本文整理汇总了Python中ivy_msg_interface.IvyMessagesInterface.send_raw_datalink方法的典型用法代码示例。如果您正苦于以下问题：Python IvyMessagesInterface.send_raw_datalink方法的具体用法？Python IvyMessagesInterface.send_raw_datalink怎么用？Python IvyMessagesInterface.send_raw_datalink使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ivy_msg_interface.IvyMessagesInterface的用法示例。
在下文中一共展示了IvyMessagesInterface.send_raw_datalink方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: Guidance
# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import send_raw_datalink [as 别名]
class Guidance(object):
def __init__(self, ac_id, verbose=False):
self.ac_id = ac_id
self.verbose = verbose
self._interface = None
self.auto2_index = None
try:
settings = PaparazziACSettings(self.ac_id)
except Exception as e:
print(e)
return
try:
self.auto2_index = settings.name_lookup['auto2'].index
except Exception as e:
print(e)
print("auto2 setting not found, mode change not possible.")
self._interface = IvyMessagesInterface("guided mode example")
def shutdown(self):
if self._interface is not None:
print("Shutting down ivy interface...")
self._interface.shutdown()
self._interface = None
def __del__(self):
self.shutdown()
def set_guided_mode(self):
"""
change auto2 mode to GUIDED.
"""
if self.auto2_index is not None:
msg = PprzMessage("ground", "DL_SETTING")
msg['ac_id'] = self.ac_id
msg['index'] = self.auto2_index
msg['value'] = 19 # AP_MODE_GUIDED
print("Setting mode to GUIDED: %s" % msg)
self._interface.send(msg)
def set_nav_mode(self):
"""
change auto2 mode to NAV.
"""
if self.auto2_index is not None:
msg = PprzMessage("ground", "DL_SETTING")
msg['ac_id'] = self.ac_id
msg['index'] = self.auto2_index
msg['value'] = 13 # AP_MODE_NAV
print("Setting mode to NAV: %s" % msg)
self._interface.send(msg)
def goto_ned(self, north, east, down, heading=0.0):
"""
goto a local NorthEastDown position in meters (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg['ac_id'] = self.ac_id
msg['flags'] = 0x00
msg['x'] = north
msg['y'] = east
msg['z'] = down
msg['yaw'] = heading
print("goto NED: %s" % msg)
# embed the message in RAW_DATALINK so that the server can log it
self._interface.send_raw_datalink(msg)
def goto_ned_relative(self, north, east, down, yaw=0.0):
"""
goto a local NorthEastDown position relative to current position in meters (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg['ac_id'] = self.ac_id
msg['flags'] = 0x01
msg['x'] = north
msg['y'] = east
msg['z'] = down
msg['yaw'] = yaw
print("goto NED relative: %s" % msg)
self._interface.send_raw_datalink(msg)
def goto_body_relative(self, forward, right, down, yaw=0.0):
"""
goto to a position relative to current position and heading in meters (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg['ac_id'] = self.ac_id
msg['flags'] = 0x03
msg['x'] = forward
msg['y'] = right
msg['z'] = down
msg['yaw'] = yaw
print("goto body relative: %s" % msg)
self._interface.send_raw_datalink(msg)
def move_at_vel(self, north=0.0, east=0.0, down=0.0, yaw=0.0):
"""
move at specified velocity in meters/sec with absolute heading (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg['ac_id'] = self.ac_id
#.........这里部分代码省略.........
示例2: Guidance
# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import send_raw_datalink [as 别名]
class Guidance(object):
def __init__(self, ac_id, verbose=False):
self.ac_id = ac_id
self.verbose = verbose
self._interface = None
self.auto2_index = None
try:
settings = PaparazziACSettings(self.ac_id)
except Exception as e:
print(e)
return
try:
self.auto2_index = settings.name_lookup["auto2"].index
except Exception as e:
print(e)
print("auto2 setting not found, mode change not possible.")
self._interface = IvyMessagesInterface(self.message_recv)
def message_recv(self, ac_id, msg):
if self.verbose:
print("Got msg %s" % msg.name)
def shutdown(self):
if self._interface is not None:
print("Shutting down ivy interface...")
self._interface.shutdown()
def __del__(self):
self.shutdown()
def set_guided_mode(self):
"""
change auto2 mode to GUIDED.
"""
if self.auto2_index is not None:
msg = PprzMessage("ground", "DL_SETTING")
msg["ac_id"] = self.ac_id
msg["index"] = self.auto2_index
msg["value"] = 19 # AP_MODE_GUIDED
print("Setting mode to GUIDED: %s" % msg)
self._interface.send(msg)
def set_nav_mode(self):
"""
change auto2 mode to NAV.
"""
if self.auto2_index is not None:
msg = PprzMessage("ground", "DL_SETTING")
msg["ac_id"] = self.ac_id
msg["index"] = self.auto2_index
msg["value"] = 13 # AP_MODE_NAV
print("Setting mode to NAV: %s" % msg)
self._interface.send(msg)
def goto_ned(self, north, east, down, heading=0.0):
"""
goto a local NorthEastDown position in meters (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg["ac_id"] = self.ac_id
msg["flags"] = 0x00
msg["x"] = north
msg["y"] = east
msg["z"] = down
msg["yaw"] = heading
print("goto NED: %s" % msg)
# embed the message in RAW_DATALINK so that the server can log it
self._interface.send_raw_datalink(msg)
def goto_ned_relative(self, north, east, down, yaw=0.0):
"""
goto a local NorthEastDown position relative to current position in meters (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg["ac_id"] = self.ac_id
msg["flags"] = 0x01
msg["x"] = north
msg["y"] = east
msg["z"] = down
msg["yaw"] = yaw
print("goto NED relative: %s" % msg)
self._interface.send_raw_datalink(msg)
def goto_body_relative(self, forward, right, down, yaw=0.0):
"""
goto to a position relative to current position and heading in meters (if already in GUIDED mode)
"""
msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
msg["ac_id"] = self.ac_id
msg["flags"] = 0x03
msg["x"] = forward
msg["y"] = right
msg["z"] = down
msg["yaw"] = yaw
print("goto body relative: %s" % msg)
self._interface.send_raw_datalink(msg)