Python IvyMessagesInterface.start方法代码示例

# 需要导入模块: from pprzlink.ivy import IvyMessagesInterface [as 别名]
# 或者: from pprzlink.ivy.IvyMessagesInterface import start [as 别名]
class RtpViewer:
    frame = None
    mouse = dict()

    def __init__(self, src):
        # Create the video capture device
        self.cap = cv2.VideoCapture(src)

        # Start the ivy interface
        self.ivy = IvyMessagesInterface("RTPviewer", start_ivy=False)
        self.ivy.start()

        # Create a named window and add a mouse callback
        cv2.namedWindow('rtp')
        cv2.setMouseCallback('rtp', self.on_mouse)

    def run(self):
        # Start an 'infinite' loop
        while True:
            # Read a frame from the video capture
            ret, self.frame = self.cap.read()

            # Quit if frame could not be retrieved or 'q' is pressed
            if not ret or cv2.waitKey(1) & 0xFF == ord('q'):
                break

            # Run the computer vision function
            self.cv()

    def cv(self):
        # If a selection is happening
        if self.mouse.get('start'):
            # Draw a rectangle indicating the region of interest
            cv2.rectangle(self.frame, self.mouse['start'], self.mouse['now'], (0, 255, 0), 2)

        # Show the image in a window
        cv2.imshow('rtp', self.frame)

    def on_mouse(self, event, x, y, flags, param):
        if event == cv2.EVENT_LBUTTONDOWN:
            self.mouse['start'] = (x, y)

        if event == cv2.EVENT_RBUTTONDOWN:
            self.mouse['start'] = None

        if event == cv2.EVENT_MOUSEMOVE:
            self.mouse['now'] = (x, y)

        if event == cv2.EVENT_LBUTTONUP:
            # If mouse start is defined, a region has been selected
            if not self.mouse.get('start'):
                return

            # Obtain mouse start coordinates
            sx, sy = self.mouse['start']

            # Create a new message
            msg = PprzMessage("datalink", "VIDEO_ROI")
            msg['ac_id'] = None
            msg['startx'] = sx
            msg['starty'] = sy
            msg['width'] = abs(x - sx)
            msg['height'] = abs(y - sy)
            msg['downsized_width'] = self.frame.shape[1]

            # Send message via the ivy interface
            self.ivy.send_raw_datalink(msg)

            # Reset mouse start
            self.mouse['start'] = None

    def cleanup(self):
        # Shutdown ivy interface
        self.ivy.shutdown()

# 需要导入模块: from pprzlink.ivy import IvyMessagesInterface [as 别名]
# 或者: from pprzlink.ivy.IvyMessagesInterface import start [as 别名]
class RtpViewer:
    running = False
    scale = 1
    rotate = 0
    frame = None
    mouse = dict()

    def __init__(self, src):
        # Create the video capture device
        self.cap = cv2.VideoCapture(src)

        # Start the ivy interface
        self.ivy = IvyMessagesInterface("RTPviewer", start_ivy=False)
        self.ivy.start()

        # Create a named window and add a mouse callback
        cv2.namedWindow('rtp')
        cv2.setMouseCallback('rtp', self.on_mouse)

    def run(self):
        self.running = True

        # Start an 'infinite' loop
        while self.running:
            # Read a frame from the video capture
            ret, self.frame = self.cap.read()

            # Quit if frame could not be retrieved
            if not ret:
                break

            # Run the computer vision function
            self.cv()

            # Process key input
            self.on_key(cv2.waitKey(1) & 0xFF)

    def cv(self):
        # Rotate the image by increments of 90
        if self.rotate % 2:
            self.frame = cv2.transpose(self.frame)

        if self.rotate > 0:
            self.frame = cv2.flip(self.frame, [1, -1, 0][self.rotate - 1])

        # If a selection is happening
        if self.mouse.get('start'):
            # Draw a rectangle indicating the region of interest
            cv2.rectangle(self.frame, self.mouse['start'], self.mouse['now'], (0, 255, 0), 2)

        if self.scale != 1:
            h, w = self.frame.shape[:2]
            self.frame = cv2.resize(self.frame, (int(self.scale * w), int(self.scale * h)))

        # Show the image in a window
        cv2.imshow('rtp', self.frame)

    def on_key(self, key):
        if key == ord('q'):
            self.running = False

        if key == ord('r'):
            self.rotate = (self.rotate + 1) % 4
            self.mouse['start'] = None

    def on_mouse(self, event, x, y, flags, param):
        if event == cv2.EVENT_LBUTTONDOWN and self.rotate == 0:
            self.mouse['start'] = (x, y)

        if event == cv2.EVENT_RBUTTONDOWN:
            self.mouse['start'] = None

        if event == cv2.EVENT_MOUSEMOVE:
            self.mouse['now'] = (x, y)

        if event == cv2.EVENT_LBUTTONUP:
            # If mouse start is defined, a region has been selected
            if not self.mouse.get('start'):
                return

            # Obtain mouse start coordinates
            sx, sy = self.mouse['start']

            # Create a new message
            msg = PprzMessage("datalink", "VIDEO_ROI")
            msg['ac_id'] = None
            msg['startx'] = sx
            msg['starty'] = sy
            msg['width'] = abs(x - sx)
            msg['height'] = abs(y - sy)
            msg['downsized_width'] = self.frame.shape[1]

            # Send message via the ivy interface
            self.ivy.send_raw_datalink(msg)

            # Reset mouse start
            self.mouse['start'] = None

    def cleanup(self):
        # Shutdown ivy interface
#.........这里部分代码省略.........

# 需要导入模块: from pprzlink.ivy import IvyMessagesInterface [as 别名]
# 或者: from pprzlink.ivy.IvyMessagesInterface import start [as 别名]
    parser.add_argument("-s","--subscribe", action="store_true", help="subscribe to the ivy bus")
    parser.add_argument("-v","--verbose",   action="store_true", help="verbose mode")

    try:
        # --- Startup state initialization block
        args = parser.parse_args()
        static_init_configuration_data()
        static_init_client_configuration_data(args.file)
        if args.verbose: 
            print_aircraft_data()
        if args.generate:
            template_configuration()
            sys.exit(0)
        if args.subscribe: 
            ivy_interface.subscribe(callback_aircraft_messages)
        ivy_interface.start()

        # Handle misc. command line arguments
        if args.verbose: 
            verbose=args.verbose
        if args.curl: 
            curl=args.curl
            print_curl_header(args.ip, args.port)

        # --- Main loop
        # Supply flask the appropriate ip address and port for the server
        server_host = args.ip      # Store for use in htlm template generation
        server_port = args.port    # Store for use in htlm template generation
        app.run(host=args.ip,port=args.port,threaded=True)

        # --- Shutdown state block

# 需要导入模块: from pprzlink.ivy import IvyMessagesInterface [as 别名]
# 或者: from pprzlink.ivy.IvyMessagesInterface import start [as 别名]
class CommandSender(IvyMessagesInterface):
    def __init__(self, verbose=False, callback = None):
        self.verbose = verbose
        self.callback = callback
        self._interface = IvyMessagesInterface("Mission Commander", start_ivy=False)
        self._interface.subscribe(self.message_recv)
        self._interface.start()

    def message_recv(self, ac_id, msg):
	
        if (self.verbose and self.callback != None):
            self.callback(ac_id, msg)

    def shutdown(self):
        print("Shutting down ivy interface...")
        self._interface.shutdown()

    def __del__(self):
        self.shutdown()

    def add_mission_command_dict(self, ac_id, insert, msg_id, msgs):

        msg = PprzMessage("datalink", msg_id)

        msg['ac_id'] = ac_id
        msg['insert'] = insert
        msg['duration'] = msgs.get('duration')
        msg['index'] = msgs.get('index')

        if msg_id == 'MISSION_GOTO_WP_LLA':
            msg['wp_lat'] = msgs.get('wp_lat')
            msg['wp_lon'] = msgs.get('wp_lon')
            msg['wp_alt'] = msgs.get('wp_alt')

        elif msg_id == 'MISSION_CIRCLE_LLA':
            msg['center_lat'] = msgs.get('center_lat')
            msg['center_lon'] = msgs.get('center_lon')
            msg['center_alt'] = msgs.get('center_alt')
            msg['radius'] = msgs.get('radius')

        elif msg_id == 'MISSION_SEGMENT_LLA':
            msg['segment_lat_1'] = msgs.get('segment_lat_1')
            msg['segment_lon_1'] = msgs.get('segment_lon_1')
            msg['segment_lat_2'] = msgs.get('segment_lat_2')
            msg['segment_lon_2'] = msgs.get('segment_lon_2')

        elif msg_id == 'MISSION_PATH_LLA':
            msg['point_lat_1'] = msgs.get('point_lat_1')
            msg['point_lon_1'] = msgs.get('point_lon_1')
            msg['point_lat_2'] = msgs.get('point_lat_2')
            msg['point_lon_2'] = msgs.get('point_lon_2')
            msg['point_lat_3'] = msgs.get('point_lat_3')
            msg['point_lon_3'] = msgs.get('point_lon_3')
            msg['point_lat_4'] = msgs.get('point_lat_4')
            msg['point_lon_4'] = msgs.get('point_lon_4')
            msg['point_lat_5'] = msgs.get('point_lat_5')
            msg['point_lon_5'] = msgs.get('point_lon_5')
            msg['path_alt'] = msgs.get('path_alt')
            msg['nb'] = msgs.get('nb')

        elif msg_id == 'MISSION_SURVEY_LLA':
            msg['survey_lat_1'] = msgs.get('survey_lat_1')
            msg['survey_lon_1'] = msgs.get('survey_lon_1')
            msg['survey_lat_2'] = msgs.get('survey_lat_2')
            msg['survey_lon_2'] = msgs.get('survey_lon_2')
            msg['survey_alt'] = msgs.get('survey_alt')


#        print("Sending message: %s" % msg)
        self._interface.send(msg)

    def add_shape(self, status, obstacle_id, obmsg):
        msg = PprzMessage("ground", "SHAPE")
        msg['id'] = int(obstacle_id)
        msg['fillcolor'] = "red" if obstacle_id > 19 else "orange"
        msg['linecolor'] = "red" if obstacle_id > 19 else "orange"
        msg['status'] = 0 if status=="create" else 1
        msg['shape'] = 0
        msg['latarr'] = [int(obmsg.get("latitude")*10000000.),int(obmsg.get("latitude")*10000000.)]
        msg['lonarr'] = [int(obmsg.get("longitude")*10000000.),int(obmsg.get("longitude")*10000000.)]
        msg['radius'] = int(obmsg.get("sphere_radius") if "sphere_radius" in obmsg else obmsg.get("cylinder_radius"))
        msg['text'] = "NULL"
        msg['opacity'] = 2
        self._interface.send(msg)