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create a drone class to improve interface and documentation
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,105 +1,41 @@ | ||
| # -*- coding: utf-8 -*- | ||
| import aiogrpc | ||
| from . import get_event_loop | ||
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| class AsyncPluginManager: | ||
| """ | ||
| Connects to a running mavsdk server or starts one and manages plugins | ||
| :param host: IP address of host running the backend | ||
| :param port: Port number | ||
| :param secure: Use an SSL Layer (currently not supported) | ||
| :param loop: Event loop MAVSDK is running on | ||
| Initialize the plugin manager: | ||
| >>> manager = AsyncPluginManager(host="127.0.0.1") | ||
| There are two (uniform) ways to register a plugin to the backend: | ||
| >>> action = Action(manager) | ||
| or | ||
| >>> action = Action() | ||
| >>> action.init_core(manager) | ||
| """ | ||
| def __init__( | ||
| self, | ||
| host=None, | ||
| port=50051, | ||
| secure=False, | ||
| loop=None): | ||
| @classmethod | ||
| async def create(cls, host, port=50051): | ||
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| self = AsyncPluginManager() | ||
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| self.host, self.port, self.secure = host, port, secure | ||
| self.host = host | ||
| self.port = port | ||
| self.plugins = {} | ||
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| if host: | ||
| # Connect to the backend when there is a hostname passed | ||
| self._connect_backend() | ||
| else: | ||
| # Spinup a backend | ||
| raise NotImplementedError() | ||
| await self._connect_backend() | ||
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| self._loop = loop or get_event_loop() | ||
| return self | ||
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| def _connect_backend(self): | ||
| async def _connect_backend(self): | ||
| """ | ||
| Initializes the connection to the running backend | ||
| """ | ||
| if self.secure: | ||
| # For now just allow insecure connections | ||
| raise NotImplementedError() | ||
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| #: gRPC channel | ||
| self._channel = aiogrpc.insecure_channel( | ||
| "{}:{}".format(self.host, self.port) | ||
| ) | ||
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| def _spinup_backend(self): | ||
| """ | ||
| Spinup a backend and connect to it | ||
| """ | ||
| #: backend is running on localhost | ||
| self.host = "127.0.0.1" | ||
| # Standart port | ||
| self.port = 50051 | ||
| # Spinup the backend, not implemented yet | ||
| raise NotImplementedError() | ||
| # connect to the local running backend | ||
| self._connect_backend() | ||
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| @property | ||
| def loop(self): | ||
| """ Event loop """ | ||
| return self._loop | ||
| print("Waiting for mavsdk_server to be ready...") | ||
| await aiogrpc.channel_ready_future(self._channel) | ||
| print("Connected to mavsdk_server!") | ||
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| @property | ||
| def channel(self): | ||
| """ | ||
| gRPC channel to the backend | ||
| """ | ||
| return self._channel | ||
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| @property | ||
| def available_plugins(self): | ||
| """ | ||
| List of registered plugins | ||
| """ | ||
| return list(self.plugins.keys()) | ||
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| def register_plugin(self, plugin): | ||
| """ | ||
| Registers a plugin and adds it to the available plugin library | ||
| """ | ||
| if plugin and plugin not in self.available_plugins: | ||
| self.plugins[plugin.name.lower()] = plugin | ||
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| def __getattr__(self, name): | ||
| """ convenient way to access plugins """ | ||
| if name in self.plugins.keys(): | ||
| return self.plugins[name] | ||
| else: | ||
| return None |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| # -*- coding: utf-8 -*- | ||
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| from .async_plugin_manager import AsyncPluginManager # NOQA | ||
| from .generated import * # NOQA | ||
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| from . import bin | ||
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| class Drone: | ||
| _core_plugins = [ | ||
| "Action", | ||
| "Calibration", | ||
| "Camera", | ||
| "Core", | ||
| "Gimbal", | ||
| "Info", | ||
| "Mission", | ||
| "Param", | ||
| "Offboard", | ||
| "Telemetry" | ||
| ] | ||
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| def __init__(self, mavsdk_server_address=None, port=50051): | ||
| self._mavsdk_server_address = mavsdk_server_address | ||
| self._port = port | ||
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| self._plugins = {} | ||
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| async def connect(self, drone_address=None): | ||
| if self._mavsdk_server_address is None: | ||
| self._mavsdk_server_address = 'localhost' | ||
| self._start_mavsdk_server(drone_address) | ||
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| await self._init_plugins(self._mavsdk_server_address, self._port) | ||
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| async def _init_plugins(self, host, port): | ||
| plugin_manager = await AsyncPluginManager.create(host=host, port=port) | ||
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| for plugin in self._core_plugins: | ||
| self._plugins[plugin.lower()] = globals()[plugin](plugin_manager) | ||
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| @property | ||
| def action(self) -> Action: | ||
| if "action" not in self._plugins: | ||
| raise RuntimeError("Action plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["action"] | ||
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| @property | ||
| def calibration(self) -> Calibration: | ||
| if "calibration" not in self._plugins: | ||
| raise RuntimeError("Calibration plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["calibration"] | ||
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| @property | ||
| def camera(self) -> Camera: | ||
| if "camera" not in self._plugins: | ||
| raise RuntimeError("Camera plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["camera"] | ||
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| @property | ||
| def core(self) -> Core: | ||
| if "core" not in self._plugins: | ||
| raise RuntimeError("Core plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["core"] | ||
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| @property | ||
| def gimbal(self) -> Gimbal: | ||
| if "gimbal" not in self._plugins: | ||
| raise RuntimeError("Gimbal plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["gimbal"] | ||
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| @property | ||
| def info(self) -> Info: | ||
| if "info" not in self._plugins: | ||
| raise RuntimeError("Info plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["info"] | ||
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| @property | ||
| def mission(self) -> Mission: | ||
| if "mission" not in self._plugins: | ||
| raise RuntimeError("Mission plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["mission"] | ||
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| @property | ||
| def param(self) -> Param: | ||
| if "param" not in self._plugins: | ||
| raise RuntimeError("Param plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["param"] | ||
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| @property | ||
| def offboard(self) -> Offboard: | ||
| if "offboard" not in self._plugins: | ||
| raise RuntimeError("Offboard plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["offboard"] | ||
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| @property | ||
| def telemetry(self) -> Telemetry: | ||
| if "telemetry" not in self._plugins: | ||
| raise RuntimeError("Telemetry plugin has not been initialized! Did you run `Drone.connect()`?") | ||
| return self._plugins["telemetry"] | ||
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| @staticmethod | ||
| def _start_mavsdk_server(drone_address=None): | ||
| """ | ||
| Starts the gRPC server in a subprocess, listening on localhost:50051 | ||
| """ | ||
| import atexit | ||
| import os | ||
| import subprocess | ||
| import sys | ||
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| if sys.version_info >= (3, 7): | ||
| from importlib.resources import path | ||
| else: | ||
| from importlib_resources import path | ||
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| with path(bin, 'mavsdk_server') as backend: | ||
| bin_path_and_args = [os.fspath(backend)] | ||
| if drone_address: | ||
| bin_path_and_args.append(drone_address) | ||
| p = subprocess.Popen(bin_path_and_args, | ||
| shell=False, | ||
| stdout=subprocess.DEVNULL, | ||
| stderr=subprocess.DEVNULL) | ||
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| def cleanup(): | ||
| p.kill() | ||
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| atexit.register(cleanup) |