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/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Example that shows how to setup keyboard control of Parrot Bebop 2 drone in ViSP.
*
* Authors:
* Gatien Gaumerais
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpKeyboard.h>
#include <visp3/robot/vpRobotBebop2.h>
#include <iostream>
#ifdef VISP_HAVE_ARSDK
/*!
Sends movement commands to the \e drone based on a keyboard input \e key.
Returns a boolean indicating if the program should be stopping or not.
\param[in] drone : the drone to control.
\param[in] key : key input to handle.
*/
bool handleKeyboardInput(vpRobotBebop2 &drone, int key)
{
bool running = true;
if (drone.isRunning()) {
switch (key) {
case 'q':
// Quit
drone.land();
running = false;
break;
case 'e':
// Emergency
drone.cutMotors();
running = false;
break;
case 't':
// Takeoff
drone.takeOff(false);
break;
case ' ':
// Landing
drone.land();
break;
case 'i':
// Up
drone.setVerticalSpeed(50);
break;
case 'k':
// Down
drone.setVerticalSpeed(-50);
break;
case 'l':
// Right
drone.setYawSpeed(50);
break;
case 'j':
// Left
drone.setYawSpeed(-50);
break;
case 'r':
// Forward
drone.setPitch(50);
break;
case 'f':
// Backward
drone.setPitch(-50);
break;
case 'd':
// Roll left
drone.setRoll(-50);
break;
case 'g':
// Roll right
drone.setRoll(50);
break;
default:
// No inputs -> drone stops moving
drone.stopMoving();
break;
}
vpTime::wait(25); // We wait 25ms to give the drone the time to process the command
} else {
running = false;
}
return running;
}
/*!
\example keyboardControlBebop2.cpp example showing how to setup keyboard control of Parrot Bebop 2 drone.
WARNING: this program does no sensing or avoiding of obstacles, the drone
WILL collide with any objects in the way! Make sure the drone has about
3-4 meters of free space around it before starting the program.
This program makes the drone controllable with a keyboard, with display of the video streaming.
*/
int main(int argc, char **argv)
{
try {
std::string ip_address = "192.168.42.1";
int stream_res = 0; // Default 480p resolution
bool verbose = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
ip_address = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--hd_stream") {
stream_res = 1;
} else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
verbose = true;
} else if (argc >= 2 && (std::string(argv[1]) == "--help" || std::string(argv[1]) == "-h")) {
std::cout << "\nUsage:\n"
<< " " << argv[0] << "[--ip <drone ip>] [--hd_stream] [--verbose] [-v] [--help] [-h]\n"
<< std::endl
<< "Description:\n"
<< " --ip <drone ip>\n"
<< " Ip address of the drone to which you want to connect (default : 192.168.42.1).\n\n"
<< " --hd_stream\n"
<< " Enables HD 720p streaming instead of default 480p.\n"
<< " --verbose, -v\n"
<< " Enables verbose (drone information messages and velocity commands\n"
<< " are then displayed).\n\n"
<< " --help, -h\n"
<< " Print help message.\n"
<< std::endl;
return EXIT_SUCCESS;
} else {
std::cout << "Error : unknown parameter " << argv[i] << std::endl
<< "See " << argv[0] << " --help" << std::endl;
return EXIT_FAILURE;
}
}
std::cout << "\nWARNING: this program does no sensing or avoiding of obstacles, "
"the drone WILL collide with any objects in the way! Make sure the "
"drone has approximately 3 meters of free space on all sides.\n"
<< std::endl;
vpRobotBebop2 drone(verbose, true,
ip_address); // Create the drone with low verbose level, settings reset and corresponding IP
if (drone.isRunning()) {
int k = 0;
bool running = true;
std::cout << "\nConfiguring drone settings ...\n" << std::endl;
drone.setMaxTilt(10); // Setting the max roll and pitch values, the drone speed will depend on it
drone.doFlatTrim(); // Flat trim calibration
#ifdef VISP_HAVE_FFMPEG
drone.setVideoResolution(stream_res); // Setting desired stream video resolution
drone.setStreamingMode(0); // Set streaming mode 0 : lowest latency
std::cout << "\nWaiting for streaming to start ...\n" << std::endl;
drone.startStreaming();
// Prepare image for display
vpImage<vpRGBa> I(1, 1, 0);
drone.getRGBaImage(I);
vpDisplayX display(I, 100, 100, "DRONE VIEW");
vpDisplay::display(I);
vpDisplay::flush(I);
#endif
vpKeyboard keyboard;
std::cout << "\n| Control the drone with the keyboard :\n"
"| 't' to takeoff / spacebar to land / 'e' for emergency stop\n"
"| ('r','f','d','g') and ('i','k','j','l') to move\n"
"| 'q' to quit.\n"
<< std::endl;
while (running && drone.isRunning() && drone.isStreaming()) {
k = '0'; // If no key is hit, we send a non-assigned key
if (keyboard.kbhit()) {
k = keyboard.getchar();
}
running = handleKeyboardInput(drone, k);
#ifdef VISP_HAVE_FFMPEG
drone.getRGBaImage(I);
vpDisplay::display(I);
vpDisplay::displayText(I, 10, 10, "Press q to quit", vpColor::red);
vpDisplay::flush(I);
#endif
}
std::cout << "\nQuitting ...\n" << std::endl;
} else {
std::cout << "ERROR : failed to setup drone control." << std::endl;
return EXIT_FAILURE;
}
} catch (const vpException &e) {
std::cout << "\nCaught an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "\nThis example requires Parrot ARSDK3 library. You should install it.\n" << std::endl;
return EXIT_SUCCESS;
}
#endif // #if defined(VISP_HAVE_ARSDK)
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