artoo-ardrone 1.1.0 → 1.2.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/Gemfile

@@ -2,3 +2,6 @@ source "http://rubygems.org"
 
 # Specify your gem's dependencies in artoo-sphero.gemspec
 gemspec
+
+# uncomment the following line for local development:
+#gem 'hybridgroup-argus', :path => '~/Development/argus'

data/Gemfile.lock

@@ -1,15 +1,14 @@
 PATH
   remote: .
   specs:
-    artoo-ardrone (1.1.0)
-      argus (>= 0.4.0)
-      artoo (>= 1.2.1)
+    artoo-ardrone (1.2.0)
+      artoo (>= 1.3.0)
+      hybridgroup-argus (>= 0.5.0)
 
 GEM
   remote: http://rubygems.org/
   specs:
-    argus (0.4.0)
-    artoo (1.2.2)
+    artoo (1.3.0)
       celluloid (~> 0.15.0)
       celluloid-io (~> 0.15.0)
       multi_json (~> 1.6)
@@ -17,7 +16,7 @@ GEM
       rake
       reel (~> 0.4.0)
       thor (~> 0.18.1)
-    celluloid (0.15.1)
+    celluloid (0.15.2)
       timers (~> 1.1.0)
     celluloid-io (0.15.0)
       celluloid (>= 0.15.0)
@@ -26,13 +25,14 @@ GEM
     http (0.5.0)
       http_parser.rb
     http_parser.rb (0.6.0.beta.2)
+    hybridgroup-argus (0.5.0)
     metaclass (0.0.1)
     method_source (0.8.2)
     minitest (5.0.1)
     minitest-happy (1.0.0)
     mocha (0.14.0)
       metaclass (~> 0.0.1)
-    multi_json (1.8.0)
+    multi_json (1.8.2)
     nio4r (0.5.0)
     pry (0.9.12.2)
       coderay (~> 1.0.5)

data/README.md

@@ -19,17 +19,19 @@ gem install artoo-ardrone
 ## Using
 
 ```ruby
-require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.0.43:5556'
+connection :ardrone, :adaptor => :ardrone
 device :drone, :driver => :ardrone, :connection => :ardrone
 
 work do
+  on drone, :ready => :fly
   drone.start
+end
+
+def fly(*data)
   drone.take_off
-  
-  after(25.seconds) { drone.hover.land }
-  after(30.seconds) { drone.stop }
+  after(15.seconds) { drone.hover.land }
+  after(20.seconds) { drone.stop }
 end
 ```
 
@@ -37,6 +39,30 @@ end
 
 The ARDrone is a WiFi device, so there is no additional work to establish a connection to a single drone. However, in order to connect to multiple drones, you need to perform some configuration steps on each drone via SSH.
 
+## Automatic Reset From Emergency Mode
+
+When you first connect to the ARDrone by calling the `start` method, if it is in "emergency" mode, the ARDrone will not take off. Artoo can automatically reset it back "normal" mode, to be able to fly IF you pass in the navigation like this example:
+
+```ruby
+
+connection :ardrone, :adaptor => :ardrone
+device :drone, :driver => :ardrone, :connection => :ardrone
+
+connection :navigation, :adaptor => :ardrone_navigation
+device :nav, :driver => :ardrone_navigation, :connection => :navigation
+
+work do
+  on drone, :ready => :fly
+  drone.start(nav) # pass the nav object into the start method
+end
+
+def fly(*data)
+  drone.take_off
+  after(15.seconds) { drone.hover.land }
+  after(20.seconds) { drone.stop }
+end
+```
+
 ## Contributing
 
 1. Fork it

data/artoo-ardrone.gemspec

@@ -6,7 +6,7 @@ Gem::Specification.new do |s|
   s.name        = "artoo-ardrone"
   s.version     = Artoo::Ardrone::VERSION
   s.platform    = Gem::Platform::RUBY
-  s.authors     = ["Ron Evans", "Adrian Zankich"]
+  s.authors     = ["Ron Evans", "Adrian Zankich", "Julian Cheal", "Joe Merante", "Benjamin Abruzzo"]
   s.email       = ["artoo@hybridgroup.com"]
   s.homepage    = "https://github.com/hybridgroup/artoo-ardrone"
   s.summary     = %q{Artoo adaptor and driver for Parrot ARDrone 2.0}
@@ -19,8 +19,8 @@ Gem::Specification.new do |s|
   s.executables   = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
   s.require_paths = ["lib"]
 
-  s.add_runtime_dependency 'artoo', '>= 1.2.1'
-  s.add_runtime_dependency 'argus', '>= 0.4.0'
+  s.add_runtime_dependency 'artoo', '>= 1.3.0'
+  s.add_runtime_dependency 'hybridgroup-argus', '>= 0.5.0'
   s.add_development_dependency 'minitest', '>= 5.0'
   s.add_development_dependency 'minitest-happy'
   s.add_development_dependency 'mocha', '>= 0.14.0'

data/examples/ardrone.rb

@@ -1,12 +1,15 @@
 require 'artoo'
 
-connection :ardrone, :adaptor => :ardrone, :port => '192.168.1.1:5556'
+connection :ardrone, :adaptor => :ardrone
 device :drone, :driver => :ardrone, :connection => :ardrone
 
 work do
+  on drone, :ready => :fly
   drone.start
-  drone.take_off
+end
 
+def fly(*data)
+  drone.take_off
   after(15.seconds) { drone.hover.land }
   after(20.seconds) { drone.stop }
 end

data/examples/ardrone_animate.rb

@@ -0,0 +1,19 @@
+require 'artoo'
+
+connection :ardrone, :adaptor => :ardrone
+device :drone, :driver => :ardrone, :connection => :ardrone
+
+connection :navigation, :adaptor => :ardrone_navigation
+device :nav, :driver => :ardrone_navigation, :connection => :navigation
+
+work do
+  on drone, :ready => :fly
+  drone.start(nav)
+end
+
+def fly(*data)
+  drone.take_off
+  after(10.seconds) { drone.animate(:turnaround, 3000) }
+  after(15.seconds) { drone.hover.land }
+  after(20.seconds) { drone.stop }
+end

data/examples/ardrone_autoreset.rb

@@ -0,0 +1,18 @@
+require 'artoo'
+
+connection :ardrone, :adaptor => :ardrone
+device :drone, :driver => :ardrone, :connection => :ardrone
+
+connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.1:5554'
+device :nav, :driver => :ardrone_navigation, :connection => :navigation
+
+work do
+  on drone, :ready => :fly
+  drone.start(nav)
+end
+
+def fly(*data)
+  drone.take_off
+  after(15.seconds) { drone.hover.land }
+  after(20.seconds) { drone.stop }
+end

data/examples/ardrone_nav.rb

@@ -7,12 +7,16 @@ connection :navigation, :adaptor => :ardrone_navigation, :port => '192.168.1.1:5
 device :nav, :driver => :ardrone_navigation, :connection => :navigation
 
 work do
+  on drone, :ready => :fly
   on nav, :navdata => :nav_update
-  drone.start
+
+  drone.start(nav)
+end
+
+def fly(*data)
   drone.take_off
-  
-  after(25.seconds) { drone.hover.land }
-  after(30.seconds) { drone.stop }
+  after(15.seconds) { drone.hover.land }
+  after(20.seconds) { drone.stop }
 end
 
 def nav_update(*data)

data/examples/ardrone_video.rb

@@ -7,12 +7,16 @@ connection :videodrone, :adaptor => :ardrone_video, :port => '192.168.1.1:5555'
 device :video, :driver => :ardrone_video, :connection => :videodrone
 
 work do
+  on drone, :ready => :fly
   on video, :frame => :v_frame
+
   drone.start
-  drone.take_off
+end
 
-	after(25.seconds) { drone.hover.land }
-  after(30.seconds) { drone.stop }
+def fly(*data)
+  drone.take_off
+  after(15.seconds) { drone.hover.land }
+  after(20.seconds) { drone.stop }
 end
 
 def v_frame(*data)

data/lib/artoo-ardrone/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   module Ardrone
-    VERSION = '1.1.0'
+    VERSION = '1.2.0'
   end
 end

data/lib/artoo/adaptors/ardrone.rb

@@ -19,8 +19,8 @@ module Artoo
       # Creates Argus Drone connection with device
       # @return [Boolean]
       def connect
-        require 'argus' unless defined?(Argus)
-        @ardrone = Argus::Drone.new(socket: connect_to_udp, host: port.host, port: port.port)
+        require 'argus' unless defined?(::Argus::Drone)
+        @ardrone = ::Argus::Drone.new(socket: connect_to_udp, host: port.host, port: port.port)
         super
       end
 

data/lib/artoo/adaptors/ardrone_navigation.rb

@@ -10,8 +10,8 @@ module Artoo
       # Creates connection with Argus NavStreamer and starts ardrone device
       # @return [Boolean]
       def connect
-        require 'argus' unless defined?(Argus)
-        @ardrone = Argus::NavStreamer.new(socket: connect_to_udp, remote_host: port.host, port: port.port.to_i)
+        require 'argus' unless defined?(::Argus::NavStreamer)
+        @ardrone = ::Argus::NavStreamer.new(socket: connect_to_udp, remote_host: port.host, port: port.port.to_i)
         @ardrone.start
         super
       end

data/lib/artoo/adaptors/ardrone_video.rb

@@ -12,9 +12,8 @@ module Artoo
       # Argus PaVE Parser starting a stream with ardrone device
       # @return [Boolean]
       def connect
-        require 'argus' unless defined?(Argus)
-        require 'argus'
-        @ardrone = Argus::VideoStreamer.new(socket: connect_to_tcp, host: port.host, post: port.port)
+        require 'argus' unless defined?(::Argus::VideoStreamer)
+        @ardrone = ::Argus::VideoStreamer.new(socket: connect_to_tcp, host: port.host, post: port.port)
         @ardrone.start(connect_to_udp)
         super
       end

data/lib/artoo/drivers/ardrone.rb

@@ -5,12 +5,48 @@ module Artoo
     # Ardrone driver behaviors
     # @see https://github.com/hybridgroup/argus/blob/master/lib/argus/drone.rb Argus::Drone docs for supported actions
     class Ardrone < Driver
-      COMMANDS = [:start, :stop, :hover, :land, :take_off, :emergency, 
+      COMMANDS = [:start, :stop, :hover, :land, :take_off, :enable_emergency, :disable_emergency,
                   :front_camera, :bottom_camera, :up, :down, :left, :right, 
                   :forward, :backward, :turn_left, :turn_right, :reset_watchdog, :led].freeze
 
-      def start
+      def start(nav=nil)
         connection.start(false) # send false, so Argus does not use NavMonitor
+
+        if nav
+          start_with_nav(nav)
+        else
+          publish(event_topic_name("ready"))
+        end
+      end
+
+      def start_with_nav(nav)
+        until !nav.emergency_landing?.nil?
+          sleep 0.1
+        end
+
+        if nav.emergency_landing?
+          connection.disable_emergency
+          after(1) do
+            connection.disable_emergency(false)
+            publish(event_topic_name("ready"))
+          end
+        else
+          publish(event_topic_name("ready"))
+        end
+      end
+
+      def enable_emergency
+        connection.enable_emergency
+        after(1) do
+          connection.enable_emergency(false)
+        end
+      end
+
+      def disable_emergency
+        connection.disable_emergency
+        after(1) do
+          connection.disable_emergency(false)
+        end
       end
     end
   end

data/lib/artoo/drivers/ardrone_navigation.rb

@@ -4,6 +4,7 @@ module Artoo
   module Drivers
     # Ardrone navigation driver behaviors
     class ArdroneNavigation < Driver
+      COMMANDS = [:emergency_landing?].freeze
 
       # Starts driver and handle updates from device
       def start_driver
@@ -12,15 +13,41 @@ module Artoo
         end
 
         super
+
+        publish(event_topic_name("ready"))
       end
 
       # Receives data from navigation and publishes
       # and event in update topic for it
       def handle_update
         navdata = connection.receive_data
+        return unless navdata
+
+        @emergency_landing = navdata.emergency_landing?
+
+        navdata.options.each do |opt|
+          n = navdata.clone
+          n.options = opt
+
+          case
+          when opt.is_a?(::Argus::NavOptionDemo) 
+            publish(event_topic_name("update"), "navdata_demo", n, opt)
+            publish(event_topic_name("demo"), n, opt)
+
+          when opt.is_a?(::Argus::NavOptionVisionDetect)
+            publish(event_topic_name("update"), "navdata_vision_detect", n, opt)
+            publish(event_topic_name("vision_detect"), n, opt)
+
+          end
+        end
+
         publish(event_topic_name("update"), "navdata", navdata)
         publish(event_topic_name("navdata"), navdata)
       end
+
+      def emergency_landing?
+        @emergency_landing
+      end
     end
   end
 end

metadata

@@ -1,15 +1,18 @@
 --- !ruby/object:Gem::Specification
 name: artoo-ardrone
 version: !ruby/object:Gem::Version
-  version: 1.1.0
+  version: 1.2.0
 platform: ruby
 authors:
 - Ron Evans
 - Adrian Zankich
+- Julian Cheal
+- Joe Merante
+- Benjamin Abruzzo
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-09-27 00:00:00.000000000 Z
+date: 2013-10-17 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: artoo
@@ -17,28 +20,28 @@ dependencies:
     requirements:
     - - '>='
       - !ruby/object:Gem::Version
-        version: 1.2.1
+        version: 1.3.0
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - '>='
       - !ruby/object:Gem::Version
-        version: 1.2.1
+        version: 1.3.0
 - !ruby/object:Gem::Dependency
-  name: argus
+  name: hybridgroup-argus
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - '>='
       - !ruby/object:Gem::Version
-        version: 0.4.0
+        version: 0.5.0
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - '>='
       - !ruby/object:Gem::Version
-        version: 0.4.0
+        version: 0.5.0
 - !ruby/object:Gem::Dependency
   name: minitest
   requirement: !ruby/object:Gem::Requirement
@@ -98,6 +101,8 @@ files:
 - Rakefile
 - artoo-ardrone.gemspec
 - examples/ardrone.rb
+- examples/ardrone_animate.rb
+- examples/ardrone_autoreset.rb
 - examples/ardrone_nav.rb
 - examples/ardrone_video.rb
 - lib/artoo-ardrone.rb