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Commit 0237938

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Remake using Panda3D
1 parent 2647015 commit 0237938

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48 files changed

+1168
-982
lines changed

‎dronesim.pyproj‎

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Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
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<SchemaVersion>2.0</SchemaVersion>
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<ProjectGuid>{52353933-be99-4062-8b68-48454b506051}</ProjectGuid>
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<ProjectHome />
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<StartupFile>dronesim\__main__.py</StartupFile>
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<StartupFile>examples\follow.py</StartupFile>
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<SearchPath />
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<WorkingDirectory>.</WorkingDirectory>
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<OutputPath>.</OutputPath>
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<VisualStudioVersion Condition=" '$(VisualStudioVersion)' == '' ">10.0</VisualStudioVersion>
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</PropertyGroup>
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<ItemGroup>
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<Compile Include="dronesim\scene\scene_flat.py" />
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<Compile Include="dronesim\interface\default.py" />
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<Compile Include="dronesim\objective\objective.py" />
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<Compile Include="examples\follow.py" />
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<Compile Include="dronesim\interface\tello.py" />
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<Compile Include="dronesim\physics\effect.py" />
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<Compile Include="dronesim\physics\physicsbase.py" />
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<Compile Include="dronesim\physics\simple.py" />
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<Compile Include="dronesim\sensor\camera.py" />
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<Compile Include="dronesim\sensor\motion.py" />
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<Compile Include="dronesim\sensor\sensor.py" />
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<Compile Include="dronesim\sensor\__init__.py" />
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<Compile Include="dronesim\simapp.py" />
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<Compile Include="dronesim\control.py" />
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<Compile Include="dronesim\objective.py" />
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<Compile Include="dronesim\interface\control.py" />
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<Compile Include="dronesim\objective\__init__.py" />
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<Compile Include="dronesim\physics\__init__.py" />
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<Compile Include="dronesim\protocol.py" />
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<Compile Include="dronesim\render\camera.py" />
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<Compile Include="dronesim\render\pygl.py" />
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<Compile Include="dronesim\scene\__init__.py" />
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<Compile Include="dronesim\render\__init__.py" />
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<Compile Include="dronesim\simulator.py" />
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<Compile Include="dronesim\stream.py" />
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<Compile Include="dronesim\types.py" />
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<Compile Include="dronesim\utils.py" />
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<Compile Include="dronesim\__init__.py" />
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<Compile Include="dronesim\__main__.py" />
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</ItemGroup>
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<ItemGroup>
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<Content Include=".gitignore" />
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<Content Include="dronesim\assets\ceramic-tiles-texture-4.jpg" />
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<Content Include="dronesim\assets\ceramic-tiles-texture-5.jpg" />
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<Content Include="dronesim\assets\loop.png" />
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<Content Include="dronesim\shaders\fragment.frag" />
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<Content Include="dronesim\shaders\vertex.vert" />
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<Content Include="MANIFEST.in" />
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<Content Include="README.md" />
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</ItemGroup>
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<ItemGroup>
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<Folder Include="dronesim" />
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<Folder Include="dronesim\assets" />
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<Folder Include="dronesim\scene\" />
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<Folder Include="dronesim\interface\" />
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<Folder Include="dronesim\sensor\" />
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<Folder Include="dronesim\objective\" />
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<Folder Include="dronesim\physics" />
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<Folder Include="dronesim\render" />
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<Folder Include="dronesim\shaders\" />
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<Folder Include="examples" />
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</ItemGroup>
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<ItemGroup>
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<InterpreterReference Include="Global|PythonCore|3.9" />
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<InterpreterReference Include="Global|VisualStudio|Work venv (Python 3.9 (64-bit))" />
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</ItemGroup>
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<Import Project="$(MSBuildExtensionsPath32)\Microsoft\VisualStudio\v$(VisualStudioVersion)\Python Tools\Microsoft.PythonTools.targets" />

‎dronesim/__init__.py‎

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import os
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PACKAGE_BASE = os.path.dirname(__file__)
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PACKAGE_BASE = os.path.normpath(os.path.dirname(__file__))
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from dronesim.simulator import DroneSimulator
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from dronesim.protocol import SimRPC
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from dronesim.control import SimulatedDroneHandler, SimulatedDroneControl
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from dronesim.utils import DroneState
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from dronesim.types import DroneState

‎dronesim/__main__.py‎

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2-
import os
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import numpy as np
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import argparse
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import pygame
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import pygame.locals
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from OpenGL import GL as gl
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from dronesim.render import pygl
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# Simulated drone
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from dronesim import DroneSimulator, DroneState, SimRPC, SimulatedDroneHandler
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from dronesim.utils import callevery
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# Scene rendering
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from dronesim.stream import SimulatedDroneViewStreamer
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from dronesim.scene.scene_flat import FlatPathMapScene
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#Simulated drone
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from dronesim import DroneSimulator
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from dronesim.interface.default import DefaultDroneControl
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#App window
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from dronesim.simapp import SimulatorApplication
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class Action:
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data_timeout = 300
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data_timer = 0
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action_set = [0,0,0,0]
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# Drone simulator window launcher
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def main():
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START_POSITION = (-0.9, 0, 0)
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#Init application framework (mostly for GL to initialize)
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SimulatorApplication.AppInit()
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def main(args):
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#Simulator environment
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drone = DroneSimulator()
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droneControl = DefaultDroneControl(drone, update_enable=True)
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droneWindow = SimulatorApplication(droneControl)
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droneWindow.run()
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#Drone simulator environment
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drone = DroneSimulator(START_POSITION)
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droneScene = FlatPathMapScene()
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droneWindow = SimulatorApplication(drone, droneScene)
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drone.reset()
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droneWindow.loop()
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SimulatorApplication.AppDel()
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droneAction = Action()
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#Takeoff immediately
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#drone.takeoff()
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#TODO: Object-oriented, and bind the methods below with it
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def updateMotionVecFromBind(binding):
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binding['__props']['vec'] = [
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binding['sr']['value'] - binding['sl']['value'],
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binding['fw']['value'] - binding['bw']['value'],
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binding['au']['value'] - binding['ad']['value'],
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binding['rr']['value'] - binding['rl']['value']
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]
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def performDroneActionFromBind(action : str, drone : DroneSimulator):
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if action == 'tk':
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drone.takeoff()
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elif action == 'ld':
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drone.land()
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elif action == 'rst':
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drone.reset()
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#droneRenderer.render(viewport=window.get_size(), state=state)
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if __name__ == "__main__":
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main()
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parser = argparse.ArgumentParser()
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main(parser.parse_args())
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‎dronesim/assets/loop.png‎

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‎dronesim/assets/models/propeller.glb‎

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‎dronesim/assets/skybox.png‎

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‎dronesim/control.py‎

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