Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 15:12:09 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

[ardrone] pep8 for python script

Browse Source
This commit is contained in:
Felix Ruess
2013-11-27 13:42:41 +01:00
parent b780d3a2bd
commit f46df1cd67
1 changed files with 168 additions and 166 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/ext/ardrone2_drivers/ardrone2.py
+75 -73
View File
@@ -1,4 +1,6 @@
#!/usr/bin/env python #!/usr/bin/env python
from __future__ import print_function
import re import re
import argparse import argparse
import socket import socket
@@ -18,15 +20,15 @@ def is_ip(address):
# Execute a command # Execute a command
def execute_command(command): def execute_command(command):
tn.write(command+'\n') tn.write(command + '\n')
return tn.read_until('# ')[len(command)+2:-4] return tn.read_until('# ')[len(command) + 2:-4]
# Read from config.ini # Read from config.ini
def read_from_config(name, config = ''): def read_from_config(name, config=''):
if config == '': if config == '':
config = execute_command('cat /data/config.ini') config = execute_command('cat /data/config.ini')
search = re.search(name+'[^=]+=[\r\n\t ]([^\r\n\t ]+)', config) search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
if search == None: if search is None:
return '' return ''
else: else:
return search.group(1) return search.group(1)
@@ -34,9 +36,9 @@ def read_from_config(name, config = ''):
# Write to config # Write to config
def write_to_config(name, value): def write_to_config(name, value):
if read_from_config(name) == '': if read_from_config(name) == '':
execute_command('echo "'+name+' = '+value+'\" >> /data/config.ini') execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
else: else:
execute_command('sed -i "s/\('+name+' *= *\).*/\\1'+value+'/g" /data/config.ini') execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
# Check the version # Check the version
def check_version(): def check_version():
@@ -84,11 +86,11 @@ def ardrone2_reboot():
# Install the vision framework # Install the vision framework
def ardrone2_install_vision(): def ardrone2_install_vision():
print 'Uploading GST' print('Uploading GST')
ftp.storbinary("STOR arm_light.tgz",file("bin/arm_light.tgz","rb")) ftp.storbinary("STOR arm_light.tgz", file("bin/arm_light.tgz", "rb"))
print execute_command("cd /data/video && tar -xzf arm_light.tgz") print(execute_command("cd /data/video && tar -xzf arm_light.tgz"))
print execute_command("rm -rf /data/video/arm_light.tgz") print(execute_command("rm -rf /data/video/arm_light.tgz"))
print 'Now Starting Vision' print('Now Starting Vision')
ardrone2_start_vision() ardrone2_start_vision()
# Remove the vision framework # Remove the vision framework
@@ -114,27 +116,29 @@ def ardrone2_start_vision():
# Show result # Show result
execute_command("ls -altr /opt/arm/gst/bin") execute_command("ls -altr /opt/arm/gst/bin")
def ardrone2_status(): def ardrone2_status():
config_ini = execute_command('cat /data/config.ini') config_ini = execute_command('cat /data/config.ini')
print '======================== ARDrone 2 Status ========================' print('======================== ARDrone 2 Status ========================')
print 'Version:\t\t'+check_version() print('Version:\t\t' + check_version())
print 'Host:\t\t\t'+args.host+' ('+read_from_config('static_ip_address_base', config_ini)+read_from_config('static_ip_address_probe', config_ini)+' after boot)' print('Host:\t\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
print 'Currently running:\t'+check_running() read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
print 'Serial number:\t\t' + read_from_config('drone_serial', config_ini) print('Currently running:\t' + check_running())
print 'Network id:\t\t' + read_from_config('ssid_single_player', config_ini) print('Serial number:\t\t' + read_from_config('drone_serial', config_ini))
print 'Motor software:\t\t' \ print('Network id:\t\t' + read_from_config('ssid_single_player', config_ini))
+read_from_config('motor1_soft', config_ini)+'\t'+read_from_config('motor2_soft', config_ini)+'\t' \ print('Motor software:\t\t' +
+read_from_config('motor3_soft', config_ini)+'\t'+read_from_config('motor4_soft', config_ini) read_from_config('motor1_soft', config_ini) + '\t' + read_from_config('motor2_soft', config_ini) + '\t' +
print 'Motor hardware:\t\t' \ read_from_config('motor3_soft', config_ini) + '\t' + read_from_config('motor4_soft', config_ini))
+read_from_config('motor1_hard', config_ini)+'\t'+read_from_config('motor2_hard', config_ini)+'\t' \ print('Motor hardware:\t\t' +
+read_from_config('motor3_hard', config_ini)+'\t'+read_from_config('motor4_hard', config_ini) read_from_config('motor1_hard', config_ini) + '\t' + read_from_config('motor2_hard', config_ini) + '\t' +
read_from_config('motor3_hard', config_ini) + '\t' + read_from_config('motor4_hard', config_ini))
autorun = {'': 'Native','0': 'Native','1': 'Paparazzi RAW','2': 'Paparazzi SDK'} autorun = {'': 'Native', '0': 'Native', '1': 'Paparazzi RAW', '2': 'Paparazzi SDK'}
if check_autoboot(): if check_autoboot():
print 'Autorun at start:\tInstalled booting ' + autorun[read_from_config('start_paparazzi', config_ini)] print('Autorun at start:\tInstalled booting ' + autorun[read_from_config('start_paparazzi', config_ini)])
else: else:
print 'Autorun at start:\tNot installed' print('Autorun at start:\tNot installed')
# Check if the vision framework is installed and running # Check if the vision framework is installed and running
vision_framework = "" vision_framework = ""
@@ -142,15 +146,11 @@ def ardrone2_status():
vision_framework += "Installed" vision_framework += "Installed"
if check_vision_running: if check_vision_running:
vision_framework += " and running" vision_framework += " and running"
print 'Vision framework:\t'+vision_framework print('Vision framework:\t' + vision_framework)
# Request the filesystem status # Request the filesystem status
print '\n======================== Filesystem Status ========================' print('\n======================== Filesystem Status ========================')
print check_filesystem() print(check_filesystem())
# Parse the arguments # Parse the arguments
@@ -163,7 +163,8 @@ subparsers = parser.add_subparsers(title='Command to execute', metavar='command'
subparsers.add_parser('status', help='Request the status of the ARDrone 2') subparsers.add_parser('status', help='Request the status of the ARDrone 2')
subparsers.add_parser('reboot', help='Reboot the ARDrone 2') subparsers.add_parser('reboot', help='Reboot the ARDrone 2')
subparsers.add_parser('installvision', help='Install the vision framework') subparsers.add_parser('installvision', help='Install the vision framework')
subparser_upload = subparsers.add_parser('upload_gst_module', help='Upload, configure and move a gstreamer0.10 module libXXX.so') subparser_upload = subparsers.add_parser('upload_gst_module',
help='Upload, configure and move a gstreamer0.10 module libXXX.so')
subparser_upload.add_argument('file', help='Filename of *.so module') subparser_upload.add_argument('file', help='Filename of *.so module')
subparser_paparazzi = subparsers.add_parser('upload_paparazzi', help='Upload paparazzi autopilot software') subparser_paparazzi = subparsers.add_parser('upload_paparazzi', help='Upload paparazzi autopilot software')
subparser_paparazzi.add_argument('file', help='Filename of *.elf executable') subparser_paparazzi.add_argument('file', help='Filename of *.elf executable')
@@ -180,7 +181,8 @@ subparser_networkid.add_argument('name', help='the new network ID(SSID)')
subparser_ipaddress = subparsers.add_parser('ipaddress', help='Set the IP address of the ARDrone 2') subparser_ipaddress = subparsers.add_parser('ipaddress', help='Set the IP address of the ARDrone 2')
subparser_ipaddress.add_argument('address', help='the new IP address') subparser_ipaddress.add_argument('address', help='the new IP address')
subparser_autostart = subparsers.add_parser('autostart', help='Set what to start on boot for the ARDrone 2') subparser_autostart = subparsers.add_parser('autostart', help='Set what to start on boot for the ARDrone 2')
subparser_autostart.add_argument('type', choices=['native','paparazzi_raw','paparazzi_sdk'], help='what to start on boot') subparser_autostart.add_argument('type', choices=['native', 'paparazzi_raw', 'paparazzi_sdk'],
help='what to start on boot')
args = parser.parse_args() args = parser.parse_args()
@@ -190,7 +192,7 @@ try:
ftp = FTP(args.host) ftp = FTP(args.host)
ftp.login() ftp.login()
except: except:
print 'Could not connect to ARDrone 2 (host: '+args.host+')' print('Could not connect to ARDrone 2 (host: ' + args.host + ')')
exit(2) exit(2)
# Read until after login # Read until after login
@@ -203,102 +205,102 @@ if args.command == 'status':
# Reboot the drone # Reboot the drone
elif args.command == 'reboot': elif args.command == 'reboot':
ardrone2_reboot() ardrone2_reboot()
print 'The ARDrone 2 is rebooting...' print('The ARDrone 2 is rebooting...')
# Kill a program # Kill a program
elif args.command == 'kill': elif args.command == 'kill':
execute_command('killall -9 '+args.program) execute_command('killall -9 ' + args.program)
print 'Program "'+args.program+'" is now killed' print('Program "' + args.program + '" is now killed')
# Start a program # Start a program
elif args.command == 'start': elif args.command == 'start':
execute_command(args.start+' &') execute_command(args.start + ' &')
print 'Program "'+args.start+'" is now started' print('Program "' + args.start + '" is now started')
# Change the network ID # Change the network ID
elif args.command == 'networkid': elif args.command == 'networkid':
write_to_config('ssid_single_player', args.name) write_to_config('ssid_single_player', args.name)
print 'The network ID (SSID) of the ARDrone 2 is changed to '+args.name print('The network ID (SSID) of the ARDrone 2 is changed to ' + args.name)
if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y': if input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
ardrone2_reboot() ardrone2_reboot()
# Change the IP address # Change the IP address
elif args.command == 'ipaddress': elif args.command == 'ipaddress':
splitted_ip = args.address.split(".") splitted_ip = args.address.split(".")
write_to_config('static_ip_address_base', splitted_ip[0]+'.'+splitted_ip[1]+'.'+splitted_ip[2]+'.') write_to_config('static_ip_address_base', splitted_ip[0] + '.' + splitted_ip[1] + '.' + splitted_ip[2] + '.')
write_to_config('static_ip_address_probe', splitted_ip[3]) write_to_config('static_ip_address_probe', splitted_ip[3])
print 'The IP Address of the ARDrone 2 is changed to '+args.address print('The IP Address of the ARDrone 2 is changed to ' + args.address)
if raw_input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y': if input("Shall I restart the ARDrone 2? (y/N) ").lower() == 'y':
ardrone2_reboot() ardrone2_reboot()
# Change the autostart # Change the autostart
elif args.command == 'autostart': elif args.command == 'autostart':
autorun = {'native': '0','paparazzi_raw': '1','paparazzi_sdk': '2'} autorun = {'native': '0', 'paparazzi_raw': '1', 'paparazzi_sdk': '2'}
write_to_config('start_paparazzi', autorun[args.type]) write_to_config('start_paparazzi', autorun[args.type])
print 'The autostart on boot is changed to '+args.type print('The autostart on boot is changed to ' + args.type)
# Install Vision framework # Install Vision framework
elif args.command == 'installvision': elif args.command == 'installvision':
if check_vision_installed(): if check_vision_installed():
print 'Vision framework already installed' print('Vision framework already installed')
if raw_input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y': if input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y':
ardrone2_remove_vision() ardrone2_remove_vision()
ardrone2_install_vision() ardrone2_install_vision()
ardrone2_install_vision() ardrone2_install_vision()
print 'Vision framework installed' print('Vision framework installed')
# Start Vision framework # Start Vision framework
elif args.command == 'startvision': elif args.command == 'startvision':
if check_vision_running(): if check_vision_running():
print 'Vision framework already started' print('Vision framework already started')
else: else:
if not check_vision_installed(): if not check_vision_installed():
print 'No vision framework installed' print('No vision framework installed')
if raw_input("Shall I install the vision framework? (y/N) ").lower() == 'y': if input("Shall I install the vision framework? (y/N) ").lower() == 'y':
ardrone2_install_vision() ardrone2_install_vision()
if check_vision_installed(): if check_vision_installed():
ardrone2_start_vision() ardrone2_start_vision()
print 'Vision framework started' print('Vision framework started')
elif args.command == 'upload_gst_module': elif args.command == 'upload_gst_module':
print 'Uploading ...' + args.file print('Uploading ...' + args.file)
ftp.storbinary("STOR " + args.file,file(args.file,"rb")) ftp.storbinary("STOR " + args.file, file(args.file, "rb"))
execute_command("chmod 777 /data/video/" + args.file) execute_command("chmod 777 /data/video/" + args.file)
print execute_command("mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10") print(execute_command("mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10"))
if check_vision_running(): if check_vision_running():
print 'Info: Vision framework already started' print('Info: Vision framework already started')
else: else:
if not check_vision_installed(): if not check_vision_installed():
print 'Warning: No vision framework installed' print('Warning: No vision framework installed')
if raw_input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y': if input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y':
ardrone2_install_vision() ardrone2_install_vision()
if check_vision_installed(): if check_vision_installed():
ardrone2_start_vision() ardrone2_start_vision()
print '#pragma message: Vision framework started' print('#pragma message: Vision framework started')
print '#pragma message: Vision Plugin Uploaded and DSP Started.' print('#pragma message: Vision Plugin Uploaded and DSP Started.')
elif args.command == 'insmod': elif args.command == 'insmod':
modfile = args.file.rsplit('/',1) modfile = args.file.rsplit('/', 1)
print 'Uploading \'' + modfile[1] print('Uploading \'' + modfile[1])
ftp.storbinary("STOR " + modfile[1], file(args.file,"rb")) ftp.storbinary("STOR " + modfile[1], file(args.file, "rb"))
print execute_command("insmod /data/video/"+modfile[1]) print(execute_command("insmod /data/video/" + modfile[1]))
elif args.command == 'upload_paparazzi': elif args.command == 'upload_paparazzi':
# Split filename and path # Split filename and path
f = args.file.rsplit('/', 1) f = args.file.rsplit('/', 1)
print "Kill running ap.elf and make folder " + args.folder print("Kill running ap.elf and make folder " + args.folder)
execute_command("killall " + f[1]) execute_command("killall " + f[1])
sleep(1) sleep(1)
execute_command("mkdir -p " + args.folder) execute_command("mkdir -p " + args.folder)
print 'Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
ftp.storbinary("STOR " + args.folder + "/" + f[1], file(args.file,"rb")) ftp.storbinary("STOR " + args.folder + "/" + f[1], file(args.file, "rb"))
sleep(0.5) sleep(0.5)
execute_command("chmod 777 /data/video/" + args.folder + "/" + f[1]) execute_command("chmod 777 /data/video/" + args.folder + "/" + f[1])
execute_command("/data/video/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &") execute_command("/data/video/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
@@ -307,6 +309,6 @@ elif args.command == 'upload_paparazzi':
# Close the telnet and python script # Close the telnet and python script
tn.close(); tn.close()
ftp.close(); ftp.close()
exit(0) exit(0)