136 lines
4.2 KiB
Python
136 lines
4.2 KiB
Python
import socketio
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import requests
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import time
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import json
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from threading import Event
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# def print(*args, **kwargs):
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# pass # disable print
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class DroneClient:
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def __init__(self, ip="127.0.0.1"):
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sio = socketio.Client()
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self.base_url = f"http://{ip}:9000/"
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self.sio = sio
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self.drone_id = None
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self.control_key = None
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self.data_received_event = Event()
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self.last_received_data = None
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self.velocity_updated_event = Event()
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self.last_received_veldata = None
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self.position_updated_event = Event()
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self.last_received_posdata = None
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@sio.on("connect")
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def on_connect():
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print("Connected to server")
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@sio.on("disconnect")
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def on_disconnect():
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print("Disconnected from server")
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@sio.on("drone_connected")
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def on_drone_connected(data):
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print(f"Drone connection status: {data['data']}")
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@sio.on("data_updated")
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def on_data_updated(data):
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print(data)
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if isinstance(data, dict):
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self.last_received_data = data
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self.data_received_event.set()
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@sio.on("velocity_updated")
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def on_velocity_updated(data):
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print(data)
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if isinstance(data, dict):
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self.last_received_veldata = data
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self.velocity_updated_event.set()
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@sio.on("position_updated")
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def on_position_updated(data):
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print(data)
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if isinstance(data, dict):
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self.last_received_posdata = data
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self.position_updated_event.set()
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@sio.on("error")
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def on_error(data):
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print(f"Error: {data['data']}")
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def wait_for_data_msg(self, timeout=None):
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self.data_received_event.clear()
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if self.data_received_event.wait(timeout):
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return self.last_received_data
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return None
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def wait_for_vel_msg(self, timeout=None):
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self.velocity_updated_event.clear()
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if self.velocity_updated_event.wait(timeout):
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return self.last_received_veldata
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return None
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def wait_for_pos_msg(self, timeout=None):
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self.position_updated_event.clear()
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if self.position_updated_event.wait(timeout):
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return self.last_received_posdata
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return None
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def create_drone(self, label=None, secret_data=None, flight_plan=None):
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response = requests.post(
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f"{self.base_url}/create_drone",
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timeout=8000,
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json={}
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| ({"label": label} if label else {})
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| ({"secret_data": secret_data} if secret_data else {})
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| ({"flight_plan": flight_plan} if flight_plan else {}),
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)
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if response.status_code == 200:
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data = response.json()
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self.drone_id = data["id"]
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self.control_key = data["control_key"]
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print(
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f"Created drone with ID: {self.drone_id}, control key: {self.control_key}"
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)
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return True
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else:
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print(f"Failed to create drone: {response.text}")
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return False
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def get_all_drones(self):
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response = requests.get(f"{self.base_url}/get_drones")
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print("All drones:", response.json())
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def get_drones_with_details(self, with_what_details):
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response = requests.get(f"{self.base_url}/get_drones?with={with_what_details}")
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return response.json()
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def connect_to_drone(self):
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try:
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self.sio.connect(self.base_url, socketio_path="/socket.io")
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self.sio.emit(
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"join_drone",
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{"drone_id": self.drone_id, "control_key": self.control_key},
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)
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return True
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except Exception as e:
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print(f"Connection error: {e}")
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return False
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def update_position(self, position):
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self.sio.emit("set_position", {"drone_id": self.drone_id, "position": position})
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def update_velocity(self, velocity):
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self.sio.emit("set_velocity", {"drone_id": self.drone_id, "velocity": velocity})
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def disconnect(self):
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try:
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self.sio.disconnect()
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except Exception as e:
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print(f"Disconnection error: {e}")
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