 6 # Requests the list of custom
+                                    # configuration IDs
+  end
+end

data/lib/argus/at_commander.rb

@@ -0,0 +1,104 @@
+require 'thread'
+
+module Argus
+  class ATCommander
+    attr_reader :timestamps
+
+    def initialize(sender)
+      @sender = sender
+      @seq = 0
+      @ref_data = "0"
+      @pcmd_data = "0,0,0,0,0"
+      @buffer = ""
+      @thread = nil
+      @interval = 0.020
+      @mutex = Mutex.new
+      @timestamps = []
+    end
+
+    def start
+      @running = true
+      @thread = Thread.new do
+        while @running
+          log_time
+          tick
+          sleep @interval
+        end
+      end
+    end
+
+    def tick
+      @mutex.synchronize do
+        packet do
+          command("REF", @ref_data)
+          command("PCMD", @pcmd_data)
+        end
+      end
+    end
+
+    def stop
+      @running = false
+    end
+
+    def join
+      @thread.join if @thread
+    end
+
+    def interval=(new_interval)
+      @mutex.synchronize do @interval = new_interval end
+    end
+
+    def ref(data)
+      @mutex.synchronize do @ref_data = data end
+    end
+
+    def pcmd(data)
+      @mutex.synchronize do @pcmd_data = data end
+    end
+
+    def config(key, value)
+      @mutex.synchronize do
+        command("CONFIG", "\"#{key}\",\"#{value}\"")
+      end
+    end
+
+    def comwdg
+      @mutex.synchronize do
+        command("COMWDG")
+      end
+    end
+    alias reset_watchdog comwdg # For backward compatibility
+
+    def ctrl(mode)
+      @mutex.synchronize do
+        command("CTRL", "#{mode},0")
+      end
+    end
+
+    private
+
+    def log_time
+      @timestamps.shift if @timestamps.size >= 1000
+      @timestamps <<  Time.now.to_f
+    end
+
+    def packet
+      yield self
+      flush
+    end
+
+    def flush
+      @sender.send_packet(@buffer)
+      @buffer = ""
+    end
+
+    def command(name, args=nil)
+      @seq += 1
+      if args
+        @buffer << "AT*#{name}=#{@seq},#{args}\r"
+      else
+        @buffer << "AT*#{name}=#{@seq}\r"
+      end
+    end
+  end
+end

data/lib/argus/cad_type.rb

@@ -0,0 +1,22 @@
+module Argus
+  module CadType
+
+    NAMES = [
+      :horizontal,              # Deprecated
+      :vertical,                # Deprecated
+      :vision,                  # Detection of 2D horizontal tags on drone shells
+      :none,                    # Detection disabled
+      :cocarde,                 # Detects a roundel under the drone
+      :oriented_cocarde,        # Detects an oriented roundel under the drone
+      :stripe,                  # Detects a uniform stripe on the ground
+      :h_cocarde,               # Detects a roundel in front of the drone
+      :h_oriented_cocarde,      # Detects an oriented roundel in front of the drone
+      :stripe_v,
+      :multiple_detection_mode, # The drone uses several detections at the same time
+      :cap,                     # Detects a Cap orange and green in front of the drone
+      :oriented_cocarde_bw,     # Detects the black and white roundel
+      :vision_v2,               # Detects 2nd version of shell/tag in front of the drone
+      :tower_side,              # Detect a tower side with the front camera
+    ]
+  end
+end

data/lib/argus/cfields.rb

@@ -0,0 +1,80 @@
+require 'argus/float_encoding'
+
+module Argus
+
+  module CFields
+    def self.included(base)
+      base.send :extend, ClassMethods
+    end
+
+    def initialize(*args)
+      super
+      @data = unpack_data(args.first)
+    end
+
+    def unpack_data(data)
+      @data = data.unpack(self.class.format_string)
+    end
+
+    module ClassMethods
+      def data_index
+        @data_index ||= 0
+      end
+
+      def format_string
+        @format_string ||= (defined?(initial_format) ? initial_format : "")
+      end
+
+      def allot(n=1)
+        result = data_index
+        @data_index += n
+        result
+      end
+
+      def define_field(name, size, format, width=1, &transform)
+        if size
+          define_array_field(name, size, format, width, transform)
+        else
+          define_scaler_field(name, format, width, transform)
+        end
+      end
+
+      def define_scaler_field(name, format, width, transform)
+        index = allot(width)
+        format_string << (width==1 ? format : "#{format}#{width}")
+        define_method(name) { @data[index] }
+      end
+
+      def define_array_field(name, size, format, width, transform)
+        index = allot(width*size)
+        format_string << "#{format}#{width*size}"
+        define_method(name) { @data[index, width*size] }
+      end
+
+      def uint32_t(name, size=nil)
+        define_field(name, size, "V")
+      end
+
+      def uint16_t(name, size=nil)
+        define_field(name, size, "v")
+      end
+
+      def float32_t(name, size=nil)
+        define_field(name, size, "e")
+      end
+
+      def int32_t(name, size=nil)
+        define_field(name, size, "l<")
+      end
+
+      def matrix33_t(name, size=nil)
+        define_field(name, size, "V", 9)
+      end
+
+      def vector31_t(name, size=nil)
+        define_field(name, size, "V", 3)
+      end
+    end
+  end
+
+end

data/lib/argus/controller.rb

@@ -0,0 +1,165 @@
+require 'argus/float_encoding'
+require 'argus/ardrone_control_modes'
+
+module Argus
+  class Controller
+    include FloatEncoding
+
+    def initialize(at_commander)
+      @at_commander = at_commander
+
+      @emergency = false
+      land
+      hover
+    end
+
+    def take_off
+      @flying = true
+      @emergency = false
+      update_ref
+    end
+
+    def land
+      @flying = false
+      update_ref
+    end
+
+    def emergency
+      @flying = false
+      @emergency = true
+      update_ref
+    end
+
+    def hover
+      @moving = false
+      @roll = 0.0
+      @pitch = 0.0
+      @gaz = 0.0
+      @yaw = 0.0
+      update_pcmd
+    end
+
+    def forward(amount)
+      @moving = true
+      @pitch = -amount
+      update_pcmd
+    end
+
+    def backward(amount)
+      @moving = true
+      @pitch = amount
+      update_pcmd
+    end
+
+    def left(amount)
+      @moving = true
+      @roll = -amount
+      update_pcmd
+    end
+
+    def right(amount)
+      @moving = true
+      @roll = amount
+      update_pcmd
+    end
+
+    def up(amount)
+      @moving = true
+      @gaz = amount
+      update_pcmd
+    end
+
+    def down(amount)
+      @moving = true
+      @gaz = -amount
+      update_pcmd
+    end
+
+    def turn_left(amount)
+      @moving = true
+      @yaw = -amount
+      update_pcmd
+    end
+
+    def turn_right(amount)
+      @moving = true
+      @yaw = amount
+      update_pcmd
+    end
+
+    def led(selection, hertz, duration)
+      selection = LedAnimation.lookup_value(selection)
+      value = [
+        selection,
+        FloatEncoding.encode_float(hertz),
+        duration
+      ].join(',')
+      @at_commander.config("leds:leds_anim",value)
+      self
+    end
+
+    def enable_detection(colors, type=10, select=32)
+      config("detect:enemy_colors",colors.to_s)
+      config("detect:detect_type", type.to_s)
+      config("detect:detections_select_h", select.to_s)
+      self
+    end
+
+    def config(key, value)
+      @at_commander.config(key, value)
+    end
+
+    def demo_mode
+      @at_commander.config("general:navdata_demo", "TRUE")
+    end
+
+    def front_camera
+      @at_commander.config("video:video_channel", "2")
+    end
+
+    def bottom_camera
+      @at_commander.config("video:video_channel", "1")
+    end
+
+    def reset_watchdog
+      @at_commander.comwdg
+    end
+
+    def ack_control_mode
+      @at_commander.ctrl(ArdroneControlModes::ACK_CONTROL_MODE)
+      self
+    end
+
+    private
+
+    REF_BASE = [18, 20, 22, 24, 28].
+      inject(0) { |flag, bitnum| flag | (1 << bitnum) }
+    REF_FLY_BIT = (1 << 9)
+    REF_EMERGENCY_BIT = (1 << 8)
+
+    def update_ref
+      n = REF_BASE
+      n |= REF_FLY_BIT if @flying
+      n |= REF_EMERGENCY_BIT if @emergency
+      @at_commander.ref(n.to_s)
+      self
+    end
+
+    def update_pcmd
+      flags = 0
+      if @moving
+        flags = 1
+        iroll = encode_float(@roll)
+        ipitch = encode_float(@pitch)
+        igaz = encode_float(@gaz)
+        iyaw = encode_float(@yaw)
+        data = "#{flags},#{iroll},#{ipitch},#{igaz},#{iyaw}"
+      else
+        data = "0,0,0,0,0"
+      end
+      @at_commander.pcmd(data)
+      self
+    end
+
+  end
+end