argus 0.3.0 → 0.4.0
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- checksums.yaml +4 -4
- data/lib/argus/at_commander.rb +1 -4
- data/lib/argus/controller.rb +5 -3
- data/lib/argus/drone.rb +8 -6
- data/lib/argus/nav_monitor.rb +5 -4
- data/lib/argus/nav_streamer.rb +1 -1
- data/lib/argus/version.rb +1 -1
- data/lib/argus/video_data.rb +15 -0
- data/lib/argus/video_data_envelope.rb +55 -0
- data/lib/argus/video_streamer.rb +23 -0
- data/spec/argus/at_commander_spec.rb +4 -1
- data/spec/argus/cfields_spec.rb +39 -0
- data/spec/argus/controller_spec.rb +145 -127
- data/spec/argus/drone_spec.rb +53 -0
- data/spec/argus/nav_data_spec.rb +1 -0
- data/spec/argus/nav_monitor_spec.rb +65 -0
- data/spec/argus/nav_option_demo_spec.rb +0 -4
- data/spec/argus/nav_option_vision_detect_spec.rb +1 -0
- data/spec/argus/nav_streamer_spec.rb +6 -1
- data/spec/argus/video_data_envelope_spec.rb +26 -0
- data/spec/argus/video_data_spec.rb +17 -0
- data/spec/argus/video_streamer_spec.rb +21 -0
- data/spec/spec_helper.rb +5 -1
- metadata +13 -5
- data/lib/argus/pave_parser.rb +0 -39
- data/lib/argus/tcp_video_streamer.rb +0 -20
checksums.yaml
CHANGED
@@ -1,7 +1,7 @@
|
|
1
1
|
---
|
2
2
|
SHA1:
|
3
|
-
metadata.gz:
|
4
|
-
data.tar.gz:
|
3
|
+
metadata.gz: a5bfdb6916c2a3d0cd8dc924b5633e2de3bdbdff
|
4
|
+
data.tar.gz: 77c42e8e23f91fa3be7aea5c59b3521ff6e5b9bb
|
5
5
|
SHA512:
|
6
|
-
metadata.gz:
|
7
|
-
data.tar.gz:
|
6
|
+
metadata.gz: f0a9cefb0fcac10f6295cfc990e9bbaed5c419b19a7ec88c4171bff272628e53753db0af6e456c4bf28b29657d3d38302b04557dc6f14ba65202e34519dd25bb
|
7
|
+
data.tar.gz: fc58f050f88a77cc0a15cc83f77cad71b1e7610b8ac58f9f679ca956399c96cdf7a02fadf089ad02c5f27b6c93018d2f3f373bb245be6072fb8503b38f86b658
|
data/lib/argus/at_commander.rb
CHANGED
@@ -3,6 +3,7 @@ require 'thread'
|
|
3
3
|
module Argus
|
4
4
|
class ATCommander
|
5
5
|
attr_reader :timestamps
|
6
|
+
attr_accessor :interval
|
6
7
|
|
7
8
|
def initialize(sender)
|
8
9
|
@sender = sender
|
@@ -44,10 +45,6 @@ module Argus
|
|
44
45
|
@thread.join if @thread
|
45
46
|
end
|
46
47
|
|
47
|
-
def interval=(new_interval)
|
48
|
-
@mutex.synchronize do @interval = new_interval end
|
49
|
-
end
|
50
|
-
|
51
48
|
def ref(data)
|
52
49
|
@mutex.synchronize do @ref_data = data end
|
53
50
|
end
|
data/lib/argus/controller.rb
CHANGED
@@ -107,22 +107,24 @@ module Argus
|
|
107
107
|
|
108
108
|
def config(key, value)
|
109
109
|
@at_commander.config(key, value)
|
110
|
+
self
|
110
111
|
end
|
111
112
|
|
112
113
|
def demo_mode
|
113
|
-
|
114
|
+
config("general:navdata_demo", "TRUE")
|
114
115
|
end
|
115
116
|
|
116
117
|
def front_camera
|
117
|
-
|
118
|
+
config("video:video_channel", "2")
|
118
119
|
end
|
119
120
|
|
120
121
|
def bottom_camera
|
121
|
-
|
122
|
+
config("video:video_channel", "1")
|
122
123
|
end
|
123
124
|
|
124
125
|
def reset_watchdog
|
125
126
|
@at_commander.comwdg
|
127
|
+
self
|
126
128
|
end
|
127
129
|
|
128
130
|
def ack_control_mode
|
data/lib/argus/drone.rb
CHANGED
@@ -7,13 +7,15 @@ module Argus
|
|
7
7
|
attr_reader :controller, :nav
|
8
8
|
|
9
9
|
def initialize(opts={})
|
10
|
-
|
10
|
+
host = opts[:remote_host] || '192.168.1.1'
|
11
11
|
port = opts[:post] || '5556'
|
12
|
-
@sender = opts[:sender] || Argus::UdpSender.new(socket: opts[:socket], remote_host:
|
13
|
-
@at = Argus::ATCommander.new(@sender)
|
14
|
-
@controller = Argus::Controller.new(@at)
|
15
|
-
if opts
|
16
|
-
@nav =
|
12
|
+
@sender = opts[:sender] || Argus::UdpSender.new(socket: opts[:socket], remote_host: host, port: port)
|
13
|
+
@at = opts[:commander] || Argus::ATCommander.new(@sender)
|
14
|
+
@controller = opts[:controller] || Argus::Controller.new(@at)
|
15
|
+
if opts[:nav_monitor]
|
16
|
+
@nav = opts[:nav_monitor]
|
17
|
+
elsif opts.fetch(:enable_nav_monitor, true)
|
18
|
+
@nav = NavMonitor.new(@controller, host)
|
17
19
|
else
|
18
20
|
@nav = NullNavMonitor.new
|
19
21
|
end
|
data/lib/argus/nav_monitor.rb
CHANGED
@@ -3,9 +3,9 @@ module Argus
|
|
3
3
|
class NavMonitor
|
4
4
|
attr_reader :streamer
|
5
5
|
|
6
|
-
def initialize(controller, remote_host)
|
6
|
+
def initialize(controller, remote_host, opts={})
|
7
7
|
@controller = controller
|
8
|
-
@streamer = NavStreamer.new(remote_host: remote_host)
|
8
|
+
@streamer = opts.fetch(:streamer) { NavStreamer.new(remote_host: remote_host) }
|
9
9
|
@callbacks = []
|
10
10
|
@mutex = Mutex.new
|
11
11
|
@nav_data = nil
|
@@ -28,6 +28,7 @@ module Argus
|
|
28
28
|
end
|
29
29
|
|
30
30
|
def join
|
31
|
+
stop
|
31
32
|
@nav_thread.join
|
32
33
|
end
|
33
34
|
|
@@ -46,8 +47,6 @@ module Argus
|
|
46
47
|
@mutex.synchronize { @nav_options[tag] }
|
47
48
|
end
|
48
49
|
|
49
|
-
private
|
50
|
-
|
51
50
|
def update_nav_data(data)
|
52
51
|
@mutex.synchronize do
|
53
52
|
update_internal_nav_data(data)
|
@@ -60,6 +59,8 @@ module Argus
|
|
60
59
|
$stdout.flush
|
61
60
|
end
|
62
61
|
|
62
|
+
private
|
63
|
+
|
63
64
|
def update_internal_nav_data(data)
|
64
65
|
@nav_data = data
|
65
66
|
if @nav_data.bootstrap?
|
data/lib/argus/nav_streamer.rb
CHANGED
data/lib/argus/version.rb
CHANGED
@@ -0,0 +1,15 @@
|
|
1
|
+
module Argus
|
2
|
+
class VideoData
|
3
|
+
attr_reader :socket, :envelope, :frame
|
4
|
+
|
5
|
+
def initialize(socket)
|
6
|
+
@socket = socket
|
7
|
+
@envelope = VideoDataEnvelope.new(@socket)
|
8
|
+
@frame = parse_frame
|
9
|
+
end
|
10
|
+
|
11
|
+
def parse_frame
|
12
|
+
socket.read(envelope.payload_size) if envelope
|
13
|
+
end
|
14
|
+
end
|
15
|
+
end
|
@@ -0,0 +1,55 @@
|
|
1
|
+
module Argus
|
2
|
+
class VideoDataEnvelope
|
3
|
+
attr_reader :socket
|
4
|
+
|
5
|
+
def initialize(socket)
|
6
|
+
@socket = socket
|
7
|
+
parse
|
8
|
+
end
|
9
|
+
|
10
|
+
def parse
|
11
|
+
data(:signature, 4, "A*")
|
12
|
+
data(:version, 1, "C")
|
13
|
+
data(:video_codec, 1, "C")
|
14
|
+
data(:header_size, 2, "v")
|
15
|
+
data(:payload_size, 4, "V")
|
16
|
+
data(:encoded_stream_width, 2, "v")
|
17
|
+
data(:encoded_stream_height, 2, "v")
|
18
|
+
data(:display_width, 2, "v")
|
19
|
+
data(:display_height, 2, "v")
|
20
|
+
data(:frame_number, 4, "V")
|
21
|
+
data(:timestamp, 4, "V")
|
22
|
+
data(:total_chunks, 1, "C")
|
23
|
+
data(:chunk_index, 1, "C")
|
24
|
+
data(:frame_type, 1, "C")
|
25
|
+
data(:control, 1, "C")
|
26
|
+
data(:stream_byte_position_lw, 4, "V")
|
27
|
+
data(:stream_byte_position_uw, 4, "V")
|
28
|
+
data(:stream_id, 2, "v")
|
29
|
+
data(:total_slices, 1, "C")
|
30
|
+
data(:slice_index, 1, "C")
|
31
|
+
data(:header1_size, 1, "C")
|
32
|
+
data(:header2_size, 1, "C")
|
33
|
+
data(:reserved_2, 2, "H*")
|
34
|
+
data(:advertised_size, 4, "V")
|
35
|
+
data(:reserved_12, 12, "H*")
|
36
|
+
socket.read(4) # TODO: look at why just throwing this data away
|
37
|
+
end
|
38
|
+
|
39
|
+
def data(name, size, format)
|
40
|
+
define_data(name, get_data(size, format))
|
41
|
+
end
|
42
|
+
|
43
|
+
def get_data(size, format)
|
44
|
+
socket.read(size).unpack(format).first
|
45
|
+
end
|
46
|
+
|
47
|
+
def define_data(name, value)
|
48
|
+
ivar = "@#{name}".to_sym
|
49
|
+
instance_variable_set(ivar, value)
|
50
|
+
self.class.send(:define_method, name) do
|
51
|
+
instance_variable_get(ivar)
|
52
|
+
end
|
53
|
+
end
|
54
|
+
end
|
55
|
+
end
|
@@ -0,0 +1,23 @@
|
|
1
|
+
require 'socket'
|
2
|
+
|
3
|
+
module Argus
|
4
|
+
class VideoStreamer
|
5
|
+
attr_reader :tcp_socket, :host, :port
|
6
|
+
|
7
|
+
def initialize(opts={})
|
8
|
+
@host = opts[:host] || '192.168.1.1'
|
9
|
+
@port = opts[:port] || 5555
|
10
|
+
@tcp_socket = opts[:socket] || TCPSocket.new(@host, @port)
|
11
|
+
end
|
12
|
+
|
13
|
+
def start(udp_socket=nil)
|
14
|
+
@udp_socket = udp_socket || UDPSocket.new
|
15
|
+
@udp_socket.send("\x01\x00\x00\x00", 0, host, port)
|
16
|
+
@udp_socket.close
|
17
|
+
end
|
18
|
+
|
19
|
+
def receive_data
|
20
|
+
VideoData.new(tcp_socket)
|
21
|
+
end
|
22
|
+
end
|
23
|
+
end
|
@@ -0,0 +1,39 @@
|
|
1
|
+
require 'spec_helper'
|
2
|
+
|
3
|
+
module CFieldsSpec
|
4
|
+
describe Argus::CFields do
|
5
|
+
class Example < Argus::NavOption
|
6
|
+
include Argus::CFields
|
7
|
+
uint32_t :u32
|
8
|
+
uint16_t :u16
|
9
|
+
float32_t :f32
|
10
|
+
int32_t :i32
|
11
|
+
matrix33_t :m33
|
12
|
+
vector31_t :v31
|
13
|
+
|
14
|
+
def self.tag
|
15
|
+
14263
|
16
|
+
end
|
17
|
+
|
18
|
+
Argus::NavOption.register(self)
|
19
|
+
end
|
20
|
+
|
21
|
+
Given(:raw_data) {
|
22
|
+
[
|
23
|
+
Bytes.int16(Example.tag),
|
24
|
+
Bytes.int16(10),
|
25
|
+
Bytes.int32(1),
|
26
|
+
Bytes.int16(2),
|
27
|
+
Bytes.float32(3.4),
|
28
|
+
].flatten.pack("C*")
|
29
|
+
}
|
30
|
+
|
31
|
+
When(:data) { Example.new(raw_data) }
|
32
|
+
|
33
|
+
Then { data.size == 10 }
|
34
|
+
Then { data.tag == Example.tag }
|
35
|
+
Then { data.u32 == 1 }
|
36
|
+
Then { data.u16 == 2 }
|
37
|
+
Then { data.f32 == about(3.4).percent(1) }
|
38
|
+
end
|
39
|
+
end
|
@@ -15,135 +15,153 @@ describe Argus::Controller do
|
|
15
15
|
Given(:at) { flexmock(:on, Argus::ATCommander) }
|
16
16
|
Given(:controller) { Argus::Controller.new(at) }
|
17
17
|
|
18
|
-
|
18
|
+
describe "controller commands" do
|
19
19
|
Invariant { result.should == controller }
|
20
20
|
|
21
|
-
context "
|
22
|
-
|
23
|
-
|
21
|
+
context "navigating commands" do
|
22
|
+
context "when taking off" do
|
23
|
+
When(:result) { controller.take_off }
|
24
|
+
Then { at.should have_received(:ref).with(ref_bits(9)) }
|
25
|
+
end
|
26
|
+
|
27
|
+
context "when landing" do
|
28
|
+
When(:result) { controller.land }
|
29
|
+
Then { at.should have_received(:ref).with(ref_bits).twice }
|
30
|
+
end
|
31
|
+
|
32
|
+
context "when emergency" do
|
33
|
+
Given { controller.take_off }
|
34
|
+
When(:result) { controller.emergency }
|
35
|
+
Then { at.should have_received(:ref).with(ref_bits(8)) }
|
36
|
+
end
|
37
|
+
|
38
|
+
context "when taking off after an emergency" do
|
39
|
+
Given { controller.emergency }
|
40
|
+
When(:result) { controller.take_off }
|
41
|
+
Then { at.should have_received(:ref).with(ref_bits(9)) }
|
42
|
+
end
|
43
|
+
|
44
|
+
context "when hovering" do
|
45
|
+
When(:result) { controller.hover }
|
46
|
+
Then { at.should have_received(:pcmd).with("0,0,0,0,0") }
|
47
|
+
end
|
48
|
+
|
49
|
+
context "when moving forward" do
|
50
|
+
When(:result) { controller.forward(0.80) }
|
51
|
+
Then { at.should have_received(:pcmd).with("1,0,-1085485875,0,0") }
|
52
|
+
end
|
53
|
+
|
54
|
+
context "when moving backward" do
|
55
|
+
When(:result) { controller.backward(0.80) }
|
56
|
+
Then { at.should have_received(:pcmd).with("1,0,1061997773,0,0") }
|
57
|
+
end
|
58
|
+
|
59
|
+
context "when moving to the left" do
|
60
|
+
When(:result) { controller.left(0.80) }
|
61
|
+
Then { at.should have_received(:pcmd).with("1,-1085485875,0,0,0") }
|
62
|
+
end
|
63
|
+
|
64
|
+
context "when moving to the right" do
|
65
|
+
When(:result) { controller.right(0.80) }
|
66
|
+
Then { at.should have_received(:pcmd).with("1,1061997773,0,0,0") }
|
67
|
+
end
|
68
|
+
|
69
|
+
context "when moving up" do
|
70
|
+
When(:result) { controller.up(0.80) }
|
71
|
+
Then { at.should have_received(:pcmd).with("1,0,0,1061997773,0") }
|
72
|
+
end
|
73
|
+
|
74
|
+
context "when moving down" do
|
75
|
+
When(:result) { controller.down(0.80) }
|
76
|
+
Then { at.should have_received(:pcmd).with("1,0,0,-1085485875,0") }
|
77
|
+
end
|
78
|
+
|
79
|
+
context "when turning left" do
|
80
|
+
When(:result) { controller.turn_left(0.80) }
|
81
|
+
Then { at.should have_received(:pcmd).with("1,0,0,0,-1085485875") }
|
82
|
+
end
|
83
|
+
|
84
|
+
context "when turning right" do
|
85
|
+
When(:result) { controller.turn_right(0.80) }
|
86
|
+
Then { at.should have_received(:pcmd).with("1,0,0,0,1061997773") }
|
87
|
+
end
|
88
|
+
|
89
|
+
context "when executing several directions" do
|
90
|
+
When(:result) {
|
91
|
+
controller.forward(1.0).left(0.5).up(0.2).turn_left(0.8)
|
92
|
+
}
|
93
|
+
Then { at.should have_received(:pcmd).with("1,-1090519040,-1082130432,1045220557,-1085485875") }
|
94
|
+
end
|
95
|
+
end
|
96
|
+
|
97
|
+
describe "config command" do
|
98
|
+
context "when setting with numeric sequence" do
|
99
|
+
When(:result) { controller.led(3, 2.0, 4) }
|
100
|
+
Then {
|
101
|
+
at.should have_received(:config)
|
102
|
+
.with("leds:leds_anim", "3,1073741824,4")
|
103
|
+
}
|
104
|
+
end
|
105
|
+
|
106
|
+
context "when setting with symbolic sequence" do
|
107
|
+
When(:result) { controller.led(:blink_orange, 2.0, 4) }
|
108
|
+
Then {
|
109
|
+
at.should have_received(:config)
|
110
|
+
.with("leds:leds_anim", "3,1073741824,4")
|
111
|
+
}
|
112
|
+
end
|
113
|
+
end
|
114
|
+
|
115
|
+
describe "enabled detection command" do
|
116
|
+
context "when setting all parameters" do
|
117
|
+
Given(:enemy) { 2 }
|
118
|
+
Given(:type) { 11 }
|
119
|
+
Given(:select) { 33 }
|
120
|
+
|
121
|
+
When(:result) { controller.enable_detection(enemy, type, select) }
|
122
|
+
|
123
|
+
Then { at.should have_received(:config).with("detect:enemy_colors", enemy.to_s) }
|
124
|
+
Then { at.should have_received(:config).with("detect:detect_type", type.to_s) }
|
125
|
+
Then { at.should have_received(:config).with("detect:detections_select_h", select.to_s) }
|
126
|
+
end
|
127
|
+
|
128
|
+
context "when setting with only enemy" do
|
129
|
+
Given(:enemy) { 2 }
|
130
|
+
Given(:type) { 10 }
|
131
|
+
Given(:select) { 32 }
|
132
|
+
|
133
|
+
When(:result) { controller.enable_detection(enemy) }
|
134
|
+
|
135
|
+
Then { at.should have_received(:config).with("detect:enemy_colors", enemy.to_s) }
|
136
|
+
Then { at.should have_received(:config).with("detect:detect_type", type.to_s) }
|
137
|
+
Then { at.should have_received(:config).with("detect:detections_select_h", select.to_s) }
|
138
|
+
end
|
139
|
+
|
140
|
+
context "when doing demo mode" do
|
141
|
+
When(:result) { controller.demo_mode }
|
142
|
+
Then { at.should have_received(:config).with("general:navdata_demo", "TRUE") }
|
143
|
+
end
|
144
|
+
|
145
|
+
context "when selecting the forward camera" do
|
146
|
+
When(:result) { controller.front_camera }
|
147
|
+
Then { at.should have_received(:config).with("video:video_channel", "2") }
|
148
|
+
end
|
149
|
+
|
150
|
+
context "when selecting the bottom camera" do
|
151
|
+
When(:result) { controller.bottom_camera }
|
152
|
+
Then { at.should have_received(:config).with("video:video_channel", "1") }
|
153
|
+
end
|
154
|
+
|
155
|
+
end
|
156
|
+
|
157
|
+
describe "reset watchdog command" do
|
158
|
+
When(:result) { controller.reset_watchdog}
|
159
|
+
Then { at.should have_received(:comwdg).with() }
|
160
|
+
end
|
161
|
+
|
162
|
+
describe "ack control mode command" do
|
163
|
+
When(:result) { controller.ack_control_mode }
|
164
|
+
Then { at.should have_received(:ctrl).with(5) }
|
24
165
|
end
|
25
|
-
|
26
|
-
context "when landing" do
|
27
|
-
When(:result) { controller.land }
|
28
|
-
Then { at.should have_received(:ref).with(ref_bits).twice }
|
29
|
-
end
|
30
|
-
|
31
|
-
context "when emergency" do
|
32
|
-
Given { controller.take_off }
|
33
|
-
When(:result) { controller.emergency }
|
34
|
-
Then { at.should have_received(:ref).with(ref_bits(8)) }
|
35
|
-
end
|
36
|
-
|
37
|
-
context "when taking off after an emergency" do
|
38
|
-
Given { controller.emergency }
|
39
|
-
When(:result) { controller.take_off }
|
40
|
-
Then { at.should have_received(:ref).with(ref_bits(9)) }
|
41
|
-
end
|
42
|
-
|
43
|
-
context "when hovering" do
|
44
|
-
When(:result) { controller.hover }
|
45
|
-
Then { at.should have_received(:pcmd).with("0,0,0,0,0") }
|
46
|
-
end
|
47
|
-
|
48
|
-
context "when moving forward" do
|
49
|
-
When(:result) { controller.forward(0.80) }
|
50
|
-
Then { at.should have_received(:pcmd).with("1,0,-1085485875,0,0") }
|
51
|
-
end
|
52
|
-
|
53
|
-
context "when moving backward" do
|
54
|
-
When(:result) { controller.backward(0.80) }
|
55
|
-
Then { at.should have_received(:pcmd).with("1,0,1061997773,0,0") }
|
56
|
-
end
|
57
|
-
|
58
|
-
context "when moving to the left" do
|
59
|
-
When(:result) { controller.left(0.80) }
|
60
|
-
Then { at.should have_received(:pcmd).with("1,-1085485875,0,0,0") }
|
61
|
-
end
|
62
|
-
|
63
|
-
context "when moving to the right" do
|
64
|
-
When(:result) { controller.right(0.80) }
|
65
|
-
Then { at.should have_received(:pcmd).with("1,1061997773,0,0,0") }
|
66
|
-
end
|
67
|
-
|
68
|
-
context "when moving up" do
|
69
|
-
When(:result) { controller.up(0.80) }
|
70
|
-
Then { at.should have_received(:pcmd).with("1,0,0,1061997773,0") }
|
71
|
-
end
|
72
|
-
|
73
|
-
context "when moving down" do
|
74
|
-
When(:result) { controller.down(0.80) }
|
75
|
-
Then { at.should have_received(:pcmd).with("1,0,0,-1085485875,0") }
|
76
|
-
end
|
77
|
-
|
78
|
-
context "when turning left" do
|
79
|
-
When(:result) { controller.turn_left(0.80) }
|
80
|
-
Then { at.should have_received(:pcmd).with("1,0,0,0,-1085485875") }
|
81
|
-
end
|
82
|
-
|
83
|
-
context "when turning right" do
|
84
|
-
When(:result) { controller.turn_right(0.80) }
|
85
|
-
Then { at.should have_received(:pcmd).with("1,0,0,0,1061997773") }
|
86
|
-
end
|
87
|
-
|
88
|
-
context "when executing several directions" do
|
89
|
-
When(:result) {
|
90
|
-
controller.forward(1.0).left(0.5).up(0.2).turn_left(0.8)
|
91
|
-
}
|
92
|
-
Then { at.should have_received(:pcmd).with("1,-1090519040,-1082130432,1045220557,-1085485875") }
|
93
|
-
end
|
94
|
-
end
|
95
|
-
|
96
|
-
describe "led command" do
|
97
|
-
Invariant { result.should == controller }
|
98
|
-
|
99
|
-
context "when setting with numeric sequence" do
|
100
|
-
When(:result) { controller.led(3, 2.0, 4) }
|
101
|
-
Then {
|
102
|
-
at.should have_received(:config)
|
103
|
-
.with("leds:leds_anim", "3,1073741824,4")
|
104
|
-
}
|
105
|
-
end
|
106
|
-
|
107
|
-
context "when setting with symbolic sequence" do
|
108
|
-
When(:result) { controller.led(:blink_orange, 2.0, 4) }
|
109
|
-
Then {
|
110
|
-
at.should have_received(:config)
|
111
|
-
.with("leds:leds_anim", "3,1073741824,4")
|
112
|
-
}
|
113
|
-
end
|
114
|
-
end
|
115
|
-
|
116
|
-
describe "enabled detection command" do
|
117
|
-
Invariant { result.should == controller }
|
118
|
-
|
119
|
-
context "when setting all parameters" do
|
120
|
-
Given(:enemy) { 2 }
|
121
|
-
Given(:type) { 11 }
|
122
|
-
Given(:select) { 33 }
|
123
|
-
|
124
|
-
When(:result) { controller.enable_detection(enemy, type, select) }
|
125
|
-
|
126
|
-
Then { at.should have_received(:config).with("detect:enemy_colors", enemy.to_s) }
|
127
|
-
Then { at.should have_received(:config).with("detect:detect_type", type.to_s) }
|
128
|
-
Then { at.should have_received(:config).with("detect:detections_select_h", select.to_s) }
|
129
|
-
end
|
130
|
-
|
131
|
-
context "when setting with only enemy" do
|
132
|
-
Given(:enemy) { 2 }
|
133
|
-
Given(:type) { 10 }
|
134
|
-
Given(:select) { 32 }
|
135
|
-
|
136
|
-
When(:result) { controller.enable_detection(enemy) }
|
137
|
-
|
138
|
-
Then { at.should have_received(:config).with("detect:enemy_colors", enemy.to_s) }
|
139
|
-
Then { at.should have_received(:config).with("detect:detect_type", type.to_s) }
|
140
|
-
Then { at.should have_received(:config).with("detect:detections_select_h", select.to_s) }
|
141
|
-
end
|
142
|
-
end
|
143
|
-
|
144
|
-
describe "ack controll command" do
|
145
|
-
Invariant { result.should == controller }
|
146
|
-
When(:result) { controller.ack_control_mode }
|
147
|
-
Then { at.should have_received(:ctrl).with(5) }
|
148
166
|
end
|
149
167
|
end
|
@@ -0,0 +1,53 @@
|
|
1
|
+
require 'spec_helper'
|
2
|
+
require 'argus'
|
3
|
+
|
4
|
+
describe Argus::Drone do
|
5
|
+
Given(:controller) { flexmock("controller", :on, Argus::Controller) }
|
6
|
+
Given(:commander) { flexmock("commander", :on, Argus::ATCommander) }
|
7
|
+
Given(:nav_monitor) { flexmock("navmonitor", :on, Argus::NavMonitor) }
|
8
|
+
Given(:drone) {
|
9
|
+
Argus::Drone.new(
|
10
|
+
nav_monitor: nav_monitor,
|
11
|
+
commander: commander,
|
12
|
+
controller: controller)
|
13
|
+
}
|
14
|
+
|
15
|
+
Then { drone.commander == commander }
|
16
|
+
|
17
|
+
context "when starting the drone" do
|
18
|
+
When { drone.start }
|
19
|
+
Then { commander.should have_received(:start).once }
|
20
|
+
Then { nav_monitor.should have_received(:start).once }
|
21
|
+
|
22
|
+
context "and then stopped" do
|
23
|
+
When { drone.stop }
|
24
|
+
Then { controller.should have_received(:land).once }
|
25
|
+
Then { commander.should have_received(:stop).once }
|
26
|
+
Then { commander.should have_received(:join).once }
|
27
|
+
Then { nav_monitor.should have_received(:stop).once }
|
28
|
+
Then { nav_monitor.should have_received(:join).once }
|
29
|
+
end
|
30
|
+
end
|
31
|
+
|
32
|
+
describe "setting nav callbacks" do
|
33
|
+
When { drone.nav_callback(:a) }
|
34
|
+
Then { nav_monitor.should have_received(:callback).with(:a).once }
|
35
|
+
end
|
36
|
+
|
37
|
+
describe "flight controls" do
|
38
|
+
When { drone.take_off }
|
39
|
+
Then { controller.should have_received(:take_off).once }
|
40
|
+
end
|
41
|
+
|
42
|
+
context "when created normally" do
|
43
|
+
Given { flexmock(Argus::NavMonitor).should_receive(:new => nil) }
|
44
|
+
When { Argus::Drone.new }
|
45
|
+
Then { Argus::NavMonitor.should have_received(:new).with(Argus::Controller, String).once }
|
46
|
+
end
|
47
|
+
|
48
|
+
context "when NavMonitor is disabled" do
|
49
|
+
Given { flexmock(Argus::NullNavMonitor).should_receive(:new => nil) }
|
50
|
+
When { Argus::Drone.new(enable_nav_monitor: false) }
|
51
|
+
Then { Argus::NullNavMonitor.should have_received(:new).with().once }
|
52
|
+
end
|
53
|
+
end
|
data/spec/argus/nav_data_spec.rb
CHANGED
@@ -0,0 +1,65 @@
|
|
1
|
+
require 'spec_helper'
|
2
|
+
require 'thread'
|
3
|
+
|
4
|
+
describe Argus::NavMonitor do
|
5
|
+
Given(:streamer) { flexmock("streamer", :on, Argus::NavStreamer) }
|
6
|
+
Given(:controller) { flexmock("controller", :on, Argus::Controller) }
|
7
|
+
Given(:nav) {
|
8
|
+
Argus::NavMonitor.new(controller, "localhost", streamer: streamer)
|
9
|
+
}
|
10
|
+
|
11
|
+
context "when the monitor is started" do
|
12
|
+
after do nav.join end
|
13
|
+
When { nav.start; Thread.pass }
|
14
|
+
Then { streamer.should have_received(:start).once }
|
15
|
+
end
|
16
|
+
|
17
|
+
context "when data is received" do
|
18
|
+
Given(:bootstrap) { false }
|
19
|
+
Given(:ack) { false }
|
20
|
+
Given(:nav_options) { [ ] }
|
21
|
+
Given(:nav_data) {
|
22
|
+
flexmock("NavData",
|
23
|
+
:bootstrap? => bootstrap,
|
24
|
+
:control_command_ack? => ack,
|
25
|
+
:options => nav_options)
|
26
|
+
}
|
27
|
+
|
28
|
+
When {
|
29
|
+
capture_io { nav.update_nav_data(nav_data) }
|
30
|
+
}
|
31
|
+
|
32
|
+
context "when typical data is received" do
|
33
|
+
Then { nav.data == nav_data }
|
34
|
+
Then { controller.should have_received(:demo_mode).never }
|
35
|
+
Then { controller.should have_received(:ack_control_mode).never }
|
36
|
+
end
|
37
|
+
|
38
|
+
context "when the bootstrap flag is set" do
|
39
|
+
Given(:bootstrap) { true }
|
40
|
+
Then { controller.should have_received(:demo_mode).once }
|
41
|
+
end
|
42
|
+
|
43
|
+
context "when the control command ack is set" do
|
44
|
+
Given(:ack) { true }
|
45
|
+
Then { controller.should have_received(:ack_control_mode).once }
|
46
|
+
end
|
47
|
+
|
48
|
+
context "with nav option sections" do
|
49
|
+
Given(:opt) { flexmock("option", tag: 0) }
|
50
|
+
Given(:nav_options) { [ opt ] }
|
51
|
+
Then { nav.data == nav_data }
|
52
|
+
Then { nav.option(0) == opt }
|
53
|
+
end
|
54
|
+
|
55
|
+
context "with a callback" do
|
56
|
+
Given { nav.callback { |data| @cb_data = data } }
|
57
|
+
Then { @cb_data == nav_data }
|
58
|
+
end
|
59
|
+
|
60
|
+
context "with a callback with errors" do
|
61
|
+
Given { nav.callback { |data| fail "OUCH" } }
|
62
|
+
Then { captured_out =~ /OUCH/ }
|
63
|
+
end
|
64
|
+
end
|
65
|
+
end
|
@@ -3,10 +3,6 @@ require 'base64'
|
|
3
3
|
|
4
4
|
module Argus
|
5
5
|
describe NavOptionDemo do
|
6
|
-
def f(float)
|
7
|
-
FloatEncoding.encode_float(float)
|
8
|
-
end
|
9
|
-
|
10
6
|
# NOTE: This is a Base 64 encoded NavData packet recorded directly from the drone.
|
11
7
|
Given(:base64_data) {
|
12
8
|
"iHdmVdAEgA/5iwAAAAAAAAAAlAAAAAIAPAAAAADwREUAgCNFQFEiyAAAAABk" +
|
@@ -5,7 +5,7 @@ module Argus
|
|
5
5
|
Given(:remote_host) { '192.168.1.1' }
|
6
6
|
Given(:port) { 5554 }
|
7
7
|
Given(:socket) { flexmock("Socket", send: nil).should_ignore_missing }
|
8
|
-
Given(:streamer) { NavStreamer.new(remote_host: remote_host, UDPSocket: flexmock(new: socket)) }
|
8
|
+
Given(:streamer) { NavStreamer.new(remote_host: remote_host, UDPSocket: flexmock(new: socket, disabled_timer: true)) }
|
9
9
|
|
10
10
|
context "after starting" do
|
11
11
|
Given { streamer.start }
|
@@ -23,6 +23,11 @@ module Argus
|
|
23
23
|
When(:nav_data) { streamer.receive_data }
|
24
24
|
Then { nav_data.nil? }
|
25
25
|
end
|
26
|
+
|
27
|
+
context "when receiving and extra start event" do
|
28
|
+
Given { streamer.start }
|
29
|
+
Then { socket.should have_received(:close) }
|
30
|
+
end
|
26
31
|
end
|
27
32
|
|
28
33
|
describe "State Transitions" do
|
@@ -0,0 +1,26 @@
|
|
1
|
+
require 'spec_helper'
|
2
|
+
|
3
|
+
module Argus
|
4
|
+
describe VideoDataEnvelope do
|
5
|
+
Given(:unpacker) { flexmock("Unpacker", :unpack => values) }
|
6
|
+
Given(:socket) { flexmock("socket", :read => unpacker) }
|
7
|
+
Given(:video_data_envelope) { VideoDataEnvelope.new(socket) }
|
8
|
+
|
9
|
+
describe "version" do
|
10
|
+
When(:values) { flexmock("Values", :first => 3) }
|
11
|
+
Then { video_data_envelope.version == 3 }
|
12
|
+
end
|
13
|
+
|
14
|
+
describe "frame_number" do
|
15
|
+
When(:values) { flexmock("Values", :first => 42) }
|
16
|
+
Then { video_data_envelope.frame_number == 42 }
|
17
|
+
end
|
18
|
+
|
19
|
+
describe "payload_size" do
|
20
|
+
When(:values) { flexmock("Values", :first => 2048) }
|
21
|
+
Then { video_data_envelope.payload_size == 2048 }
|
22
|
+
end
|
23
|
+
|
24
|
+
# TODO: handle invalid envelope
|
25
|
+
end
|
26
|
+
end
|
@@ -0,0 +1,17 @@
|
|
1
|
+
require 'spec_helper'
|
2
|
+
|
3
|
+
module Argus
|
4
|
+
describe VideoData do
|
5
|
+
Given(:raw_header) { Bytes.make_video_envelope }
|
6
|
+
Given(:raw_video_bytes) { Bytes.make_video_data(raw_header) }
|
7
|
+
Given(:video_data) { VideoData.new(socket) }
|
8
|
+
|
9
|
+
describe "valid envelope" do
|
10
|
+
When(:socket) { StringIO.new(raw_header) }
|
11
|
+
Then {video_data.envelope.signature == "PaVE"}
|
12
|
+
end
|
13
|
+
|
14
|
+
# TODO: handle invalid envelope
|
15
|
+
# TODO: handle valid envelope but invalid frame
|
16
|
+
end
|
17
|
+
end
|
@@ -0,0 +1,21 @@
|
|
1
|
+
require 'spec_helper'
|
2
|
+
|
3
|
+
module Argus
|
4
|
+
describe VideoStreamer do
|
5
|
+
Given(:tcp_socket) { flexmock("TCPSocket", send: nil).should_ignore_missing }
|
6
|
+
Given(:streamer) { VideoStreamer.new(socket: tcp_socket) }
|
7
|
+
Given(:udp_socket) { flexmock("UDPSocket", send: nil).should_ignore_missing }
|
8
|
+
|
9
|
+
describe "starting the stream" do
|
10
|
+
When { streamer.start(udp_socket) }
|
11
|
+
Then { udp_socket.should have_received(:send) }
|
12
|
+
Then { udp_socket.should have_received(:close) }
|
13
|
+
end
|
14
|
+
|
15
|
+
describe "receiving data" do
|
16
|
+
Given { streamer.start(udp_socket) }
|
17
|
+
When(:result) { streamer.receive_data }
|
18
|
+
Then { result.is_a?(VideoData) }
|
19
|
+
end
|
20
|
+
end
|
21
|
+
end
|
data/spec/spec_helper.rb
CHANGED
@@ -1,10 +1,14 @@
|
|
1
1
|
#!/usr/bin/ruby -wKU
|
2
|
+
require 'simplecov'
|
3
|
+
SimpleCov.start do
|
4
|
+
add_filter "spec/"
|
5
|
+
end
|
2
6
|
|
3
7
|
require 'rspec/given'
|
4
8
|
require 'flexmock'
|
5
|
-
|
6
9
|
require 'argus'
|
7
10
|
require 'support/bytes'
|
11
|
+
require 'support/capture_io'
|
8
12
|
|
9
13
|
RSpec.configure do |config|
|
10
14
|
config.mock_with :flexmock
|
metadata
CHANGED
@@ -1,7 +1,7 @@
|
|
1
1
|
--- !ruby/object:Gem::Specification
|
2
2
|
name: argus
|
3
3
|
version: !ruby/object:Gem::Version
|
4
|
-
version: 0.
|
4
|
+
version: 0.4.0
|
5
5
|
platform: ruby
|
6
6
|
authors:
|
7
7
|
- Jim Weirich
|
@@ -10,7 +10,7 @@ authors:
|
|
10
10
|
autorequire:
|
11
11
|
bindir: bin
|
12
12
|
cert_chain: []
|
13
|
-
date: 2013-09-
|
13
|
+
date: 2013-09-07 00:00:00.000000000 Z
|
14
14
|
dependencies:
|
15
15
|
- !ruby/object:Gem::Dependency
|
16
16
|
name: rspec-given
|
@@ -58,17 +58,21 @@ files:
|
|
58
58
|
- lib/argus/nav_streamer.rb
|
59
59
|
- lib/argus/nav_tag.rb
|
60
60
|
- lib/argus/null_nav_monitor.rb
|
61
|
-
- lib/argus/pave_parser.rb
|
62
|
-
- lib/argus/tcp_video_streamer.rb
|
63
61
|
- lib/argus/time_queue.rb
|
64
62
|
- lib/argus/udp_sender.rb
|
65
63
|
- lib/argus/version.rb
|
64
|
+
- lib/argus/video_data.rb
|
65
|
+
- lib/argus/video_data_envelope.rb
|
66
|
+
- lib/argus/video_streamer.rb
|
66
67
|
- spec/spec_helper.rb
|
67
68
|
- spec/argus/at_commander_spec.rb
|
69
|
+
- spec/argus/cfields_spec.rb
|
68
70
|
- spec/argus/controller_spec.rb
|
71
|
+
- spec/argus/drone_spec.rb
|
69
72
|
- spec/argus/float_encoding_spec.rb
|
70
73
|
- spec/argus/led_animation_spec.rb
|
71
74
|
- spec/argus/nav_data_spec.rb
|
75
|
+
- spec/argus/nav_monitor_spec.rb
|
72
76
|
- spec/argus/nav_option_checksum_spec.rb
|
73
77
|
- spec/argus/nav_option_demo_spec.rb
|
74
78
|
- spec/argus/nav_option_spec.rb
|
@@ -78,9 +82,13 @@ files:
|
|
78
82
|
- spec/argus/null_nav_monitor_spec.rb
|
79
83
|
- spec/argus/time_queue_spec.rb
|
80
84
|
- spec/argus/udp_sender_spec.rb
|
85
|
+
- spec/argus/video_data_envelope_spec.rb
|
86
|
+
- spec/argus/video_data_spec.rb
|
87
|
+
- spec/argus/video_streamer_spec.rb
|
81
88
|
- MIT-LICENSE
|
82
89
|
homepage: http://github.com/jimweirich/argus
|
83
|
-
licenses:
|
90
|
+
licenses:
|
91
|
+
- MIT-LICENSE
|
84
92
|
metadata: {}
|
85
93
|
post_install_message:
|
86
94
|
rdoc_options:
|
data/lib/argus/pave_parser.rb
DELETED
@@ -1,39 +0,0 @@
|
|
1
|
-
module Argus
|
2
|
-
class PaVEParser
|
3
|
-
def initialize(tcp_video_streamer)
|
4
|
-
@tcp_video_streamer = tcp_video_streamer
|
5
|
-
end
|
6
|
-
|
7
|
-
def get_frame
|
8
|
-
frame = {
|
9
|
-
:signature=>(@tcp_video_streamer.read(4)).unpack("A*").first,
|
10
|
-
:version=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
11
|
-
:video_codec=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
12
|
-
:header_size=>(@tcp_video_streamer.read(2)).unpack("v").first,
|
13
|
-
:payload_size=>(@tcp_video_streamer.read(4)).unpack("V").first,
|
14
|
-
:encoded_stream_width=>(@tcp_video_streamer.read(2)).unpack("v").first,
|
15
|
-
:encoded_stream_height=>(@tcp_video_streamer.read(2)).unpack("v").first,
|
16
|
-
:display_width=>(@tcp_video_streamer.read(2)).unpack("v").first,
|
17
|
-
:display_height=>(@tcp_video_streamer.read(2)).unpack("v").first,
|
18
|
-
:frame_number=>(@tcp_video_streamer.read(4)).unpack("V").first,
|
19
|
-
:timestamp=>(@tcp_video_streamer.read(4)).unpack("V").first,
|
20
|
-
:total_chunks=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
21
|
-
:chunk_index=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
22
|
-
:frame_type=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
23
|
-
:control=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
24
|
-
:stream_byte_position_lw=>(@tcp_video_streamer.read(4)).unpack("V").first,
|
25
|
-
:stream_byte_position_uw=>(@tcp_video_streamer.read(4)).unpack("V").first,
|
26
|
-
:stream_id=>(@tcp_video_streamer.read(2)).unpack("v").first,
|
27
|
-
:total_slices=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
28
|
-
:slice_index=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
29
|
-
:header1_size=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
30
|
-
:header2_size=>(@tcp_video_streamer.read(1)).unpack("C").first,
|
31
|
-
:reserved[2]=>(@tcp_video_streamer.read(2)).unpack("H*").first,
|
32
|
-
:advertised_size=>(@tcp_video_streamer.read(4)).unpack("V").first,
|
33
|
-
:reserved[12]=>(@tcp_video_streamer.read(12)).unpack("H*").first
|
34
|
-
}
|
35
|
-
@tcp_video_streamer.read(4)
|
36
|
-
return @tcp_video_streamer.read(frame[:payload_size])
|
37
|
-
end
|
38
|
-
end
|
39
|
-
end
|
@@ -1,20 +0,0 @@
|
|
1
|
-
require 'socket'
|
2
|
-
module Argus
|
3
|
-
class TcpVideoStreamer
|
4
|
-
def initialize(opts={})
|
5
|
-
@host = opts.fetch(:remote_host)
|
6
|
-
@port = opts.fetch(:port, 5555)
|
7
|
-
@tcp_socket = TCPSocket.new(@host, @port)
|
8
|
-
end
|
9
|
-
|
10
|
-
def start_stream(udp_socket=nil)
|
11
|
-
sock = udp_socket || UDPSocket.new
|
12
|
-
sock.send("\x01\x00\x00\x00", 0, @host, @port)
|
13
|
-
sock.close
|
14
|
-
end
|
15
|
-
|
16
|
-
def read(n)
|
17
|
-
@tcp_socket.read(n)
|
18
|
-
end
|
19
|
-
end
|
20
|
-
end
|