crazyflie_backyard_flyer.py

import argparse
import time
from enum import Enum

import numpy as np

from udacidrone.connection import CrazyflieConnection

from udacidrone import Drone
from udacidrone.connection import MavlinkConnection, WebSocketConnection  # noqa: F401
from udacidrone.messaging import MsgID


class States(Enum):
    MANUAL = 0
    ARMING = 1
    TAKEOFF = 2
    WAYPOINT = 3
    LANDING = 4
    DISARMING = 5


class BackyardFlyer(Drone):

    def __init__(self, connection):
        super().__init__(connection)
        self.target_position = np.array([0.0, 0.0, 0.0])
        self.all_waypoints = []
        self.in_mission = True
        self.check_state = {}

        # initial state
        self.flight_state = States.MANUAL

        # initialize waypoints to navigate
        self.all_waypoints = self.calculate_box()

        # TODO: Register all your callbacks here
        self.register_callback(MsgID.LOCAL_POSITION,
                               self.local_position_callback)
        self.register_callback(MsgID.LOCAL_VELOCITY, self.velocity_callback)
        self.register_callback(MsgID.STATE, self.state_callback)

    def local_position_callback(self):
        """
        TODO: Implement this method

        This triggers when `MsgID.LOCAL_POSITION` is received and self.local_position contains new data
        """
        if self.flight_state == States.MANUAL:
            self.takeoff_transition()
        if self.flight_state == States.TAKEOFF:
            altitude = -1 * self.local_position[2]
            if altitude > 0.95 * self.target_position[2]:
                # Transition to Waypoint after reaching certain altitude
                # after takeoff
                self.waypoint_transition()
        if self.flight_state == States.WAYPOINT:
            north_diff = abs(self.local_position[0] - self.target_position[0])
            east_diff = abs(self.local_position[1] - self.target_position[1])
            altitude = -1.0 * self.target_position[2]
            alt_diff = abs(altitude - self.local_position[2])
            if (north_diff < 0.2 and east_diff < 0.2 and alt_diff < 0.2):
                self.flight_state = States.TAKEOFF

    def velocity_callback(self):
        """
        TODO: Implement this method

        This triggers when `MsgID.LOCAL_VELOCITY` is received and self.local_velocity contains new data
        """
        if self.flight_state == States.LANDING:
            if abs(self.local_position[2] < 0.01):
                self.manual_transition()

    def state_callback(self):
        """
        TODO: Implement this method

        This triggers when `MsgID.STATE` is received and self.armed and self.guided contain new data
        """
        if not self.in_mission:
            return
        if self.flight_state == States.ARMING:
            self.takeoff_transition()
        if self.flight_state == States.DISARMING:
            self.manual_transition()

    def calculate_box(self):
        """TODO: Fill out this method

        1. Return waypoints to fly a box
            1--------2
            |        |
            |        |
            0--------3
            4
        """
        cp = self.local_position
        cp[2] = 0
        local_waypoints = [cp + [0.75, 0.0, 0.5],
                           cp + [0.75, 0.75, 0.5],
                           cp + [0.0, 0.75, 0.5],
                           cp + [0.0, 0.0, 0.5]]
        return local_waypoints

    def takeoff_transition(self):
        """TODO: Fill out this method

        1. Set target_position altitude to 3.0m
        2. Command a takeoff to 3.0m
        3. Transition to the TAKEOFF state
        """
        print("takeoff transition")
        target_altitude = 0.5
        self.target_position[2] = target_altitude
        self.takeoff(target_altitude)
        # set appropriate state
        self.flight_state = States.TAKEOFF

    def waypoint_transition(self):
        """TODO: Fill out this method

        1. Command the next waypoint position
        2. Transition to WAYPOINT state
        """
        print("waypoint transition")
        if self.all_waypoints:
            waypoint = self.all_waypoints.pop(0)
            print(f'waypoint to navigate to: {waypoint}')
            north, east, altitude = waypoint
            print(north, east, altitude)
            self.target_position[0] = north
            self.target_position[1] = east
            self.target_position[2] = altitude
            self.cmd_position(north, east, altitude, 0)
            self.flight_state = States.WAYPOINT
        else:
            self.landing_transition()

    def landing_transition(self):
        """TODO: Fill out this method

        1. Command the drone to land
        2. Transition to the LANDING state
        """
        print("landing transition")
        self.land()
        self.flight_state = States.LANDING

    def manual_transition(self):
        """This method is provided

        1. Release control of the drone
        2. Stop the connection (and telemetry log)
        3. End the mission
        4. Transition to the MANUAL state
        """
        print("manual transition")

        self.release_control()
        self.stop()
        self.in_mission = False
        self.flight_state = States.MANUAL

    def start(self):
        """This method is provided

        1. Open a log file
        2. Start the drone connection
        3. Close the log file
        """
        print("Creating log file")
        self.start_log("Logs", "NavLog.txt")
        print("starting connection")
        self.connection.start()
        print("Closing log file")
        self.stop_log()


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument('--port', type=int, default=5760, help='Port number')
    parser.add_argument('--host', type=str, default='127.0.0.1',
                        help="host address, i.e. '127.0.0.1'")
    args = parser.parse_args()

    conn = CrazyflieConnection('radio://0/80/2M')
    #conn = WebSocketConnection('ws://{0}:{1}'.format(args.host, args.port))
    drone = BackyardFlyer(conn)
    time.sleep(2)
    drone.start()