client

package
v0.0.0-...-5f0fd51 Latest Latest
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 Go to latest Published: Feb 18, 2016 License: Apache-2.0, Apache-2.0 Imports: 9 Imported by: 0

Documentation

Index

Constants

View Source 
const (
	// libARNetworkAL/Includes/libARNetworkAL/ARNETWORKAL_Manager.h
	ARNETWORKAL_MANAGER_DEFAULT_ID_MAX uint16 = 256

	// ARNETWORKAL_Frame_t identifiers
	BD_NET_CD_NONACK_ID     byte = 10
	BD_NET_CD_ACK_ID        byte = 11
	BD_NET_CD_EMERGENCY_ID  byte = 12
	BD_NET_CD_VIDEO_ACK_ID  byte = 13
	BD_NET_DC_VIDEO_DATA_ID byte = 125
	// Following two, along with byte(0) (PING),
	BD_NET_DC_EVENT_ID   byte = 126 // 0x7E
	BD_NET_DC_NAVDATA_ID byte = 127 // 0x7F

	// eARCOMMANDS_ID_PROJECT
	ARCOMMANDS_ID_PROJECT_COMMON   byte = 0
	ARCOMMANDS_ID_PROJECT_ARDRONE3 byte = 1

	// eARCOMMANDS_ID_ARDRONE3_CLASS
	ARCOMMANDS_ID_ARDRONE3_CLASS_PILOTING              byte = 0
	ARCOMMANDS_ID_ARDRONE3_CLASS_CAMERA                byte = 1
	ARCOMMANDS_ID_ARDRONE3_CLASS_PILOTINGSETTINGS      byte = 2
	ARCOMMANDS_ID_ARDRONE3_CLASS_MEDIARECORDEVENT      byte = 3
	ARCOMMANDS_ID_ARDRONE3_CLASS_PILOTINGSTATE         byte = 4
	ARCOMMANDS_ID_ARDRONE3_CLASS_ANIMATIONS            byte = 5
	ARCOMMANDS_ID_ARDRONE3_CLASS_PILOTINGSETTINGSSTATE byte = 6
	ARCOMMANDS_ID_ARDRONE3_CLASS_MEDIARECORD           byte = 7
	ARCOMMANDS_ID_ARDRONE3_CLASS_MEDIARECORDSTATE      byte = 8
	ARCOMMANDS_ID_ARDRONE3_CLASS_NETWORKSETTINGS       byte = 9
	ARCOMMANDS_ID_ARDRONE3_CLASS_NETWORKSETTINGSSTATE  byte = 10
	ARCOMMANDS_ID_ARDRONE3_CLASS_SPEEDSETTINGS         byte = 11
	ARCOMMANDS_ID_ARDRONE3_CLASS_SPEEDSETTINGSSTATE    byte = 12
	ARCOMMANDS_ID_ARDRONE3_CLASS_NETWORK               byte = 13
	ARCOMMANDS_ID_ARDRONE3_CLASS_NETWORKSTATE          byte = 14
	ARCOMMANDS_ID_ARDRONE3_CLASS_SETTINGS              byte = 15
	ARCOMMANDS_ID_ARDRONE3_CLASS_SETTINGSSTATE         byte = 16
	ARCOMMANDS_ID_ARDRONE3_CLASS_DIRECTORMODE          byte = 17
	ARCOMMANDS_ID_ARDRONE3_CLASS_DIRECTORMODESTATE     byte = 18
	ARCOMMANDS_ID_ARDRONE3_CLASS_PICTURESETTINGS       byte = 19
	ARCOMMANDS_ID_ARDRONE3_CLASS_PICTURESETTINGSSTATE  byte = 20
	ARCOMMANDS_ID_ARDRONE3_CLASS_MEDIASTREAMING        byte = 21
	ARCOMMANDS_ID_ARDRONE3_CLASS_MEDIASTREAMINGSTATE   byte = 22
	ARCOMMANDS_ID_ARDRONE3_CLASS_GPSSETTINGS           byte = 23
	ARCOMMANDS_ID_ARDRONE3_CLASS_GPSSETTINGSSTATE      byte = 24
	ARCOMMANDS_ID_ARDRONE3_CLASS_CAMERASTATE           byte = 25
	ARCOMMANDS_ID_ARDRONE3_CLASS_ANTIFLICKERING        byte = 29
	ARCOMMANDS_ID_ARDRONE3_CLASS_ANTIFLICKERINGSTATE   byte = 30

	// eARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_FLATTRIMCHANGED          byte = 0
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_FLYINGSTATECHANGED       byte = 1
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_ALERTSTATECHANGED        byte = 2
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_NAVIGATEHOMESTATECHANGED byte = 3
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_POSITIONCHANGED          byte = 4
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_SPEEDCHANGED             byte = 5
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_ATTITUDECHANGED          byte = 6
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_AUTOTAKEOFFMODECHANGED   byte = 7
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_ALTITUDECHANGED          byte = 8
	ARCOMMANDS_ID_ARDRONE3_PILOTINGSTATE_CMD_MAX                      byte = 9

	// eARCOMMANDS_ID_ARDRONE3_ANIMATIONS_CMD;
	ARCOMMANDS_ID_ARDRONE3_ANIMATIONS_CMD_FLIP byte = 0
	ARCOMMANDS_ID_ARDRONE3_ANIMATIONS_CMD_MAX  byte = 1

	// eARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE;
	ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_LANDED    byte = 0
	ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_TAKINGOFF byte = 1
	ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_HOVERING  byte = 2
	ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_FLYING    byte = 3
	ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_LANDING   byte = 4
	ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_EMERGENCY byte = 5
	ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_MAX       byte = 6

	// Manually added from: https://github.com/Parrot-Developers/libARCommands/blob/master/Xml/ARDrone3_commands.xml#L974
	// ARCOMMANDS_ID_ARDRONE3_CLASS_NETWORKSETTINGSSTATE
	// See telemetry.go for handling and variable-decoding code.
	ARCOMMANDS_ARDRONE3_NETWORKSETTINGSSTATECHANGED_STATE_WIFISELECTIONCHANGED byte = 0

	// Manually added from: https://github.com/Parrot-Developers/libARCommands/blob/master/Xml/ARDrone3_commands.xml#L1250
	// See telemetry.go for handling and variable-decoding code.
	ARCOMMANDS_ARDRONE3_PICTURESETTINGSSTATECHANGED_STATE_PICTUREFORMATCHANGED    byte = 0
	ARCOMMANDS_ARDRONE3_PICTURESETTINGSSTATECHANGED_STATE_AUTOWHITEBALANCECHANGED byte = 1
	ARCOMMANDS_ARDRONE3_PICTURESETTINGSSTATECHANGED_STATE_EXPOSITIONCHANGED       byte = 2
	ARCOMMANDS_ARDRONE3_PICTURESETTINGSSTATECHANGED_STATE_SATURATIONCHANGED       byte = 3
	ARCOMMANDS_ARDRONE3_PICTURESETTINGSSTATECHANGED_STATE_TIMELAPSECHANGED        byte = 4
	ARCOMMANDS_ARDRONE3_PICTURESETTINGSSTATECHANGED_STATE_VIDEOAUTORECORDCHANGED  byte = 5

	// eARCOMMANDS_ARDRONE3_ANIMATIONS_FLIP_DIRECTION;
	ARCOMMANDS_ARDRONE3_ANIMATIONS_FLIP_DIRECTION_FRONT byte = 0
	ARCOMMANDS_ARDRONE3_ANIMATIONS_FLIP_DIRECTION_BACK  byte = 1
	ARCOMMANDS_ARDRONE3_ANIMATIONS_FLIP_DIRECTION_RIGHT byte = 2
	ARCOMMANDS_ARDRONE3_ANIMATIONS_FLIP_DIRECTION_LEFT  byte = 3
	ARCOMMANDS_ARDRONE3_ANIMATIONS_FLIP_DIRECTION_MAX   byte = 4

	// eARCOMMANDS_ID_COMMON_CLASS
	ARCOMMANDS_ID_COMMON_CLASS_NETWORK             byte = 0
	ARCOMMANDS_ID_COMMON_CLASS_NETWORKEVENT        byte = 1
	ARCOMMANDS_ID_COMMON_CLASS_SETTINGS            byte = 2
	ARCOMMANDS_ID_COMMON_CLASS_SETTINGSSTATE       byte = 3
	ARCOMMANDS_ID_COMMON_CLASS_COMMON              byte = 4
	ARCOMMANDS_ID_COMMON_CLASS_COMMONSTATE         byte = 5
	ARCOMMANDS_ID_COMMON_CLASS_OVERHEAT            byte = 6
	ARCOMMANDS_ID_COMMON_CLASS_OVERHEATSTATE       byte = 7
	ARCOMMANDS_ID_COMMON_CLASS_CONTROLLERSTATE     byte = 8
	ARCOMMANDS_ID_COMMON_CLASS_WIFISETTINGS        byte = 9
	ARCOMMANDS_ID_COMMON_CLASS_WIFISETTINGSSTATE   byte = 10
	ARCOMMANDS_ID_COMMON_CLASS_MAVLINK             byte = 11
	ARCOMMANDS_ID_COMMON_CLASS_MAVLINKSTATE        byte = 12
	ARCOMMANDS_ID_COMMON_CLASS_CALIBRATION         byte = 13
	ARCOMMANDS_ID_COMMON_CLASS_CALIBRATIONSTATE    byte = 14
	ARCOMMANDS_ID_COMMON_CLASS_CAMERASETTINGSSTATE byte = 15
	ARCOMMANDS_ID_COMMON_CLASS_GPS                 byte = 16
	ARCOMMANDS_ID_COMMON_CLASS_FLIGHTPLANSTATE     byte = 17
	ARCOMMANDS_ID_COMMON_CLASS_ARLIBSVERSIONSSTATE byte = 18
	ARCOMMANDS_ID_COMMON_CLASS_FLIGHTPLANEVENT     byte = 19

	// eARCOMMANDS_ID_ARDRONE3_PILOTING_CMD
	ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_FLATTRIM        byte = 0
	ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_TAKEOFF         byte = 1
	ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_PCMD            byte = 2
	ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_LANDING         byte = 3
	ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_EMERGENCY       byte = 4
	ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_NAVIGATEHOME    byte = 5
	ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_AUTOTAKEOFFMODE byte = 6
	ARCOMMANDS_ID_ARDRONE3_PILOTING_CMD_MAX             byte = 7

	// eARCOMMANDS_ID_ARDRONE3_MEDIARECORD_CMD
	ARCOMMANDS_ID_ARDRONE3_MEDIARECORD_CMD_PICTURE   byte = 0
	ARCOMMANDS_ID_ARDRONE3_MEDIARECORD_CMD_VIDEO     byte = 1
	ARCOMMANDS_ID_ARDRONE3_MEDIARECORD_CMD_PICTUREV2 byte = 2
	ARCOMMANDS_ID_ARDRONE3_MEDIARECORD_CMD_VIDEOV2   byte = 3
	ARCOMMANDS_ID_ARDRONE3_MEDIARECORD_CMD_MAX       byte = 4

	// eARCOMMANDS_ARDRONE3_MEDIARECORD_VIDEO_RECORD
	ARCOMMANDS_ARDRONE3_MEDIARECORD_VIDEO_RECORD_STOP  byte = 0
	ARCOMMANDS_ARDRONE3_MEDIARECORD_VIDEO_RECORD_START byte = 1
	ARCOMMANDS_ARDRONE3_MEDIARECORD_VIDEO_RECORD_MAX   byte = 2

	// eARCOMMANDS_ID_COMMON_COMMON_CMD
	ARCOMMANDS_ID_COMMON_COMMON_CMD_ALLSTATES   byte = 0
	ARCOMMANDS_ID_COMMON_COMMON_CMD_CURRENTDATE byte = 1
	ARCOMMANDS_ID_COMMON_COMMON_CMD_CURRENTTIME byte = 2
	ARCOMMANDS_ID_COMMON_COMMON_CMD_REBOOT      byte = 3
	ARCOMMANDS_ID_COMMON_COMMON_CMD_MAX         byte = 4

	// eARCOMMANDS_ID_COMMON_COMMONSTATE_CMD;
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_ALLSTATESCHANGED                    byte = 0
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_BATTERYSTATECHANGED                 byte = 1
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_MASSSTORAGESTATELISTCHANGED         byte = 2
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_MASSSTORAGEINFOSTATELISTCHANGED     byte = 3
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_CURRENTDATECHANGED                  byte = 4
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_CURRENTTIMECHANGED                  byte = 5
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_MASSSTORAGEINFOREMAININGLISTCHANGED byte = 6
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_WIFISIGNALCHANGED                   byte = 7
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_SENSORSSTATESLISTCHANGED            byte = 8
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_PRODUCTMODEL                        byte = 9
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_COUNTRYLISTKNOWN                    byte = 10
	ARCOMMANDS_ID_COMMON_COMMONSTATE_CMD_MAX                                 byte = 11

	// eARMEDIA_ENCAPSULER_CODEC
	CODEC_UNKNNOWN     byte = 0
	CODEC_VLIB         byte = 1
	CODEC_P264         byte = 2
	CODEC_MPEG4_VISUAL byte = 3
	CODEC_MPEG4_AVC    byte = 4
	CODEC_MOTION_JPEG  byte = 5

	// eARMEDIA_ENCAPSULER_FRAME_TYPE;
	ARMEDIA_ENCAPSULER_FRAME_TYPE_UNKNNOWN byte = 0
	ARMEDIA_ENCAPSULER_FRAME_TYPE_I_FRAME  byte = 1
	ARMEDIA_ENCAPSULER_FRAME_TYPE_P_FRAME  byte = 2
	ARMEDIA_ENCAPSULER_FRAME_TYPE_JPEG     byte = 3
	ARMEDIA_ENCAPSULER_FRAME_TYPE_MAX      byte = 4

	// eARNETWORK_MANAGER_INTERNAL_BUFFER_ID
	ARNETWORK_MANAGER_INTERNAL_BUFFER_ID_PING byte = 0
	ARNETWORK_MANAGER_INTERNAL_BUFFER_ID_PONG byte = 1
	ARNETWORK_MANAGER_INTERNAL_BUFFER_ID_MAX  byte = 3 // 2?

	// eARNETWORKAL_FRAME_TYPE
	ARNETWORKAL_FRAME_TYPE_UNINITIALIZED    byte = 0
	ARNETWORKAL_FRAME_TYPE_ACK              byte = 1
	ARNETWORKAL_FRAME_TYPE_DATA             byte = 2
	ARNETWORKAL_FRAME_TYPE_DATA_LOW_LATENCY byte = 3
	ARNETWORKAL_FRAME_TYPE_DATA_WITH_ACK    byte = 4
	ARNETWORKAL_FRAME_TYPE_MAX              byte = 5

	ARCOMMANDS_ID_ARDRONE3_SPEEDSETTINGS_CMD_MAXVERTICALSPEED byte = 0
	ARCOMMANDS_ID_ARDRONE3_SPEEDSETTINGS_CMD_MAXROTATIONSPEED byte = 1
	ARCOMMANDS_ID_ARDRONE3_SPEEDSETTINGS_CMD_HULLPROTECTION   byte = 2
	ARCOMMANDS_ID_ARDRONE3_SPEEDSETTINGS_CMD_OUTDOOR          byte = 3
)

Variables

View Source 
var ErrEnumBadSize = errors.New("Wrong size binary given for a Bebop enum. Expected 4.")

ErrEnumBadSize can be returned by decodeEnum, an internal function, and may be propagated elsewhere.

View Source 
var ErrEnumOutOfRange = errors.New("Enum value fell outside expected range.")

ErrEnumOutOfRange can be returned by decodeEnum, an internal function, and may be propagated elsewhere.

View Source 
var ErrNotString = errors.New("Could not locate a NUL byte in presumed NUL-terminated string")

ErrNotString is returned if a string expected to end in NUL, didn't (returned from internal function parseNullTermedString).

View Source 
var ErrTelemSend = errors.New("Failed to send telemetry; channel full.")

ErrTelemSend occurs in dispatchTelemetry, an internal method, and may be propagated. It is sent when the internal channel for telemetry is full.

Functions

This section is empty.

Types

type ARStreamACK 

type ARStreamACK struct {
	FrameNumber    int
	HighPacketsAck uint64
	LowPacketsAck  uint64
}

ARStreamACK is a decoded stream ACK from a Bebop.

type ARStreamFrame 

type ARStreamFrame struct {
	FrameNumber       int
	FrameFlags        int
	FragmentNumber    int
	FragmentsPerFrame int
	Frame             []byte
}

ARStreamFrame is a decoded frame as received from the Bebop.

func NewARStreamFrame 

func NewARStreamFrame(buf []byte) ARStreamFrame

NewARStreamFrame decodes a buffer into an ARStreamFrame for further processing.

type Bebop 

type Bebop struct {
	IP      string
	NavData map[string]string
	Pcmd    Pcmd

	C2dPort       int
	D2cPort       int
	DiscoveryPort int
	// contains filtered or unexported fields
}

Bebop represents a Bebop drone at a low-enough level to mediate connecting and communicating over Wifi.

func New 

func New() *Bebop

New returns a Bebop client object.

func (*Bebop) Backward 

func (b *Bebop) Backward(val int) error

Backward issues an instruction to pitch backward

func (*Bebop) Clockwise 

func (b *Bebop) Clockwise(val int) error

Clockwise issues a yaw instruction clockwise

func (*Bebop) Connect 

func (b *Bebop) Connect() error

Connect to a Bebop, using autodiscovery.

func (*Bebop) CounterClockwise 

func (b *Bebop) CounterClockwise(val int) error

CounterClockwise issues a yaw instruction counter-clockwise

func (*Bebop) Discover 

func (b *Bebop) Discover() error

Discover a Bebop through the Wifi network

func (*Bebop) Down 

func (b *Bebop) Down(val int) error

Down issues an instruction to descend

func (*Bebop) FlatTrim 

func (b *Bebop) FlatTrim() error

FlatTrim issues a flat-trim command.

func (*Bebop) Forward 

func (b *Bebop) Forward(val int) error

Forward issues an instruction to pitch forward

func (*Bebop) GenerateAllStates 

func (b *Bebop) GenerateAllStates() error

GenerateAllStates sends a Project:Common:AllStates command to the Bebop.

func (*Bebop) HullProtection 

func (b *Bebop) HullProtection(protect bool) error

HullProtection modifies onboard flight settings to account for the hull shield

func (*Bebop) Land 

func (b *Bebop) Land() error

Land does what it sounds like

func (*Bebop) Left 

func (b *Bebop) Left(val int) error

Left issues an instruction to roll left

func (*Bebop) Outdoor 

func (b *Bebop) Outdoor(outdoor bool) error

Outdoor modifies settings to account for being outdoors.

func (*Bebop) Right 

func (b *Bebop) Right(val int) error

Right issues an instruction to roll right

func (*Bebop) StartRecording 

func (b *Bebop) StartRecording() error

StartRecording instructs the Bebop to begin recording to built-in memory

func (*Bebop) Stop 

func (b *Bebop) Stop() error

Stop resets the Bebop.Pcmd object.

func (*Bebop) StopRecording 

func (b *Bebop) StopRecording() error

StopRecording instructs the Bebop to cease recording.

func (*Bebop) StopTelemetry 

func (b *Bebop) StopTelemetry() error

StopTelemetry stops further telemetry from being sent

func (*Bebop) TakeOff 

func (b *Bebop) TakeOff() error

TakeOff does what it sounds like!

func (*Bebop) Telemetry 

func (b *Bebop) Telemetry() chan bbtelem.TelemetryPacket

Telemetry returns a channel on which to receive telemetry packets.

func (*Bebop) Up 

func (b *Bebop) Up(val int) error

Up issues an instruction to ascend

func (*Bebop) Video 

func (b *Bebop) Video() chan []byte

Video returns the video frame channel

type NetworkFrame 

type NetworkFrame struct {
	Type int
	Seq  int
	ID   int
	Size int
	Data []byte
}

NetworkFrame is decoded from the Bebop.

func NewNetworkFrame 

func NewNetworkFrame(buf []byte) NetworkFrame

NewNetworkFrame decodes a buffer to a NetworkFrame

type Pcmd 

type Pcmd struct {
	Flag  int
	Roll  int
	Pitch int
	Yaw   int
	Gaz   int
	Psi   float32
}

Pcmd is a structured representation of device position/orientation details.

Source Files

View all Source files

Directories

Path Synopsis
This example will connect to the Bebop and stream it's video to a webpage via ffserver.
 This example will connect to the Bebop and stream it's video to a webpage via ffserver.

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