pyaidrone 2.1__tar.gz → 2.2__tar.gz

{pyaidrone-2.1 → pyaidrone-2.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pyaidrone
-Version: 2.1
+Version: 2.2
 Summary: Library for AIDrone Products
 Home-page: http://www.ir-brain.com
 Author: IR-Brain

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()

pyaidrone-2.2/pyaidrone/edu.py

@@ -0,0 +1,192 @@
+import cv2
+import time
+import numpy as np
+import os
+from pyaidrone.aiDrone import AIDrone
+from pyaidrone.vision_ai import TFLiteDetector, yolo_decode, draw_box_xywh, largest_contour, contour_centroid
+from pyaidrone.deflib import *
+
+class EduAIDrone:
+    """
+    AI 교육을 위해 복잡한 기능을 단순화한 통합 API 클래스
+    """
+    def __init__(self, port="COM3", use_simulation=False, model_path=None, labels_path=None):
+        self.use_simulation = use_simulation
+        self.last_frame = None
+        self.height = 100
+        self.cap = None
+        self.stream_url = None # 수정: self.stream.url 오타 수정
+        
+        # 1. 시뮬레이션 모드 전용 설정 (지연 로딩 적용)
+        if self.use_simulation:
+            try:
+                import rclpy
+                from rclpy.node import Node
+                from geometry_msgs.msg import Twist
+                from sensor_msgs.msg import Image
+                from cv_bridge import CvBridge
+
+                if not rclpy.ok(): rclpy.init()
+                self.node = Node('edu_drone_node')
+                self.cmd_vel_pub = self.node.create_publisher(Twist, '/cmd_vel', 10)
+                self.bridge = CvBridge()
+                self.sim_frame = None
+                self.image_sub = self.node.create_subscription(Image, '/camera', self._gz_image_cb, 10)
+                print("🎮 ROS2 Gazebo 모드 활성화됨")
+            except ImportError:
+                print("❌ ROS2 환경을 찾을 수 없습니다. 실기체 모드로 전환합니다.")
+                self.use_simulation = False
+
+        # 2. 하드웨어 드론 인터페이스 초기화
+        self.aidrone = AIDrone()
+        self.port = port
+        
+        # 3. AI 탐지기 및 라벨 설정
+        self.detector = TFLiteDetector(model_path) if model_path else None
+        self.labels = []
+        if labels_path and os.path.exists(labels_path):
+            with open(labels_path, 'r', encoding='utf-8') as f:
+                self.labels = [line.strip() for line in f.readlines()]
+
+    def _gz_image_cb(self, msg):
+        """Gazebo 카메라 데이터 수신 콜백"""
+        self.sim_frame = self.bridge.imgmsg_to_cv2(msg, "bgr8")
+
+    def connect(self):
+        """드론 연결 (실기체인 경우 시리얼 오픈)"""
+        if self.use_simulation:
+            return True
+        return self.aidrone.Open(self.port)
+
+    def update_screen(self, window_name="AI Drone Edu"):
+        """영상 업데이트 (시뮬레이션 토픽 또는 실기체 MJPG 스트림)"""
+        if self.use_simulation:
+            import rclpy
+            rclpy.spin_once(self.node, timeout_sec=0)
+            if self.sim_frame is not None:
+                self.last_frame = cv2.resize(self.sim_frame, (640, 480))
+            return self.last_frame
+        else:
+            if self.cap is None: return None
+            ret, frame = self.cap.read()
+            if ret and frame is not None:
+                self.last_frame = cv2.resize(frame, (640, 480))
+                return self.last_frame
+            return None
+
+    def takeoff(self):
+        print("🚀 이륙합니다...")
+        if not self.use_simulation:
+            self.aidrone.takeoff()
+        time.sleep(2)
+
+    def land(self):
+        print("🛬 착륙합니다...")
+        if self.use_simulation:
+            from geometry_msgs.msg import Twist
+            self.cmd_vel_pub.publish(Twist()) 
+        else:
+            self.aidrone.landing()
+
+    def move(self, direction, speed=100):
+        if self.use_simulation:
+            from geometry_msgs.msg import Twist
+            msg = Twist()
+            val = speed / 100.0
+            if direction == 'front': msg.linear.x = val
+            elif direction == 'back': msg.linear.x = -val
+            elif direction == 'left': msg.linear.y = val
+            elif direction == 'right': msg.linear.y = -val
+            self.cmd_vel_pub.publish(msg)
+        else:
+            dir_map = {'front': FRONT, 'back': BACK, 'right': RIGHT, 'left': LEFT}
+            if direction in dir_map:
+                self.aidrone.velocity(dir_map[direction], speed)
+                self.aidrone.setOption(0x0F)
+
+    def turn(self, angle):
+        if self.use_simulation:
+            from geometry_msgs.msg import Twist
+            msg = Twist()
+            msg.angular.z = float(angle) * (np.pi / 180.0)
+            self.cmd_vel_pub.publish(msg)
+        else:
+            self.aidrone.rotation(angle)
+
+    def stop(self):
+        if self.use_simulation:
+            from geometry_msgs.msg import Twist
+            self.cmd_vel_pub.publish(Twist())
+        else:
+            self.aidrone.velocity(FRONT, 0)
+            self.aidrone.setOption(0x0F)
+
+    def find_color(self, color="red"):
+        if self.last_frame is None: return None
+        hsv = cv2.cvtColor(self.last_frame, cv2.COLOR_BGR2HSV)
+        ranges = {
+            "red": [(0, 150, 50), (10, 255, 255)],
+            "blue": [(100, 150, 50), (140, 255, 255)],
+            "green": [(40, 100, 50), (80, 255, 255)]
+        }
+        low, high = ranges.get(color, ranges["red"])
+        mask = cv2.inRange(hsv, np.array(low), np.array(high))
+        contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+        big_c = largest_contour(contours)
+        if big_c is not None:
+            return contour_centroid(big_c)
+        return None
+
+    def find_object(self, target_name, threshold=0.5):
+        if not self.detector or self.last_frame is None: return None
+        results = self.detector.infer(self.last_frame, yolo_decode)
+        for res in results:
+            name = self.labels[res.class_id] if self.labels else f"ID:{res.class_id}"
+            if name == target_name and res.score > threshold:
+                return ((res.box[0] + res.box[2]) / 2, (res.box[1] + res.box[3]) / 2)
+        return None
+
+    def read_qr(self):
+        if self.last_frame is None: return None
+        data, _, _ = cv2.QRCodeDetector().detectAndDecode(self.last_frame)
+        return data if data else None
+    
+    def follow_target(self, error_x, error_y):  
+        """오차값을 보고 드론을 자동으로 회전 및 고도 조절"""
+        yaw_step = int(error_x * 0.15)
+        
+        if self.use_simulation:
+            self.turn(yaw_step)
+        else:
+            self.aidrone.rotation(yaw_step)
+
+        throttle_change = int(error_y * 0.2)
+        self.height = max(50, min(150, self.height + throttle_change))
+        
+        if self.use_simulation:
+            from geometry_msgs.msg import Twist
+            msg = Twist()
+            # 고도 조절 시 기존 회전 성분 유지 필요 시 여기에 추가 로직 필요
+            msg.linear.z = float(throttle_change / 100.0) 
+            self.cmd_vel_pub.publish(msg)
+        else:
+            self.aidrone.altitude(self.height)
+            
+    def start_stream(self, url):
+        self.stream_url = url
+        self.cap = cv2.VideoCapture(url)
+        return self.cap.isOpened()
+
+    def reconnect_stream(self):
+        """스트림 재연결 (중복 제거 및 통합)"""
+        if self.stream_url is None: return False
+        if self.cap: self.cap.release()
+        self.cap = None
+        time.sleep(1)
+        return self.start_stream(self.stream_url)
+                
+    def save_image(self, frame, folder="captured_images"):
+        if not os.path.exists(folder): os.makedirs(folder)
+        timestamp = time.strftime("%H%M%S")
+        filename = f"{folder}/target_{timestamp}.jpg"
+        cv2.imwrite(filename, frame)

{pyaidrone-2.1 → pyaidrone-2.2}/pyaidrone/vision_ai.py

@@ -142,8 +142,12 @@ class VisionTracker:
             
             roi = (x_roi, y_roi, w_roi, h_roi)
             
-            # 🔧 5. 추적기 생성 및 초기화
-            self.tracker = cv2.TrackerCSRT_create()
+            # 🔧 5. 추적기 생성 및 초기화            
+            if hasattr(cv2, 'legacy'):
+                self.tracker = cv2.legacy.TrackerCSRT_create()
+            else:
+                self.tracker = cv2.TrackerCSRT_create()
+            
             success = self.tracker.init(frame, roi)
             
             if success:

{pyaidrone-2.1 → pyaidrone-2.2}/pyaidrone.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pyaidrone
-Version: 2.1
+Version: 2.2
 Summary: Library for AIDrone Products
 Home-page: http://www.ir-brain.com
 Author: IR-Brain

{pyaidrone-2.1 → pyaidrone-2.2}/setup.py

@@ -2,7 +2,7 @@ from setuptools import setup, find_packages
 
 setup(
     name="pyaidrone",
-    version="2.1",
+    version="2.2",
     description="Library for AIDrone Products",
     long_description=open("README.md").read(),  # README.md 내용을 long_description으로 사용
     long_description_content_type="text/markdown",  # README 파일이 markdown 형식임을 지정

pyaidrone-2.1/pyaidrone/aiDrone.py

@@ -1,221 +0,0 @@
-import serial
-import binascii
-import math
-from time import sleep
-import random
-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):
-        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        
-        # --- 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 != 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("Connected to", portName)                   
-                return True
-            else:
-                print("Can't open " + portName)
-                exit()
-                return False
-        except:
-            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 != None:
-            if self.serial.isOpen() == True:
-                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)
-        alt = 0x2F 
-        data = alt.to_bytes(2, byteorder="little", signed=False)
-        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())
-        
-    # aiDrone.py — AIDrone 클래스 안에 아래 3개 메서드 추가
-    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).
-        - 기본 URL 예: http://192.168.4.1/?action=stream
-        """
-        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
-
-        # OpenCV는 여기서만 임포트(필요할 때만)
-        try:
-            import cv2 as cv
-        except Exception as e:
-            raise RuntimeError(f"OpenCV(cv2) 임포트 실패: {e}")
-
-        # 이전 cap이 열려 있으면 정리
-        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
-
-
-        
-    
-
-
-

pyaidrone-2.1/pyaidrone/edu.py

@@ -1,188 +0,0 @@
-import cv2
-import time
-import numpy as np
-from pyaidrone.aiDrone import AIDrone
-from pyaidrone.vision_ai import TFLiteDetector, yolo_decode, draw_box_xywh, largest_contour, contour_centroid
-from pyaidrone.deflib import *
-
-class EduAIDrone:
-    """
-    AI 교육을 위해 복잡한 기능을 단순화한 통합 API 클래스
-    """
-    def __init__(self, port="COM3", model_path=None, labels_path=None):
-        # 드론 객체 및 기본 설정
-        self.aidrone = AIDrone()
-        self.port = port
-        self.detector = TFLiteDetector(model_path) if model_path else None
-        self.labels = []
-        if labels_path:
-            with open(labels_path, 'r', encoding='utf-8') as f:
-                self.labels = [line.strip() for line in f.readlines()]
-        
-        self.cap = None
-        self.last_frame = None
-        self.height = 100 # 기본 유지 고도
-        self.stream_url = None 
-
-    # --- 연결 및 영상 관리 ---
-    def connect(self):
-        """드론 연결 및 초기 세팅"""
-        if self.aidrone.Open(self.port):
-            self.aidrone.setOption(0)
-            print(f"✅ 연결 성공: {self.port}")
-            return True
-        return False
-
-    def start_stream(self, url="http://192.168.4.1/?action=stream"):
-        self.stream_url = url  # ← URL 저장
-        self.cap = cv2.VideoCapture(url)
-        
-        if self.cap.isOpened():
-            self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)  # ← 버퍼 설정
-            print(f"✅ 스트림 연결: {url}")
-            return True
-        else:
-            print(f"❌ 스트림 연결 실패: {url}")
-            return False
-        
-    def update_screen(self, window_name="AI Drone Edu"):
-        """안전한 프레임 업데이트"""
-        # 1. cap이 None인지 확인
-        if self.cap is None:
-            print("⚠️ 스트림이 연결되지 않았습니다")
-            return None
-        
-        # 2. AttributeError 처리
-        try:
-            ret, frame = self.cap.read()
-        except AttributeError:
-            print("❌ cap.read() 에러")
-            self.cap = None
-            return None
-        
-        # 3. 프레임 검증
-        if not ret or frame is None:
-            return None
-        
-        # 4. 안전한 리사이즈
-        try:
-            if frame.size == 0:  # ← 크기 체크 추가!
-                return None
-            
-            self.last_frame = cv2.resize(frame, (640, 480))
-            return self.last_frame
-        except Exception as e:
-            print(f"⚠️ 리사이즈 에러: {e}")
-            return None
-
-    # --- 단순 제어 명령어 ---
-    def takeoff(self):
-        print("🚀 이륙합니다..."); self.aidrone.takeoff(); time.sleep(2)
-
-    def land(self):
-        print("🛬 착륙합니다..."); self.aidrone.landing()
-
-    def move(self, direction, speed=100):
-        """방향: 'front', 'back', 'left', 'right'"""
-        dir_map = {'front': FRONT, 'back': BACK, 'right': RIGHT, 'left': LEFT}
-        if direction in dir_map:
-            self.aidrone.velocity(dir_map[direction], speed)
-
-    def set_height(self, cm):
-        """고도 설정 (50~150cm 추천)"""
-        self.height = max(50, min(150, cm))
-        self.aidrone.altitude(self.height)
-
-    def turn(self, angle):
-        """회전: 양수(우회전), 음수(좌회전)"""
-        self.aidrone.rotation(angle)
-
-    def stop(self):
-        """모든 이동 정지 (호버링)"""
-        self.aidrone.velocity(FRONT, 0)
-        self.aidrone.velocity(RIGHT, 0)
-
-    # --- AI 인지 기능 ---
-    def find_color(self, color="red"):
-        """색상을 찾아 화면에 표시하고 좌표 반환"""
-        if self.last_frame is None: return None
-        hsv = cv2.cvtColor(self.last_frame, cv2.COLOR_BGR2HSV)
-        
-        # 교육용 프리셋
-        ranges = {
-            "red": [(0, 150, 50), (10, 255, 255)],
-            "blue": [(100, 150, 50), (140, 255, 255)],
-            "green": [(40, 100, 50), (80, 255, 255)]
-        }
-        low, high = ranges.get(color, ranges["red"])
-        mask = cv2.inRange(hsv, np.array(low), np.array(high))
-        contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
-        big_c = largest_contour(contours)
-        
-        if big_c is not None:
-            cv2.drawContours(self.last_frame, [big_c], -1, (0, 255, 0), 2)
-            return contour_centroid(big_c)
-        return None
-
-    def find_object(self, target_name, threshold=0.5):
-        """YOLO 모델로 사물 찾기 (통합된 vision_ai 로직 활용)"""
-        if not self.detector or self.last_frame is None: return None
-        
-        # 1. vision_ai에 내장된 정식 yolo_decode를 사용하여 추론
-        results = self.detector.infer(self.last_frame, yolo_decode) 
-        
-        # 2. 결과 분석
-        for res in results:
-            # 라벨 리스트가 있다면 이름으로 비교, 없으면 ID로 비교
-            name = self.labels[res.class_id] if self.labels else f"ID:{res.class_id}"
-            
-            if name == target_name and res.score > threshold:
-                # 3. 화면에 인식 결과 그리기 (xyxy -> xywh 변환 후 그리기)
-                x1, y1, x2, y2 = res.box
-                w, h = x2 - x1, y2 - y1
-                draw_box_xywh(self.last_frame, (x1, y1, w, h), label=f"{name} {int(res.score*100)}%")
-                
-                # 4. 물체의 중심 좌표 반환 (학생들이 제어에 사용하기 위함)
-                return ((x1 + x2) / 2, (y1 + y2) / 2)
-        
-        return None
-
-    def read_qr(self):
-        """QR 코드 텍스트 읽기"""
-        if self.last_frame is None: return None
-        data, _, _ = cv2.QRCodeDetector().detectAndDecode(self.last_frame)
-        return data if data else None
-    
-    # 오차값을 바탕으로 드론이 알아서 회전하고 고도를 조절    
-    def follow_target(self, error_x, error_y):  
-        """오차값을 보고 드론을 자동으로 회전 및 고도 조절"""
-        # 1. 좌우 회전 (Yaw) 제어
-        yaw = int(error_x * 0.15)
-        self.aidrone.rotation(yaw)
-
-        # 2. 상하 고도 (Throttle) 제어
-        throttle_change = int(error_y * 0.2)
-        self.height = max(50, min(150, self.height + throttle_change))
-        self.aidrone.altitude(self.height)
-    
-    # 조건이 맞으면 사진을 저장.
-    def save_image(self, frame, folder="captured_images"):
-        """사진을 저장하고 기존 폴더가 없으면 생성"""
-        import os
-        if not os.path.exists(folder): os.makedirs(folder)
-        
-        timestamp = time.strftime("%H%M%S")
-        filename = f"{folder}/target_{timestamp}.jpg"
-        cv2.imwrite(filename, frame)
-        
-    def reconnect_stream(self):
-        """스트림 재연결"""
-        if self.stream_url is None:
-            return False
-        
-        if self.cap:
-            self.cap.release()
-            self.cap = None
-        
-        time.sleep(1)
-        return self.start_stream(self.stream_url)