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droneControlfromGist.py
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droneControlfromGist.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import print_function
import threading
import logging
import dronekit_sitl
from dronekit import connect, VehicleMode, LocationGlobalRelative, Command, LocationGlobal
import numpy as np
import cv2
from picamera import PiCamera
from picamera.array import PiRGBArray
import math
import time
from pymavlink import mavutil
import serial as sl
import Magnet_control
from datetime import datetime
# print('Connecting to vehicle on: %s' % connection_string)
# vehicle = connect(connection_string, wait_ready=True)
vehicle = connect('/dev/ttyACM0', wait_ready=True)
mag = Magnet_control.magnet()
vehicle.airspeed = 3
vehicle.groundspeed = 3
ay = 0
ax = 0
def zaman(t1 , t2):
tM = t1.minute
tS = t1.second
zM = t2.minute
zS = t2.second
farkM = zM - tM
farkS = zS - tS
saniye = farkM * 60
sonZaman = saniye + farkS
return sonZaman
def arm_and_takeoff(aTargetAltitude):
"""
Arms vehicle and fly to aTargetAltitude.
"""
print("Basic pre-arm checks")
# Don't try to arm until autopilot is ready
while not vehicle.is_armable:
print(" Waiting for vehicle to initialise...")
time.sleep(1)
print("Arming motors")
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
# Confirm vehicle armed before attempting to take off
while not vehicle.armed:
print(" Waiting for arming...")
time.sleep(1)
print("Taking off!")
vehicle.simple_takeoff(aTargetAltitude) # Take off to target altitude
# Wait until the vehicle reaches a safe height before processing the goto
# (otherwise the command after Vehicle.simple_takeoff will execute
# immediately).
while True:
print(" Altitude: ", vehicle.location.global_relative_frame.alt)
# Break and return from function just below target altitude.
if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95:
print("Reached target altitude")
break
time.sleep(1)
def alan_dolu(alt1, alt2):
a1 = LocationGlobalRelative(41.0004422, 28.9512951, alt1) # Tam dolu alan
vehicle.simple_goto(a1, 2) # 39.8723430, 32.7323806
time.sleep(20)
a2 = LocationGlobalRelative(41.0004422, 28.9512951, alt2)
vehicle.simple_goto(a2, 2)
time.sleep(15)
def alan_yarim(alt1, alt2):
a1 = LocationGlobalRelative(41.0005797, 28.9512378, alt1) # Yari dolu alan 41.0005797, 28.9512378
vehicle.simple_goto(a1, groundspeed=2)
time.sleep(20)
a2 = LocationGlobalRelative(41.0005797, 28.9512378, alt2)
vehicle.simple_goto(a2, groundspeed=2)
time.sleep(15)
def go(p):
vehicle.simple_goto(p, 3)
class Sensor(threading.Thread):
logging.basicConfig(level=logging.DEBUG, format='%(message)s', )
def __init__(self):
threading.Thread.__init__(self)
return
def run(self):
ser = sl.Serial('/dev/ttyUSB0', baudrate=9600)
while True:
a1 = str(ser.readline())
b = a1.split('/')
logging.debug('Veriler: %s , %s', a1, time.ctime(time.time()))
time.sleep(0.1)
return b[0], b[1]
class Output(threading.Thread):
logging.basicConfig(level=logging.DEBUG, format=' %(message)s')
def __init__(self, ilk, son):
threading.Thread.__init__(self)
self.ilk = ilk
self.son = son
return
def run(self):
while True:
logging.debug('Sonuc1: %s , sonuc2: %s , %s', self.ilk, self.son, time.ctime(time.time()))
return
class Velocity():
def set_velocity_body(self, vehicle, vx, vy, vz):
""" Remember: vz is positive downward!!!
http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html
Bitmask to indicate which dimensions should be ignored by the vehicle
(a value of 0b0000000000000000 or 0b0000001000000000 indicates that
none of the setpoint dimensions should be ignored). Mapping:
bit 1: x, bit 2: y, bit 3: z,
bit 4: vx, bit 5: vy, bit 6: vz,
bit 7: ax, bit 8: ay, bit 9:
"""
msg = vehicle.message_factory.set_position_target_local_ned_encode(
0,
0, 0,
mavutil.mavlink.MAV_FRAME_BODY_NED,
0b0000111111000111, # -- BITMASK -> Consider only the velocities
0, 0, 0, # -- POSITION
vx, vy, vz, # -- VELOCITY
0, 0, 0, # -- ACCELERATIONS
0, 0)
vehicle.send_mavlink(msg)
vehicle.flush()
time.sleep(0.5)
def ironmaiden(x, y, w, h, frame, t, color, a):
cv2.putText(frame, color + str(t), (int(x), int(y + 20)), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (0, 255, 255))
M = cv2.moments(a)
ax = int(M["m10"] / M["m00"])
ay = int(M["m01"] / M["m00"])
cv2.circle(frame, (ax, ay), 3, (255, 255, 255), -1)
cv2.putText(frame, "center", (ax - 20, ay - 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1)
return (ax, ay)
def moving(ax, ay):
v2 = Velocity()
if ax < 240:
v2.set_velocity_body(vehicle, 0.8, 0, 0)
print("ileri")
elif ax > 240:
v2.set_velocity_body(vehicle, -0.8, 0, 0)
print("geri")
if ay > 240:
v2.set_velocity_body(vehicle, 0, -0.8, 0)
print("sol")
elif ay < 240:
v2.set_velocity_body(vehicle, 0, 0.8, 0)
print("sag")
arm_and_takeoff(5)
time.sleep(3)
tStart = datetime.now()
print("Set default/target airspeed to 10")
p = LocationGlobalRelative(41.0003157, 28.9504601, 5)
go(p)
time.sleep(5)
################################################################
def opencv(ax, ay, height):
merkez = False
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
if (180 <= ax <= 300 and 180 <= ay <= 300):
merkez = True
if (merkez == True):
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc = LocationGlobalRelative(lat, lon, height)
vehicle.simple_goto(currentLoc)
time.sleep(7)
camera.close()
cv2.destroyAllWindows()
break
######################################################################
opencv(ax, ay, 2.5)
tfonk = datetime.now()
merkez = False
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
tSon = datetime.now()
zamanSon = zaman(tfonk, tSon)
if (zamanSon >= 40):
sise = LocationGlobalRelative(41.0003225, 28.9504421, 5)
vehicle.simple_goto(sise, 3)
camera.close()
opencv(ax, ay, 0.35)
break
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
if (200 <= ax <= 280 and 200 <= ay <= 280):
merkez = True
if (merkez == True):
lat1 = vehicle.location.global_relative_frame.lat
lon1 = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.35)
vehicle.simple_goto(currentLoc2)
time.sleep(3)
camera.close()
cv2.destroyAllWindows()
break
############################################################
fail = False
while True:
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
mag.turnOn()
time.sleep(10)
ps = LocationGlobalRelative(lat, lon, 1.25)
vehicle.simple_goto(ps, 3)
i1 = 0
dataW = []
while (i1 < 3):
t = Sensor()
ilk , son = t.run()
th = Output(ilk , son)
th.start()
weight = float((th.son).replace("\n", ""))
dataW.append(weight)
time.sleep(1)
i1 = i1 + 1
toplamW = dataW[0] + dataW[1] + dataW[2]
ortalamaW = toplamW / 3
if (ortalamaW <= 70.00):
fail = True
if (fail == True): # basarisizlik durumunda#########################################################
p = LocationGlobalRelative(41.0003157, 28.9504601, 5)
go(p)
time.sleep(5)
opencv(ax, ay , 0.35)
# basarisizlik durumunda#########################################################
if (fail == False):
p_son = LocationGlobalRelative(lat, lon, 5)
vehicle.simple_goto(p_son, 5)
time.sleep(10)
print("BASLADI")
raw_data = []
i2 = 0
while i2 < 10:
t2 = Sensor()
ilk, son = t2.run()
th2 = Output(ilk, son)
th2.start()
op = float((th2.son).replace("\n", ""))
raw_data.append(op)
time.sleep(1)
i2 = i2 + 1
print(raw_data)
toplam = raw_data[0] + raw_data[1] + raw_data[2] + raw_data[3] + raw_data[4] + raw_data[5] + raw_data[6] + \
raw_data[7] + raw_data[8] + raw_data[9]
ortalama = toplam / 10
print(ortalama)
if (ortalama > 550):
alan_dolu(5, 0.75)
mag.turnOff()
alan_no = 1
time.sleep(10)
else:
alan_yarim(5, 0.75)
mag.turnOff()
alan_no = 2
time.sleep(10)
print("Birinci sise bitti!!!")
break
###############################################################
###########ikinci sise########################################
tZaman = datetime.now()
ZamanFrk = zaman(tStart, tZaman)
if(ZamanFrk >= 240):
vehicle.mode = VehicleMode("RTL")
print("Bulunamadi, RTL...")
locsise = LocationGlobalRelative(41.0003170, 28.9504574, 5)
go(locsise) # ikinci sise konumunu ekle!!!!
opencv(ax, ay, 2.5)
####################################################################
tFonksiyon = datetime.now()
merkez = False
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
tZaman = datetime.now()
ZamanFrk = zaman(tFonksiyon, tZaman)
if (ZamanFrk >= 240):
vehicle.mode = VehicleMode("RTL")
print("Bulunamadi, RTL...")
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
if (200 <= ax <= 280 and 200 <= ay <= 280):
merkez = True
if (merkez == True):
lat1 = vehicle.location.global_relative_frame.lat
lon1 = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.35)
mag.turnOn()
vehicle.simple_goto(currentLoc2)
time.sleep(3)
camera.close()
cv2.destroyAllWindows()
break
############################################################
###########ikinci while########################################
fail = False
while True:
lat = vehicle.location.global_relative_frame.lat
lon = vehicle.location.global_relative_frame.lon # O an ki konum
time.sleep(10)
ps = LocationGlobalRelative(lat, lon, 1.25)
vehicle.simple_goto(ps, 3)
i3 = 0
dataW = []
while (i3 < 3):
t = Sensor()
ilk, son = t.run()
th3 = Output(ilk, son)
th3.start()
weight = float((th3.son).replace("\n", ""))
dataW.append(weight)
time.sleep(1)
i3 = i3 + 1
toplamW = dataW[0] + dataW[1] + dataW[2]
ortalamaW = toplamW / 3
if (ortalamaW <= 70.00):
fail = True
if (fail == True): # basarisizlik durumunda#########################################################
p = LocationGlobalRelative(41.0003225, 28.9504421, 5)
go(p)
time.sleep(5)
print("Kamera ciliyor")
camera = PiCamera()
camera.resolution = (480, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(480, 480))
lower_red = np.array([130, 150, 150])
upper_red = np.array([200, 255, 255])
time.sleep(0.1)
print("Kamera acildi")
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
t = 0
shot = frame.array
cv2.circle(shot, (240, 240), 3, (255, 255, 255), -1)
blur = cv2.GaussianBlur(shot, (11, 11), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
j = 0
mask = cv2.inRange(hsv, lower_red, upper_red)
kernelOPen = np.ones((20, 20))
mask = cv2.dilate(mask, kernelOPen, iterations=5)
__, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if j == 0:
for a in countours:
peri = 0.01 * cv2.arcLength(a, True)
approx = cv2.approxPolyDP(a, peri, True)
if len(approx) >= 3:
if (cv2.contourArea(a) > 100):
x, y, w, h = cv2.boundingRect(a)
color = "Fire"
ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
moving(ax, ay)
tZaman = datetime.now()
ZamanFrk = zaman(tStart, tZaman)
if (ZamanFrk >= 240):
vehicle.mode = VehicleMode("RTL")
print("Bulunamadi, RTL...")
cv2.imshow('cam', shot)
cv2.imshow('mask', mask)
rawCapture.truncate(0)
if (200 <= ax <= 280 and 200 <= ay <= 280):
merkez = True
if (merkez == True):
lat1 = vehicle.location.global_relative_frame.lat
lon1 = vehicle.location.global_relative_frame.lon # O an ki konum
currentLoc2 = LocationGlobalRelative(lat1, lon1, 0.35)
vehicle.simple_goto(currentLoc2)
time.sleep(3)
camera.close()
cv2.destroyAllWindows()
merkez = False
break
# basarisizlik durumunda#########################################################
if (fail == False):
p_son = LocationGlobalRelative(lat, lon, 5)
vehicle.simple_goto(p_son, 5)
time.sleep(10)
if (alan_no == 1):
alan_yarim(5, 0.75)
mag.turnOff()
time.sleep(10)
else:
alan_dolu(5, 0.75)
mag.turnOff()
time.sleep(10)
print("RTL modu")
break
###########ikinci while########################################
vehicle.mode = VehicleMode("RTL")