Add command line parsing

dronecontrol/command_line.py

@@ -1,19 +1,31 @@
 import click
+from dronecontrol.hands import mapper, graphics
+from dronecontrol.follow import start
 
-from dronecontrol import mapper
-from dronecontrol import graphics
 
 @click.group()
 def main():
     pass
 
-@click.command()
-def hand():
-    mapper.main()
+@main.command()
+@click.option("-p", "--port", type=int, help="port for UDP connections")
+@click.option("--udp", "serial", flag_value=False, default=True, help="connect to drone system through UDP, default address is localhost")
+@click.option("--serial", "serial", flag_value=True, help="connect to drone system through serial, default device is ttyUSB0")
+def hand(port, serial):
+    mapper.main(port, serial)
 
-@click.command()
+@main.command()
+def follow():
+    start.main()
+
+@main.group()
+def utils():
+    pass
+
+@utils.command()
 def take_image():
     graphics.take_images()
 
-main.add_command(hand)
-main.add_command(take_image)
+@utils.command()
+def take_video():
+    graphics.take_video()

dronecontrol/follow/start.py

@@ -0,0 +1,2 @@
+def main():
+    print("Follow!")

dronecontrol/graphics.py → dronecontrol/hands/graphics.py

@@ -8,7 +8,8 @@
 import mediapipe.python.solutions.drawing_utils as mp_drawing
 import mediapipe.python.solutions.hands_connections as mp_connections
 
-from dronecontrol import gestures, utils
+from dronecontrol import utils
+from dronecontrol.hands import gestures
 
 class Color():
     """Define color constants to use with cv2."""

dronecontrol/mapper.py → dronecontrol/hands/mapper.py

@@ -1,8 +1,9 @@
 import asyncio
 
-from dronecontrol import graphics, utils
+from dronecontrol import utils
+from dronecontrol.hands import graphics
 from .gestures import Gesture
-from .pilot import System
+from ..pilot import System
 
 def map_gesture_to_action(system, gesture):
     """Map a hand gesture to a drone action."""
@@ -46,11 +47,12 @@ async def cancel_pending(task):
     log.info("All tasks finished")
 
 
-async def run():
+async def run(port=None, serial=None):
     """Runs the GUI loop and the drone control thread simultaneously."""
     global log
     log = utils.make_logger(__name__)
-    system = System(serial="ttyUSB0")
+
+    system = System(port, serial)
     gui = graphics.HandGui()
 
     task = asyncio.create_task(system.start())
@@ -66,7 +68,7 @@ async def run():
     log.warning("System stop")
     await cancel_pending(task)
 
-def main():
-    asyncio.run(run())
+def main(port=None, serial=None):
+    asyncio.run(run(port, serial))
 
 

dronecontrol/pilot.py

@@ -22,13 +22,16 @@ class System():
     """
     STOP_VELOCITY = VelocityBodyYawspeed(0.0, 0.0, 0.0, 0.0)
     WAIT_TIME = 0.05
+    DEFAULT_SERIAL_ADDRESS = "ttyUSB0"
+    DEFAULT_UDP_PORT = 14540
+    TIMEOUT = 15
 
 
-    def __init__(self, port=14540, serial=None):
+    def __init__(self, port=None, use_serial=False):
         self.is_offboard = False
         self.actions = [] # type: typing.List[Action]
-        self.port = port
-        self.serial = serial
+        self.port = port or self.DEFAULT_UDP_PORT
+        self.serial = self.DEFAULT_SERIAL_ADDRESS if use_serial else None
         self.mav = mavsdk.System()
         self.log = utils.make_logger(__name__)
 
@@ -90,12 +93,10 @@ def clear_queue(self):
     async def connect(self):
         """Connect to mavsdk server."""
         # Triggers TimeoutError if it can't connect
-        self.log.info("Waiting for drone to connect...")
 
-        if self.serial:
-            await asyncio.wait_for(self.mav.connect(system_address=f"serial:///dev/{self.serial}"), timeout=30)
-        else:
-            await asyncio.wait_for(self.mav.connect(system_address=f"udp://:{self.port}"), timeout=5)
+        address = f"serial:///dev/{self.serial}" if self.serial else f"udp://:{self.port}"
+        self.log.info("Waiting for drone to connect on address " + address)
+        await asyncio.wait_for(self.mav.connect(system_address=address), timeout=self.TIMEOUT)
 
         async for state in self.mav.core.connection_state():
             if state.is_connected:

setup.py

@@ -16,7 +16,7 @@
 
 setup(
     name='dronecontrol',  # Required
-    version='0.0.1',  # Required
+    version='0.2',  # Required
     description='A sample Python project',  # Optional
     long_description=long_description,  # Optional
     long_description_content_type='text/markdown',  # Optional (see note above)
@@ -41,7 +41,7 @@
     ],
 
     keywords='drone computer-vision px4',  # Optional
-    packages=find_packages(where='dronecontrol'),  # Required
+    packages=find_packages(exclude=['test', 'Firmware']),  # Required
     python_requires='>=3.6, <4',
     #install_requires=['peppercorn'],  # Optional
     entry_points={  # Optional

setup.sh

@@ -34,3 +34,4 @@ DONT_RUN=1 make px4_sitl_default none_iris
 
 # WSL
 # export PX4_SIM_HOST_ADDR=172.25.48.1
+# pip install -e .

tests/test_gestures.py

@@ -1,4 +1,5 @@
-from dronecontrol import graphics, gestures
+from dronecontrol.hands import graphics
+from dronecontrol.hands import gestures
 
 gui = graphics.HandGui()
 

tests/test_graphics.py

@@ -1,6 +1,7 @@
 import pytest
 import numpy
-from dronecontrol import graphics, gestures
+from dronecontrol.hands import graphics
+from dronecontrol.hands import gestures
 
 NO_CAM = 999