pyaidrone 2.0__tar.gz → 2.2__tar.gz

{pyaidrone-2.0 → pyaidrone-2.2}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: pyaidrone
-Version: 2.0
+Version: 2.2
 Summary: Library for AIDrone Products
 Home-page: http://www.ir-brain.com
 Author: IR-Brain
@@ -10,6 +10,17 @@ Classifier: License :: OSI Approved :: MIT License
 Classifier: Operating System :: OS Independent
 Requires-Python: >=3.6
 Description-Content-Type: text/markdown
+Requires-Dist: pyserial>=3.4
+Requires-Dist: pynput>=1.7.3
+Dynamic: author
+Dynamic: author-email
+Dynamic: classifier
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: home-page
+Dynamic: requires-dist
+Dynamic: requires-python
+Dynamic: summary
 
 ## install pyaidrone
 

pyaidrone-2.2/pyaidrone/aiDrone.py

@@ -0,0 +1,352 @@
+import serial
+import binascii
+import math
+from time import sleep
+import random
+import platform
+import subprocess
+from operator import eq
+from threading import Thread
+from serial.tools.list_ports import comports
+from pyaidrone.parse import *
+from pyaidrone.packet import *
+from pyaidrone.deflib import *
+
+
+class AIDrone(Parse, Packet):
+    def __init__(self, receiveCallback=None, index=0):
+        self.serial = None
+        self.isThreadRun = False
+        self.parse = Parse(AIDRONE)
+        self.makepkt = Packet(AIDRONE)
+        self.receiveCallback = receiveCallback
+        self.makepkt.clearPacket()
+        self.posX = 0
+        self.posY = 0
+        self.rot = 0
+        self.portIndex = index          # 멀티 연결 시 드론 번호 식별용
+        # --- 영상 스트리밍 관련 기본값 ---
+        self.stream_host = "192.168.4.1"
+        self.stream_port = 80
+        self.stream_path = "/?action=stream"
+        self._cap = None
+
+    def receiveHandler(self):
+        while self.isThreadRun:
+            readData = self.serial.read(self.serial.in_waiting or 1)
+            packet = self.parse.packetArrange(readData)
+            if not eq(packet, "None"):
+                if self.receiveCallback is not None:
+                    self.receiveCallback(packet)
+            self.serial.write(self.makepkt.getPacket())
+
+    def Open(self, portName="None"):
+        if eq(portName, "None"):
+            nodes = comports()
+            for node in nodes:
+                if "CH340" in node.description:
+                    portName = node.device
+
+            if eq(portName, "None"):
+                print("Can't find Serial Port")
+                exit()
+                return False
+        try:
+            self.serial = serial.Serial(port=portName, baudrate=19200, timeout=1)
+            if self.serial.isOpen():
+                self.isThreadRun = True
+                self.thread = Thread(target=self.receiveHandler, args=(), daemon=True)
+                self.thread.start()
+                print(f"[Drone #{self.portIndex}] Connected to {portName}")
+                return True
+            else:
+                print("Can't open " + portName)
+                exit()
+                return False
+        except Exception:
+            print("Can't open " + portName)
+            exit()
+            return False
+
+    def Close(self):
+        self.isThreadRun = False
+        sleep(0.2)
+        pkt = self.makepkt.getPacket()
+        if (pkt[15] & 0x80) == 0x80:
+            self.makepkt.clearPacket()
+            self.setOption(0x8000)
+            self.serial.write(self.makepkt.getPacket())
+            sleep(0.2)
+        self.serial.write(self.makepkt.clearPacket())
+        sleep(0.2)
+        if self.serial is not None:
+            if self.serial.isOpen():
+                self.serial.close()
+
+    def setOption(self, option):
+        data = option.to_bytes(2, byteorder="little", signed=False)
+        self.makepkt.makePacket(14, data)
+
+    def takeoff(self):
+        alt = 70
+        data = alt.to_bytes(2, byteorder="little", signed=False)
+        self.makepkt.makePacket(12, data)
+        self.setOption(0x2F)
+
+    def landing(self):
+        alt = 0
+        data = alt.to_bytes(2, byteorder="little", signed=False)
+        self.makepkt.makePacket(12, data)
+
+    def altitude(self, alt):
+        data = alt.to_bytes(2, byteorder="little", signed=False)
+        self.makepkt.makePacket(12, data)
+
+    def velocity(self, dir=0, vel=100):
+        if dir > 3:
+            return
+        if dir == 1 or dir == 3:
+            vel *= -1
+        data = vel.to_bytes(2, byteorder="little", signed=True)
+        if dir == 0 or dir == 1:
+            self.makepkt.makePacket(8, data)
+        else:
+            self.makepkt.makePacket(6, data)
+        self.setOption(0x0F)
+
+    def move(self, dir=0, dist=100):
+        if dir > 3:
+            return
+        if dir == 1 or dir == 3:
+            dist *= -1
+        if dir == 0 or dir == 1:
+            self.posX += dist
+            data = self.posX.to_bytes(2, byteorder="little", signed=True)
+            self.makepkt.makePacket(8, data)
+        else:
+            self.posY += dist
+            data = self.posY.to_bytes(2, byteorder="little", signed=True)
+            self.makepkt.makePacket(6, data)
+        self.setOption(0x2F)
+
+    def rotation(self, rot=90):
+        self.rot += rot
+        data = self.rot.to_bytes(2, byteorder="little", signed=True)
+        self.makepkt.makePacket(10, data)
+
+    def motor(self, what, speed):
+        speed = DefLib.constrain(speed, 100, 0)
+        data = speed.to_bytes(2, byteorder="little", signed=True)
+        self.makepkt.makePacket(what * 2 + 6, data)
+        self.setOption(0x8000)
+
+    def emergency(self):
+        self.setOption(0x00)
+        self.serial.write(self.makepkt.getPacket())
+
+    # ── 스트리밍 관련 ──────────────────────────────────────────────────────────
+    def setStreamAddress(self, host: str, port: int = 80, path: str = "/?action=stream"):
+        """MJPG-Streamer 주소 구성 요소를 저장합니다."""
+        if not isinstance(host, str) or len(host.strip()) == 0:
+            raise ValueError("host가 올바르지 않습니다.")
+        self.stream_host = host.strip()
+        self.stream_port = int(port)
+        if not path.startswith("/"):
+            path = "/" + path
+        self.stream_path = path
+        return self._build_stream_url()
+
+    def _build_stream_url(self):
+        """내부 사용: 저장된 host/port/path로 URL 생성."""
+        if self.stream_port in (80, None):
+            return f"http://{self.stream_host}{self.stream_path}"
+        return f"http://{self.stream_host}:{self.stream_port}{self.stream_path}"
+
+    def streamon(self, host: str = None, port: int = None, path: str = None, return_url: bool = False):
+        """
+        MJPG-Streamer 스트림을 엽니다.
+        - 인자를 주면 해당 값으로 주소를 덮어쓰고, 안 주면 저장된 값 사용.
+        - return_url=True 이면 URL 문자열만 반환(캡처는 열지 않음).
+        """
+        if host is not None or port is not None or path is not None:
+            self.setStreamAddress(
+                host or self.stream_host,
+                self.stream_port if port is None else port,
+                self.stream_path if path is None else path,
+            )
+        url = self._build_stream_url()
+        if return_url:
+            return url
+        try:
+            import cv2 as cv
+        except Exception as e:
+            raise RuntimeError(f"OpenCV(cv2) 임포트 실패: {e}")
+        self.streamoff()
+        self._cap = cv.VideoCapture(url)
+        if not self._cap.isOpened():
+            self._cap.release()
+            self._cap = None
+            raise RuntimeError(f"스트림 열기 실패: {url}")
+        return self._cap
+
+    def streamoff(self):
+        """열려 있는 스트림을 닫습니다."""
+        if self._cap is not None:
+            try:
+                self._cap.release()
+            except Exception:
+                pass
+            self._cap = None
+
+    # ── 센서 데이터 요청 ────────────────────────────────────────────────────────
+    def requestSensorData(self, type_num, mode=1):
+        """
+        드론에게 센서 및 비행 정보 출력을 요청합니다.
+        type_num: 9 (비행 정보), 10 (센서 신호)
+        mode: 1 (출력 시작), 0 (출력 중지)
+        """
+        if type_num == 9:
+            data = mode.to_bytes(1, byteorder="little")
+            self.makepkt.packet[3] = 0xB2
+            self.makepkt.makePacket(7, data)
+        elif type_num == 10:
+            data = mode.to_bytes(1, byteorder="little")
+            self.makepkt.packet[3] = 0xB1
+            self.makepkt.makePacket(7, data)
+
+
+# ══════════════════════════════════════════════════════════════════════════════
+# 멀티 드론 헬퍼 함수
+# ══════════════════════════════════════════════════════════════════════════════
+
+def getWindowsPortList():
+    """Windows에서 CH340 포트 목록 반환."""
+    nodes = comports()
+    portList = [node.device for node in nodes if "CH340" in node.description]
+    if not portList:
+        print("Can't find Serial Port (CH340)")
+        return None
+    print(f"발견된 포트: {portList}")
+    return portList
+
+
+def getLinuxPortList():
+    """Linux에서 /dev/ttyUSB* 포트 목록 반환."""
+    try:
+        output = subprocess.check_output("ls /dev/ttyUSB*", shell=True)
+        return tuple(output.decode().strip().split())
+    except subprocess.CalledProcessError:
+        print("Can't find Serial Port (/dev/ttyUSB*)")
+        return None
+
+
+def AIDroneMultiOpen(nameList=None, receiveCallback=None):
+    """
+    여러 대의 AIDrone을 동시에 연결합니다.
+
+    Parameters
+    ----------
+    nameList : list[str] | None
+        포트 이름 목록. None이면 OS에 맞게 자동 탐색.
+    receiveCallback : callable | None
+        수신 콜백. 호출 시 첫 번째 인자로 AIDrone 인스턴스가 전달됩니다.
+
+    Returns
+    -------
+    list[AIDrone] | None
+        연결된 드론 객체 목록.
+
+    Example
+    -------
+    >>> drones = AIDroneMultiOpen()
+    >>> multi_takeoff(drones)
+    >>> sleep(3)
+    >>> multi_landing(drones)
+    >>> AIDroneMultiClose(drones)
+    """
+    if nameList is None:
+        if platform.system() == "Linux":
+            nameList = getLinuxPortList()
+        else:
+            nameList = getWindowsPortList()
+
+    if not nameList:
+        return None
+
+    howMany = min(len(nameList), 10)  # 최대 10대 제한
+    drones = []
+
+    for n in range(howMany):
+        drone = AIDrone(receiveCallback, n)
+        if drone.Open(nameList[n]):
+            drones.append(drone)
+        else:
+            print(f"[Drone #{n}] 연결 실패 → 전체 연결 중단")
+            AIDroneMultiClose(drones)
+            return None
+
+    print(f"총 {len(drones)}대 드론 연결 완료.")
+    return drones
+
+
+def AIDroneMultiClose(drones):
+    """연결된 모든 드론을 안전하게 닫습니다."""
+    if not drones:
+        return
+    # 착륙 명령 먼저 전송
+    for drone in drones:
+        drone.landing()
+    sleep(0.5)
+    for drone in drones:
+        drone.Close()
+    print("모든 드론 연결 종료.")
+
+
+# ── 멀티 제어 함수 ─────────────────────────────────────────────────────────────
+
+def multi_takeoff(drones):
+    """모든 드론 이륙."""
+    for drone in drones:
+        drone.takeoff()
+
+
+def multi_landing(drones):
+    """모든 드론 착륙."""
+    for drone in drones:
+        drone.landing()
+
+
+def multi_altitude(drones, alt):
+    """모든 드론 고도 설정."""
+    for drone in drones:
+        drone.altitude(alt)
+
+
+def multi_move(drones, dir=0, dist=100):
+    """모든 드론 이동."""
+    for drone in drones:
+        drone.move(dir, dist)
+
+
+def multi_velocity(drones, dir=0, vel=100):
+    """모든 드론 속도 제어."""
+    for drone in drones:
+        drone.velocity(dir, vel)
+
+
+def multi_rotation(drones, rot=90):
+    """모든 드론 회전."""
+    for drone in drones:
+        drone.rotation(rot)
+
+
+def multi_motor(drones, what, speed):
+    """모든 드론 모터 제어."""
+    for drone in drones:
+        drone.motor(what, speed)
+
+
+def multi_emergency(drones):
+    """모든 드론 긴급 정지."""
+    for drone in drones:
+        drone.emergency()