codrone-edu 2.9__tar.gz → 2.11__tar.gz

{codrone_edu-2.9 → codrone_edu-2.11}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: codrone_edu
-Version: 2.9
+Version: 2.11
 Summary: Python CoDrone EDU library
 Home-page: 
 Author: 

{codrone_edu-2.9 → codrone_edu-2.11}/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':
@@ -270,10 +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):
@@ -1284,7 +1286,7 @@ class Drone:
             speed_level = 1
 
         self.sendCommand(CommandType.ControlSpeed, int(speed_level))
-        if self.information_data[1] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone(self.information_data[1]):
             time.sleep(0.03)
         else:
             time.sleep(0.01)
@@ -1308,6 +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):
 
         """
@@ -2211,7 +2277,7 @@ class Drone:
         if state_flight is ModeFlight.Ready:
             device_info = self.get_information_data()
 
-            if self.information_data[1] == ModelNumber.Drone_12_Drone_P1:
+            if is_jrotc_drone(self.information_data[1]):
                 print(Fore.GREEN + "Connected to CoDrone EDU (JROTC ed.)." + Style.RESET_ALL)
             else:
                 print(Fore.GREEN + "Connected to CoDrone EDU." + Style.RESET_ALL)
@@ -2221,7 +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)
@@ -2293,7 +2363,7 @@ class Drone:
         if state_flight is ModeFlight.Ready:
             device_info = await self.get_information_data()
 
-            if self.information_data[1] == ModelNumber.Drone_12_Drone_P1:
+            if is_jrotc_drone(self.information_data[1]):
                 print(Fore.GREEN + "Connected to CoDrone EDU (JROTC ed.)." + Style.RESET_ALL)
             else:
                 print(Fore.GREEN + "Connected to CoDrone EDU." + Style.RESET_ALL)
@@ -2303,6 +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)
@@ -2338,7 +2412,7 @@ class Drone:
 
         device_info = await self.get_information_data()
 
-        if device_info[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone(device_info[1]):
             print("Connected to CoDrone EDU (JROTC ed.).", color="green")
         else:
             print("Connected to CoDrone EDU.", color="green")
@@ -2350,6 +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)
@@ -2543,7 +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):
 
@@ -2559,7 +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):
 
@@ -2575,7 +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):
 
@@ -3408,7 +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:
@@ -3497,7 +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:
@@ -3586,7 +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:
@@ -3674,7 +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:
@@ -3758,6 +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
@@ -3813,7 +4070,7 @@ class Drone:
         # store current position and z_angle
         pos_data = None
         z_angle = None # angle offset between G_new and L
-        if self.information_data[1] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone(self.information_data[1]):
             for _ in range(3):
                 pos_data = self.get_position_data()
                 z_angle = self.get_angle_z()
@@ -3948,7 +4205,7 @@ class Drone:
         # store current position and z_angle
         pos_data = None
         z_angle = None  # angle offset between G_new and L
-        if self.information_data[1] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone(self.information_data[1]):
             for _ in range(3):
                 pos_data = await self.get_position_data()
                 z_angle = await self.get_angle_z()
@@ -4528,7 +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
@@ -4580,7 +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
@@ -7117,7 +7374,7 @@ class Drone:
         return image
     
     async def _controller_create_canvas_emscripten(self, color="white"):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7230,7 +7487,7 @@ class Drone:
             raise InvalidDrawColorError("Invalid color. Color value must be 'white' or 'black'")
             
     async def _controller_draw_line_emscripten(self, x1, y1, x2, y2, image, color, pixel_width):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7288,7 +7545,7 @@ class Drone:
             raise InvalidDrawColorError("Invalid color. Color value must be 'white' or 'black'")
 
     async def _controller_draw_rectangle_emscripten(self, x, y, width, height, image, color, fill_in, pixel_width):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7346,7 +7603,7 @@ class Drone:
             raise InvalidDrawColorError("Invalid color. Color value must be 'white' or 'black'")
 
     async def _controller_draw_square_emscripten(self, x, y, width, image, color, fill_in, pixel_width):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7394,7 +7651,7 @@ class Drone:
             raise InvalidDrawColorError("Invalid color. Color value must be 'white' or 'black'")
 
     async def _controller_draw_point_emscripten(self, x, y, image, color):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7426,7 +7683,7 @@ class Drone:
         self.sendDisplayClearAll(pixel)
 
     async def _controller_clear_screen_emscripten(self, pixel=DisplayPixel.White):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7481,7 +7738,7 @@ class Drone:
 
 
     async def _controller_draw_polygon_emscripten(self, point_list, image, color, fill_in, pixel_width):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7548,7 +7805,7 @@ class Drone:
             raise InvalidDrawColorError("Invalid color. Color value must be 'white' or 'black'")
 
     async def _controller_draw_ellipse_emscripten(self, ellipse_list, image, color, fill_in=None, pixel_width=1):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7613,7 +7870,7 @@ class Drone:
             raise InvalidDrawColorError("Invalid color. Color value must be 'white' or 'black'")
             
     async def _controller_draw_arc_emscripten(self, arc_list, start_angle, end_angle, image, color, pixel_width):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7679,7 +7936,7 @@ class Drone:
             raise InvalidDrawColorError("Invalid color. Color value must be 'white' or 'black'")
 
     async def _controller_draw_chord_emscripten(self, chord_list, start_angle, end_angle, image, color, fill_in, pixel_width):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7735,7 +7992,7 @@ class Drone:
             raise InvalidDrawColorError("Invalid color. Color value must be 'white' or 'black'")
 
     async def _controller_draw_string_emscripten(self, x, y, string, image, color):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7809,7 +8066,7 @@ class Drone:
             raise InvalidDrawColorError("Invalid color. Color value must be 'white' or 'black'")
 
     async def _controller_draw_string_align_emscripten(self, x_start, x_end, y, string, image, color, alignment):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,
@@ -7896,7 +8153,7 @@ class Drone:
                     return
                 
     async def _controller_draw_image_emscripten(self, pixel_list):
-        if (await self.get_information_data())[0] == ModelNumber.Drone_12_Drone_P1:
+        if is_jrotc_drone((await self.get_information_data())[1]):
             warnings.warn(
                 "This function is not currently supported for CoDrone EDU (JROTC ed.).",
                 RuntimeWarning,