codrone-edu 2.8__tar.gz → 2.10__tar.gz

{codrone_edu-2.8 → codrone_edu-2.10}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: codrone_edu
-Version: 2.8
+Version: 2.10
 Summary: Python CoDrone EDU library
 Home-page: 
 Author: 

{codrone_edu-2.8 → codrone_edu-2.10}/codrone_edu/drone.py

@@ -137,7 +137,7 @@ class Drone:
     # BaseFunctions Start
 
     def __init__(self, flagCheckBackground=True, flagShowErrorMessage=False, flagShowLogMessage=False,
-                 flagShowTransferData=False, flagShowReceiveData=False, swarm=False, color_data_dir=None):
+                 flagShowTransferData=False, flagShowReceiveData=False, swarm=False, color_data_dir=None, flagShowDepLibraryVersion=True):
 
         self._serialport = None
         if sys.platform == 'emscripten':
@@ -182,6 +182,8 @@ class Drone:
         self._cpuId = []
         self._battery = 0
         self._system = ModeSystem.Error
+        self._state_update_count = 0
+        self._last_state_update_time = 0.0
 
         self.timeStartProgram = time.time()  # Program Start Time Recording
 
@@ -268,10 +270,12 @@ class Drone:
         library_name = "codrone-edu"
         library = importlib.metadata.distribution(library_name)
         if sys.platform != 'emscripten' and not self._swarm:
-            colorama.init()
-            print(Fore.GREEN + f"Running {library_name} library version {library.version}" + Style.RESET_ALL)
+            if flagShowDepLibraryVersion:
+                colorama.init()
+                print(Fore.GREEN + f"Running {library_name} library version {library.version}" + Style.RESET_ALL)
         elif sys.platform == 'emscripten':
-            print("Running {0} library version {1}".format(library_name, library.version), color="green")
+            if flagShowDepLibraryVersion:
+                print("Running {0} library version {1}".format(library_name, library.version), color="green")
         # this only works when using the release version of the library
 
     def __del__(self):
@@ -1142,6 +1146,10 @@ class Drone:
         self.state_data[6] = drone_type.battery
         self.state_data[7] = drone_type.modeMovement
         self.state_data[8] = drone_type.controlSpeed
+        if sys.platform == 'emscripten':
+            self._battery = drone_type.battery
+            self._state_update_count += 1
+            self._last_state_update_time = time.time()
 
     def get_state_data(self, delay=0.01):
         if sys.platform != 'emscripten' and not self._swarm:
@@ -1162,10 +1170,14 @@ class Drone:
         return self.state_data
     
     async def _get_state_data_emscripten(self, delay=0.01):
+        prev_count = self._state_update_count
         await self.sendRequest(DeviceType.Drone, DataType.State)
         await asyncio.sleep(delay)
         self._system = self.state_data[1]
-        self._battery = self.state_data[6]
+        if self._state_update_count == prev_count:
+            # No response this call — only zero battery if data is genuinely stale
+            if time.time() - self._last_state_update_time > 2.0:
+                self._battery = 0
         self.state_data[1] = ModeSystem.Error
         self.state_data[6] = 0
         return self.state_data
@@ -1192,9 +1204,7 @@ class Drone:
 
     async def _get_battery_emscripten(self):
         await self.get_state_data(delay=0.02)
-        battery = self._battery
-        self._battery = 0
-        return battery
+        return self._battery
 
     def get_system_state(self):
         if sys.platform != 'emscripten' and not self._swarm:
@@ -1300,6 +1310,70 @@ class Drone:
         await asyncio.sleep(0.01)
         await self._trigger_speed_callback()
 
+    def control_change(self, mode=ModeControlFlight.Position):
+        """
+        Changes the flight control mode of the drone.
+        default is set to ModeControlFlight.Position
+        :param mode: ModeControlFlight enum value (e.g. Attitude, Position)
+        :return: N/A
+        """
+        if not isinstance(mode, ModeControlFlight):
+            return None
+
+        if sys.platform != 'emscripten' and not self._swarm:
+            return self._control_change_desktop(mode)
+        if sys.platform != 'emscripten' and self._swarm:
+            return asyncio.create_task(self._control_change_swarm(mode))
+        else:
+            return asyncio.create_task(self._control_change_emscripten(mode))
+
+    def _control_change_desktop(self, mode=ModeControlFlight.Position):
+        for _ in range(2):
+            self.sendCommand(CommandType.ModeControlFlight, mode.value)
+            time.sleep(0.03)
+
+    async def _control_change_swarm(self, mode=ModeControlFlight.Position):
+        for _ in range(2):
+            await self.sendCommand(CommandType.ModeControlFlight, mode.value)
+            await asyncio.sleep(0.03)
+
+    async def _control_change_emscripten(self, mode=ModeControlFlight.Position):
+        for _ in range(2):
+            await self.sendCommand(CommandType.ModeControlFlight, mode.value)
+            await asyncio.sleep(0.03)
+
+    def headless_change(self, mode=Headless.Normal):
+        """
+        Changes the headless mode of the drone.
+        default is set to Headless.Normal
+        :param mode: Headless enum value (Headless, Normal)
+        :return: N/A
+        """
+        if not isinstance(mode, Headless):
+            return None
+
+        if sys.platform != 'emscripten' and not self._swarm:
+            return self._headless_change_desktop(mode)
+        if sys.platform != 'emscripten' and self._swarm:
+            return asyncio.create_task(self._headless_change_swarm(mode))
+        else:
+            return asyncio.create_task(self._headless_change_emscripten(mode))
+
+    def _headless_change_desktop(self, mode=Headless.Normal):
+        for _ in range(3):
+            self.sendCommand(CommandType.Headless, mode.value)
+            time.sleep(0.03)
+
+    async def _headless_change_swarm(self, mode=Headless.Normal):
+        for _ in range(3):
+            await self.sendCommand(CommandType.Headless, mode.value)
+            await asyncio.sleep(0.03)
+
+    async def _headless_change_emscripten(self, mode=Headless.Normal):
+        for _ in range(3):
+            await self.sendCommand(CommandType.Headless, mode.value)
+            await asyncio.sleep(0.03)
+
     def update_motion_data(self, drone_type):
 
         """
@@ -2213,7 +2287,11 @@ class Drone:
             # set the speed to medium level
             self.speed_change(speed_level=2)
             time.sleep(0.2)
-            
+            self.control_change(mode=ModeControlFlight.Position)
+            time.sleep(0.2)
+            self.headless_change(mode=Headless.Normal)
+            time.sleep(0.2)
+
             # disable the previous YPRT commands
             self.sendControl(0, 0, 0, 0)
             time.sleep(0.2)
@@ -2295,6 +2373,10 @@ class Drone:
             # set the speed to medium level
             await self.speed_change(speed_level=2)
             await asyncio.sleep(0.2)
+            await self.control_change(mode=ModeControlFlight.Position)
+            await asyncio.sleep(0.2)
+            await self.headless_change(mode=Headless.Normal)
+            await asyncio.sleep(0.2)
 
             # disable the previous YPRT commands
             await self.sendControl(0, 0, 0, 0)
@@ -2342,6 +2424,12 @@ class Drone:
         await self.speed_change(speed_level=2)
         await asyncio.sleep(0.2)
 
+        # put all users in the same control/headless modes
+        await self.control_change(mode=ModeControlFlight.Position)
+        await asyncio.sleep(0.2)
+        await self.headless_change(mode=Headless.Normal)
+        await asyncio.sleep(0.2)
+
         # disable the previous YPRT commands
         await self.sendControl(0, 0, 0, 0)
         await asyncio.sleep(0.2)
@@ -2535,7 +2623,7 @@ class Drone:
 
                 if monitor0.monitorDataType == MonitorDataType.F32:
 
-                    dataCount = (dataArray.len() - 1 - Monitor0.getSize()) / 4
+                    dataCount = (len(dataArray) - 1 - Monitor0.getSize()) // 4
 
                     for i in range(0, dataCount):
 
@@ -2551,7 +2639,7 @@ class Drone:
 
                     self.systemTimeMonitorData = monitor4.systemTime
 
-                    dataCount = (dataArray.len() - 1 - Monitor4.getSize()) / 4
+                    dataCount = (len(dataArray) - 1 - Monitor4.getSize()) // 4
 
                     for i in range(0, dataCount):
 
@@ -2567,7 +2655,7 @@ class Drone:
 
                     self.systemTimeMonitorData = monitor8.systemTime
 
-                    dataCount = (dataArray.len() - 1 - Monitor8.getSize()) / 4
+                    dataCount = (len(dataArray) - 1 - Monitor8.getSize()) // 4
 
                     for i in range(0, dataCount):
 
@@ -3400,7 +3488,7 @@ class Drone:
         """
         :param distance: the numerical value of the value to move
         :param units: can either be in inches, centimeters, meters, feet.
-        :param speed: default 1 meter per second. Max is 2 meters/second.
+        :param speed: default 0.5 meter per second. Max is 2 meters/second.
         :return: N/A
         """
         if sys.platform != 'emscripten' and not self._swarm:
@@ -3489,7 +3577,7 @@ class Drone:
         """
         :param distance: the numerical value of the value to move
         :param units: can either be in inches, centimeters, meters, feet.
-        :param speed: default 1 meter per second. Max is 2 meters/second.
+        :param speed: default 0.5 meter per second. Max is 2 meters/second.
         :return: N/A
         """
         if sys.platform != 'emscripten' and not self._swarm:
@@ -3578,7 +3666,7 @@ class Drone:
         """
         :param distance: the numerical value of the value to move
         :param units: can either be in inches, centimeters, meters, feet.
-        :param speed: default 1 meter per second. Max is 2 meters/second.
+        :param speed: default 0.5 meter per second. Max is 2 meters/second.
         :return: N/A
         """
         if sys.platform != 'emscripten' and not self._swarm:
@@ -3666,7 +3754,7 @@ class Drone:
         """
         :param distance: the numerical value of the value to move
         :param units: can either be in inches, centimeters, meters, feet.
-        :param speed: default 1 meter per second. Max is 2 meters/second.
+        :param speed: default 0.5 meter per second. Max is 2 meters/second.
         :return: N/A
         """
         if sys.platform != 'emscripten' and not self._swarm:
@@ -3750,6 +3838,183 @@ class Drone:
 
         await asyncio.sleep(delay + 1.0)
 
+
+    def move_upward(self, distance, units="cm", speed=0.5):
+        """
+        :param distance: the numerical value of the value to move
+        :param units: can either be in inches, centimeters, meters, feet.
+        :param speed: default 0.5 meter per second. Max is 2 meters/second.
+        :return: N/A
+        """
+        if sys.platform != 'emscripten' and not self._swarm:
+            return self._move_upward_desktop(distance, units, speed)
+        else:
+            return asyncio.create_task(self._move_upward_emscripten(distance, units, speed))
+        
+    def _move_upward_desktop(self, distance, units="cm", speed=0.5):
+        if units == "cm":
+            distance_meters = distance / 100
+        elif units == "ft":
+            distance_meters = distance / 3.28084
+        elif units == "in":
+            distance_meters = distance / 39.37
+        elif units == "m":
+            distance_meters = distance * 1
+        else:
+            print(Fore.RED + "Error: Not a valid unit." + Style.RESET_ALL)
+            return
+
+        # cap the speed
+        if speed > 2:
+            speed = 2
+        elif speed < 0:
+            speed = 0
+
+        self.sendControlPosition(positionX=0,
+                                    positionY=0,
+                                    positionZ=distance_meters,
+                                    velocity=speed,
+                                    heading=0,
+                                    rotationalVelocity=0)
+
+        delay = distance_meters / speed
+
+        time.sleep(0.1)
+
+        while self.get_movement_state() != ModeMovement.Moving:
+            self.sendControlPosition(positionX=0, positionY=0, positionZ=distance_meters, velocity=speed,
+                                        heading=0,
+                                        rotationalVelocity=0)
+            time.sleep(0.1)
+
+        time.sleep(delay + 1.0)
+
+    async def _move_upward_emscripten(self, distance, units="cm", speed=0.5):
+        if units == "cm":
+            distance_meters = distance / 100
+        elif units == "ft":
+            distance_meters = distance / 3.28084
+        elif units == "in":
+            distance_meters = distance / 39.37
+        elif units == "m":
+            distance_meters = distance * 1
+        else:
+            print("Error: Not a valid unit.", color="error")
+            return
+        
+        # cap the speed
+        if speed > 2:
+            speed = 2
+        elif speed < 0:
+            speed = 0
+
+        await self.sendControlPosition(positionX=0,
+                                    positionY=0,
+                                    positionZ=distance_meters,
+                                    velocity=speed,
+                                    heading=0,
+                                    rotationalVelocity=0)
+
+        delay = distance_meters / speed
+
+        await asyncio.sleep(0.1)
+
+        while (await self.get_movement_state()) != ModeMovement.Moving:
+            await self.sendControlPosition(positionX=0, positionY=0, positionZ=distance_meters, velocity=speed,
+                                        heading=0,
+                                        rotationalVelocity=0)
+            await asyncio.sleep(0.10)
+
+        await asyncio.sleep(delay + 1.0)
+
+    def move_downward(self, distance, units="cm", speed=0.5):
+        """
+        :param distance: the numerical value of the value to move
+        :param units: can either be in inches, centimeters, meters, feet.
+        :param speed: default 0.5 meter per second. Max is 2 meters/second.
+        :return: N/A
+        """
+        if sys.platform != 'emscripten' and not self._swarm:
+            return self._move_downward_desktop(distance, units, speed)
+        else:
+            return asyncio.create_task(self._move_downward_emscripten(distance, units, speed))
+
+    def _move_downward_desktop(self, distance, units="cm", speed=0.5):
+        if units == "cm":
+            distance_meters = distance / 100
+        elif units == "ft":
+            distance_meters = distance / 3.28084
+        elif units == "in":
+            distance_meters = distance / 39.37
+        elif units == "m":
+            distance_meters = distance * 1
+        else:
+            print(Fore.RED + "Error: Not a valid unit." + Style.RESET_ALL)
+            return
+
+        # cap the speed
+        if speed > 2:
+            speed = 2
+        elif speed < 0:
+            speed = 0
+
+        self.sendControlPosition(positionX=0,
+                                    positionY=0,
+                                    positionZ=-distance_meters,
+                                    velocity=speed,
+                                    heading=0,
+                                    rotationalVelocity=0)
+
+        delay = distance_meters / speed
+
+        time.sleep(0.1)
+
+        while self.get_movement_state() != ModeMovement.Moving:
+            self.sendControlPosition(positionX=0, positionY=0, positionZ=-distance_meters, velocity=speed,
+                                        heading=0,
+                                        rotationalVelocity=0)
+            time.sleep(0.1)
+
+        time.sleep(delay + 1.0)
+
+    async def _move_downward_emscripten(self, distance, units="cm", speed=0.5):
+        if units == "cm":
+            distance_meters = distance / 100
+        elif units == "ft":
+            distance_meters = distance / 3.28084
+        elif units == "in":
+            distance_meters = distance / 39.37
+        elif units == "m":
+            distance_meters = distance * 1
+        else:
+            print("Error: Not a valid unit.", color="error")
+            return
+        
+        # cap the speed
+        if speed > 2:
+            speed = 2
+        elif speed < 0:
+            speed = 0
+
+        await self.sendControlPosition(positionX=0,
+                                    positionY=0,
+                                    positionZ=-distance_meters,
+                                    velocity=speed,
+                                    heading=0,
+                                    rotationalVelocity=0)
+
+        delay = distance_meters / speed
+
+        await asyncio.sleep(0.1)
+
+        while (await self.get_movement_state()) != ModeMovement.Moving:
+            await self.sendControlPosition(positionX=0, positionY=0, positionZ=-distance_meters, velocity=speed,
+                                        heading=0,
+                                        rotationalVelocity=0)
+            await asyncio.sleep(0.10)
+
+        await asyncio.sleep(delay + 1.0)
+
     def send_absolute_position(self, positionX, positionY, positionZ, velocity, heading, rotationalVelocity):
         """
         drone movement command
@@ -4520,7 +4785,7 @@ class Drone:
         """
         A looped method that makes the drone fly forward until it reaches
         a desired distance. The drone will keep that distance.
-        The range of front sensor is from 0cm-100cm
+        The range of front sensor is from 0cm-150cm
 
         :param timeout: duration in seconds that function will run
         :param distance: distance in cm the drone will maintain in front of object
@@ -4572,7 +4837,7 @@ class Drone:
     def detect_wall(self, distance=50):
         """
         Returns True when a distance below the threshold is reached.
-        The range of front sensor is from 0cm-100cm
+        The range of front sensor is from 0cm-150cm
 
         :param distance: threshold in millimeters that returns True
         :return: Boolean