Visual Servoing Platform version 3.6.0
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keyboardControlBebop2.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Example that shows how to setup keyboard control of Parrot Bebop 2 drone in ViSP.
33 *
34 * Authors:
35 * Gatien Gaumerais
36 *
37*****************************************************************************/
38
39#include <visp3/core/vpConfig.h>
40
41#include <visp3/core/vpTime.h>
42#include <visp3/gui/vpDisplayX.h>
43#include <visp3/io/vpKeyboard.h>
44
45#include <visp3/robot/vpRobotBebop2.h>
46
47#include <iostream>
48
49#ifdef VISP_HAVE_ARSDK
50
59bool handleKeyboardInput(vpRobotBebop2 &drone, int key)
60{
61 bool running = true;
62 if (drone.isRunning()) {
63 switch (key) {
64 case 'q':
65 // Quit
66 drone.land();
67 running = false;
68 break;
69
70 case 'e':
71 // Emergency
72 drone.cutMotors();
73 running = false;
74 break;
75
76 case 't':
77 // Takeoff
78 drone.takeOff(false);
79 break;
80
81 case ' ':
82 // Landing
83 drone.land();
84 break;
85
86 case 'i':
87 // Up
88 drone.setVerticalSpeed(50);
89 break;
90
91 case 'k':
92 // Down
93 drone.setVerticalSpeed(-50);
94 break;
95
96 case 'l':
97 // Right
98 drone.setYawSpeed(50);
99 break;
100
101 case 'j':
102 // Left
103 drone.setYawSpeed(-50);
104 break;
105
106 case 'r':
107 // Forward
108 drone.setPitch(50);
109 break;
110
111 case 'f':
112 // Backward
113 drone.setPitch(-50);
114 break;
115
116 case 'd':
117 // Roll left
118 drone.setRoll(-50);
119 break;
120
121 case 'g':
122 // Roll right
123 drone.setRoll(50);
124 break;
125
126 default:
127 // No inputs -> drone stops moving
128 drone.stopMoving();
129 break;
130 }
131 vpTime::wait(25); // We wait 25ms to give the drone the time to process the command
132 } else {
133 running = false;
134 }
135 return running;
136}
137
148int main(int argc, char **argv)
149{
150 try {
151
152 std::string ip_address = "192.168.42.1";
153
154 int stream_res = 0; // Default 480p resolution
155
156 bool verbose = false;
157
158 for (int i = 1; i < argc; i++) {
159 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
160 ip_address = std::string(argv[i + 1]);
161 i++;
162 } else if (std::string(argv[i]) == "--hd_stream") {
163 stream_res = 1;
164 } else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
165 verbose = true;
166 } else if (argc >= 2 && (std::string(argv[1]) == "--help" || std::string(argv[1]) == "-h")) {
167 std::cout << "\nUsage:\n"
168 << " " << argv[0] << "[--ip <drone ip>] [--hd_stream] [--verbose] [-v] [--help] [-h]\n"
169 << std::endl
170 << "Description:\n"
171 << " --ip <drone ip>\n"
172 << " Ip address of the drone to which you want to connect (default : 192.168.42.1).\n\n"
173 << " --hd_stream\n"
174 << " Enables HD 720p streaming instead of default 480p.\n"
175 << " --verbose, -v\n"
176 << " Enables verbose (drone information messages and velocity commands\n"
177 << " are then displayed).\n\n"
178 << " --help, -h\n"
179 << " Print help message.\n"
180 << std::endl;
181 return EXIT_SUCCESS;
182 } else {
183 std::cout << "Error : unknown parameter " << argv[i] << std::endl
184 << "See " << argv[0] << " --help" << std::endl;
185 return EXIT_FAILURE;
186 }
187 }
188
189 std::cout << "\nWARNING: this program does no sensing or avoiding of obstacles, "
190 "the drone WILL collide with any objects in the way! Make sure the "
191 "drone has approximately 3 meters of free space on all sides.\n"
192 << std::endl;
193
194 vpRobotBebop2 drone(verbose, true,
195 ip_address); // Create the drone with low verbose level, settings reset and corresponding IP
196
197 if (drone.isRunning()) {
198
199 int k = 0;
200 bool running = true;
201
202 std::cout << "\nConfiguring drone settings ...\n" << std::endl;
203
204 drone.setMaxTilt(10); // Setting the max roll and pitch values, the drone speed will depend on it
205
206 drone.doFlatTrim(); // Flat trim calibration
207
208#ifdef VISP_HAVE_FFMPEG
209 drone.setVideoResolution(stream_res); // Setting desired stream video resolution
210 drone.setStreamingMode(0); // Set streaming mode 0 : lowest latency
211 std::cout << "\nWaiting for streaming to start ...\n" << std::endl;
212 drone.startStreaming();
213
214 // Prepare image for display
215 vpImage<vpRGBa> I(1, 1, 0);
216 drone.getRGBaImage(I);
217 vpDisplayX display(I, 100, 100, "DRONE VIEW");
220#endif
221
222 vpKeyboard keyboard;
223 std::cout << "\n| Control the drone with the keyboard :\n"
224 "| 't' to takeoff / spacebar to land / 'e' for emergency stop\n"
225 "| ('r','f','d','g') and ('i','k','j','l') to move\n"
226 "| 'q' to quit.\n"
227 << std::endl;
228
229 while (running && drone.isRunning() && drone.isStreaming()) {
230
231 k = '0'; // If no key is hit, we send a non-assigned key
232 if (keyboard.kbhit()) {
233 k = keyboard.getchar();
234 }
235 running = handleKeyboardInput(drone, k);
236
237#ifdef VISP_HAVE_FFMPEG
238 drone.getRGBaImage(I);
240 vpDisplay::displayText(I, 10, 10, "Press q to quit", vpColor::red);
242#endif
243 }
244 std::cout << "\nQuitting ...\n" << std::endl;
245
246 } else {
247 std::cout << "ERROR : failed to setup drone control." << std::endl;
248 return EXIT_FAILURE;
249 }
250 } catch (const vpException &e) {
251 std::cout << "\nCaught an exception: " << e << std::endl;
252 return EXIT_FAILURE;
253 }
254}
255
256#else
257
258int main()
259{
260 std::cout << "\nThis example requires Parrot ARSDK3 library. You should install it.\n" << std::endl;
261 return EXIT_SUCCESS;
262}
263
264#endif // #if defined(VISP_HAVE_ARSDK)
static const vpColor red
Definition vpColor.h:211
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition vpException.h:59
Definition of the vpImage class member functions.
Definition vpImage.h:135
Keyboard management under unix (Linux or OSX). This class is not available under windows.
Definition vpKeyboard.h:82
int getchar()
void setPitch(int value)
void setMaxTilt(double maxTilt)
void setRoll(int value)
void setVerticalSpeed(int value)
void setStreamingMode(int mode)
static void land()
void getRGBaImage(vpImage< vpRGBa > &I)
void setYawSpeed(int value)
void takeOff(bool blocking=true)
void setVideoResolution(int mode)
VISP_EXPORT int wait(double t0, double t)