I'm using an Intel Aero RTF drone with PX4 and I want to test a simple take off of this drone but the script I followed didn't give me results it just arms the dron and disarms but never takes off
This is the script:
#! /usr/bin/python
from dronekit import connect, VehicleMode, LocationGlobalRelative
import time
vehicle = connect('tcp:127.0.0.1:5760', wait_ready=False)
def arm_and_takeoff(aTarget):
### I commented this lines because the code doesn't pass from
this loop ###
#print 'Pre arm-checks'
#while not vehicle.is_armable:
# print "Initializing...'
# time.sleep(1)
print 'Arming motors'
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
while not vehicle.armed:
print "waiting for arming"
time.sleep(1)
print "Take Off!"
vehicle.simpe_takeoff(aTarget)
while True:
print "Altitude: ",vehicle.location.global_relative_frame.alt
if vehicle.location.global_relative_frame.alt >= aTarget * 0.95:
print "Altitude target reached"
break
time.sleep(1)
arm_and_takeoff(10)
print "Take off complete!"
time.sleep(10)
print "Landing"
vehicle.mode = VehicleMode("LAND")
As I said it just arms for a few seconds and the disarms, what am I doing wrong??
Regards
Dronekit doesn't officially support PX4 flight stack, you should Dronecode SDK for PX4 (https://sdk.dronecode.org/en/) or change your fligh stack to ArduPilot, but there is a limited support for PX4 too you can read about it here https://dev.px4.io/en/robotics/dronekit.html.
Related
I tried to run parallel, but it didn't work as I expected
The progress bar doesn't work the way I thought it would.
I think that both operations should be executed at the same time.
but first run find_highest_calorie_cereal after find_highest_protein_cereal
import csv
import time
import requests
from dagster import pipeline, solid
# start_complex_pipeline_marker_0
#solid
def download_cereals():
response = requests.get("https://docs.dagster.io/assets/cereal.csv")
lines = response.text.split("\n")
return [row for row in csv.DictReader(lines)]
#solid
def find_highest_calorie_cereal(cereals):
time.sleep(5)
sorted_cereals = list(
sorted(cereals, key=lambda cereal: cereal["calories"])
)
return sorted_cereals[-1]["name"]
#solid
def find_highest_protein_cereal(context, cereals):
time.sleep(10)
sorted_cereals = list(
sorted(cereals, key=lambda cereal: cereal["protein"])
)
# for i in range(1, 11):
# context.log.info(str(i) + '~~~~~~~~')
# time.sleep(1)
return sorted_cereals[-1]["name"]
#solid
def display_results(context, most_calories, most_protein):
context.log.info(f"Most caloric cereal 테스트: {most_calories}")
context.log.info(f"Most protein-rich cereal: {most_protein}")
#pipeline
def complex_pipeline():
cereals = download_cereals()
display_results(
most_protein=find_highest_protein_cereal(cereals),
most_calories=find_highest_calorie_cereal(cereals),
)
I am not sure but I think you should set up a executor with parallelism available. You could use multiprocess_executor.
"Executors are responsible for executing steps within a pipeline run.
Once a run has launched and the process for the run, or run worker,
has been allocated and started, the executor assumes responsibility
for execution."
modes provide the possible set of executors one can use. Use the executor_defs property on ModeDefinition.
MODE_DEV = ModeDefinition(name="dev", executor_defs=[multiprocess_executor])
#pipeline(mode_defs=[MODE_DEV], preset_defs=[Preset_test])
the execution config section of the run config determines the actual executor.
in the yml file or run_config, set:
execution:
multiprocess:
config:
max_concurrent: 4
retrieved from : https://docs.dagster.io/deployment/executors
I've started a project where I need to actively (all the time) scan for BLE Devices. I'm on Linux, using Bluez 5.49 and I use Python to communicate with dbus 1.10.20).
I' m able to start scanning, stop scanning with bluetoothctl and get the BLE Advertisement data through DBus (GetManagedObjects() of the BlueZ interface). The problem I have is when I let the scanning for many hours, dbus-deamon start to take more and more of the RAM and I'm not able to find how to "flush" what dbus has gathered from BlueZ. Eventually the RAM become full and Linux isn't happy.
So I've tried not to scan for the entire time, that would maybe let the Garbage collector do its cleanup. It didn't work.
I've edited the /etc/dbus-1/system.d/bluetooth.conf to remove any interface that I didn't need
<policy user="root">
<allow own="org.bluez"/>
<allow send_destination="org.bluez"/>
</policy>
That has slow down the RAM build-up but didn't solve the issue.
I've found a way to inspect which connection has byte waiting and confirmed that it comes from blueZ
Connection :1.74 with pid 3622 '/usr/libexec/bluetooth/bluetoothd --experimental ' (org.bluez):
IncomingBytes=1253544
PeakIncomingBytes=1313072
OutgoingBytes=0
PeakOutgoingBytes=210
and lastly, I've found that someone needs to read what is waiting in DBus in order to free the memory. So I've found this : https://stackoverflow.com/a/60665430/15325057
And I receive the data that BlueZ is sending over but the memory still built-up.
The only way I know to free up dbus is to reboot linux. which is not ideal.
I'm coming at the end of what I understand of DBus and that's why I'm here today.
If you have any insight that could help me to free dbus from BlueZ messages, it would be highly appreciated.
Thanks in advance
EDIT Adding the DBus code i use to read the discovered devices:
#!/usr/bin/python3
import dbus
BLUEZ_SERVICE_NAME = "org.bluez"
DBUS_OM_IFACE = "org.freedesktop.DBus.ObjectManager"
DEVICES_IFACE = "org.bluez.Device1"
def main_loop(subproc):
devinfo = None
objects = None
dbussys = dbus.SystemBus()
dbusconnection = dbussys.get_object(BLUEZ_SERVICE_NAME, "/")
bluezInterface = dbus.Interface(dbusconnection, DBUS_OM_IFACE)
while True:
try:
objects = bluezInterface.GetManagedObjects()
except dbus.DBusException as err:
print("dbus Error : " + str(err))
pass
all_devices = (str(path) for path, interfaces in objects.items() if DEVICES_IFACE in interfaces.keys())
for path, interfaces in objects.items():
if "org.bluez.Adapter1" not in interfaces.keys():
continue
device_list = [d for d in all_devices if d.startswith(path + "/")]
for dev_path in device_list:
properties = objects[dev_path][DEVICES_IFACE]
if "ServiceData" in properties.keys() and "Name" in properties.keys() and "RSSI" in properties.keys():
#[... Do someting...]
Indeed, Bluez flushes memory when you stop discovering. So in order to scan continuously you need start and stop the discovery all the time. I discover for 6 seconds, wait 1 second and then start discovering for 6 seconds again...and so on. If you check the logs you will see it deletes a lot of stuff when stopping discovery.
I can't really reproduce your error exactly but my system is not happy running that fast while loop repeatedly getting the data from GetManagedObjects.
Below is the code I ran based on your code with a little bit of refactoring...
import dbus
BLUEZ_SERVICE_NAME = "org.bluez"
DBUS_OM_IFACE = "org.freedesktop.DBus.ObjectManager"
ADAPTER_IFACE = "org.bluez.Adapter1"
DEVICES_IFACE = "org.bluez.Device1"
def main_loop():
devinfo = None
objects = None
dbussys = dbus.SystemBus()
dbusconnection = dbussys.get_object(BLUEZ_SERVICE_NAME, "/")
bluezInterface = dbus.Interface(dbusconnection, DBUS_OM_IFACE)
while True:
objects = bluezInterface.GetManagedObjects()
for path in objects:
name = objects[path].get(DEVICES_IFACE, {}).get('Name')
rssi = objects[path].get(DEVICES_IFACE, {}).get('RSSI')
service_data = objects[path].get(DEVICES_IFACE, {}).get('ServiceData')
if all((name, rssi, service_data)):
print(f'{name} # {rssi} = {service_data}')
#[... Do someting...]
if __name__ == '__main__':
main_loop()
I'm not sure what you are trying to do in the broader project but if I can make some recommendations...
A more typical way of scanning for service/manufacturer data is to subscribe to signals in D-Bus that trigger callbacks when something of interest happens.
Below is some code I use to look for iBeacons and Eddystone beacons. This runs using the GLib event loop which is maybe something you have ruled out but is more efficient on resources.
It does use different Python dbus bindings as I find pydbus more "pythonic".
I have left the code in processing the beacons as it might be a useful reference.
import argparse
from gi.repository import GLib
from pydbus import SystemBus
import uuid
DEVICE_INTERFACE = 'org.bluez.Device1'
remove_list = set()
def stop_scan():
"""Stop device discovery and quit event loop"""
adapter.StopDiscovery()
mainloop.quit()
def clean_beacons():
"""
BlueZ D-Bus API does not show duplicates. This is a
workaround that removes devices that have been found
during discovery
"""
not_found = set()
for rm_dev in remove_list:
try:
adapter.RemoveDevice(rm_dev)
except GLib.Error as err:
not_found.add(rm_dev)
for lost in not_found:
remove_list.remove(lost)
def process_eddystone(data):
"""Print Eddystone data in human readable format"""
_url_prefix_scheme = ['http://www.', 'https://www.',
'http://', 'https://', ]
_url_encoding = ['.com/', '.org/', '.edu/', '.net/', '.info/',
'.biz/', '.gov/', '.com', '.org', '.edu',
'.net', '.info', '.biz', '.gov']
tx_pwr = int.from_bytes([data[1]], 'big', signed=True)
# Eddystone UID Beacon format
if data[0] == 0x00:
namespace_id = int.from_bytes(data[2:12], 'big')
instance_id = int.from_bytes(data[12:18], 'big')
print(f'\t\tEddystone UID: {namespace_id} - {instance_id} \u2197 {tx_pwr}')
# Eddystone URL beacon format
elif data[0] == 0x10:
prefix = data[2]
encoded_url = data[3:]
full_url = _url_prefix_scheme[prefix]
for letter in encoded_url:
if letter < len(_url_encoding):
full_url += _url_encoding[letter]
else:
full_url += chr(letter)
print(f'\t\tEddystone URL: {full_url} \u2197 {tx_pwr}')
def process_ibeacon(data, beacon_type='iBeacon'):
"""Print iBeacon data in human readable format"""
print('DATA:', data)
beacon_uuid = uuid.UUID(bytes=bytes(data[2:18]))
major = int.from_bytes(bytearray(data[18:20]), 'big', signed=False)
minor = int.from_bytes(bytearray(data[20:22]), 'big', signed=False)
tx_pwr = int.from_bytes([data[22]], 'big', signed=True)
print(f'\t\t{beacon_type}: {beacon_uuid} - {major} - {minor} \u2197 {tx_pwr}')
def ble_16bit_match(uuid_16, srv_data):
"""Expand 16 bit UUID to full 128 bit UUID"""
uuid_128 = f'0000{uuid_16}-0000-1000-8000-00805f9b34fb'
return uuid_128 == list(srv_data.keys())[0]
def on_iface_added(owner, path, iface, signal, interfaces_and_properties):
"""
Event handler for D-Bus interface added.
Test to see if it is a new Bluetooth device
"""
iface_path, iface_props = interfaces_and_properties
if DEVICE_INTERFACE in iface_props:
on_device_found(iface_path, iface_props[DEVICE_INTERFACE])
def on_device_found(device_path, device_props):
"""
Handle new Bluetooth device being discover.
If it is a beacon of type iBeacon, Eddystone, AltBeacon
then process it
"""
address = device_props.get('Address')
address_type = device_props.get('AddressType')
name = device_props.get('Name')
alias = device_props.get('Alias')
paired = device_props.get('Paired')
trusted = device_props.get('Trusted')
rssi = device_props.get('RSSI')
service_data = device_props.get('ServiceData')
manufacturer_data = device_props.get('ManufacturerData')
if address.casefold() == '00:c3:f4:f1:58:69':
print('Found mac address of interest')
if service_data and ble_16bit_match('feaa', service_data):
process_eddystone(service_data['0000feaa-0000-1000-8000-00805f9b34fb'])
remove_list.add(device_path)
elif manufacturer_data:
for mfg_id in manufacturer_data:
# iBeacon 0x004c
if mfg_id == 0x004c and manufacturer_data[mfg_id][0] == 0x02:
process_ibeacon(manufacturer_data[mfg_id])
remove_list.add(device_path)
# AltBeacon 0xacbe
elif mfg_id == 0xffff and manufacturer_data[mfg_id][0:2] == [0xbe, 0xac]:
process_ibeacon(manufacturer_data[mfg_id], beacon_type='AltBeacon')
remove_list.add(device_path)
clean_beacons()
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('-d', '--duration', type=int, default=0,
help='Duration of scan [0 for continuous]')
args = parser.parse_args()
bus = SystemBus()
adapter = bus.get('org.bluez', '/org/bluez/hci0')
bus.subscribe(iface='org.freedesktop.DBus.ObjectManager',
signal='InterfacesAdded',
signal_fired=on_iface_added)
mainloop = GLib.MainLoop()
if args.duration > 0:
GLib.timeout_add_seconds(args.duration, stop_scan)
adapter.SetDiscoveryFilter({'DuplicateData': GLib.Variant.new_boolean(False)})
adapter.StartDiscovery()
try:
print('\n\tUse CTRL-C to stop discovery\n')
mainloop.run()
except KeyboardInterrupt:
stop_scan()
This is the code I wrote to record my audio until I stop the program and save it in output.wav. The problem is that the output.wav is all silent and when I print the frames, they are all zeros. I am running it on Mac OS. I tried recording an audio using the Mac voice recorder and it works so there shouldn't be a problem with the microphone, I guess. Any suggestions why that is the case?
import pyaudio
import wave
CHUNK = 1024
FORMAT = pyaudio.paInt16
CHANNELS = 2
RATE = 44100
def record():
p = pyaudio.PyAudio()
stream = p.open(format=FORMAT,
channels=CHANNELS,
rate=RATE,
input=True,
frames_per_buffer=CHUNK)
print("Start recording")
frames = []
try:
while True:
data = stream.read(CHUNK)
frames.append(data)
except KeyboardInterrupt:
print("Done recording")
except Exception as e:
print(str(e))
sample_width = p.get_sample_size(FORMAT)
stream.stop_stream()
stream.close()
p.terminate()
return sample_width, frames
def record_to_file(file_path):
wf = wave.open(file_path, 'wb')
wf.setnchannels(CHANNELS)
sample_width, frames = record()
wf.setsampwidth(sample_width)
wf.setframerate(RATE)
wf.writeframes(b''.join(frames))
wf.close()
if __name__ == '__main__':
print('#' * 80)
print("Please speak word(s) into the microphone")
print('Press Ctrl+C to stop the recording')
record_to_file('output.wav')
print("Result written to output.wav")
print('#' * 80)
Running this code on my Windows 10 machine and python 3.7 produced an audio file. Make sure that your microphone is enabled on your mac
I'm trying to send data from my dronekit.io vehicle using flask-socket.io. Unfortunately, I got this log:
Starting copter simulator (SITL)
SITL already Downloaded and Extracted.
Ready to boot.
Connecting to vehicle on: tcp:127.0.0.1:5760
>>> APM:Copter V3.3 (d6053245)
>>> Frame: QUAD
>>> Calibrating barometer
>>> Initialising APM...
>>> barometer calibration complete
>>> GROUND START
* Restarting with stat
latitude -35.363261
>>> Exception in attribute handler for location.global_relative_frame
>>> Working outside of request context.
This typically means that you attempted to use functionality that needed
an active HTTP request. Consult the documentation on testing for
information about how to avoid this problem.
longitude 149.1652299
>>> Exception in attribute handler for location.global_relative_frame
>>> Working outside of request context.
This typically means that you attempted to use functionality that needed
an active HTTP request. Consult the documentation on testing for
information about how to avoid this problem.
Here is my code:
sample.py
from dronekit import connect, VehicleMode
from flask import Flask
from flask_socketio import SocketIO, emit
import dronekit_sitl
import time
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
print("Connecting to vehicle on: %s" % (connection_string,))
vehicle = connect(connection_string, wait_ready=True)
def arm_and_takeoff(aTargetAltitude):
print "Basic pre-arm checks"
while not vehicle.is_armable:
print " Waiting for vehicle to initialise..."
time.sleep(1)
print "Arming motors"
vehicle.mode = VehicleMode("GUIDED")
vehicle.armed = True
while not vehicle.armed:
print " Waiting for arming..."
time.sleep(1)
print "Taking off!"
vehicle.simple_takeoff(aTargetAltitude)
while True:
if vehicle.location.global_relative_frame.alt>=aTargetAltitude*0.95:
print "Reached target altitude"
break
time.sleep(1)
last_latitude = 0.0
last_longitude = 0.0
last_altitude = 0.0
#vehicle.on_attribute('location.global_relative_frame')
def location_callback(self, attr_name, value):
global last_latitude
global last_longitude
global last_altitude
if round(value.lat, 6) != round(last_latitude, 6):
last_latitude = value.lat
print "latitude ", value.lat, "\n"
emit("latitude", value.lat)
if round(value.lon, 6) != round(last_longitude, 6):
last_longitude = value.lon
print "longitude ", value.lon, "\n"
emit("longitude", value.lon)
if round(value.alt) != round(last_altitude):
last_altitude = value.alt
print "altitude ", value.alt, "\n"
emit("altitude", value.alt)
app = Flask(__name__)
socketio = SocketIO(app)
if __name__ == '__main__':
socketio.run(app, host='0.0.0.0', port=5000, debug=True)
arm_and_takeoff(20)
I know because of the logs that I should not do any HTTP request inside "vehicle.on_attribute" decorator method and I should search for information on how to solve this problem but I didn't found any info about the error.
Hope you could help me.
Thank you very much,
Raniel
The emit() function by default returns an event back to the active client. If you call this function outside of a request context there is no concept of active client, so you get this error.
You have a couple of options:
indicate the recipient of the event and the namespace that you are using, so that there is no need to look them up in the context. You can do this by adding room and namespace arguments. Use '/' for the namespace if you are using the default namespace.
emit to all clients by adding broadcast=True as an argument, plus the namespace as indicated in #1.
I'm trying to get the external IP that Tor uses, as mentioned here. When using something like myip.dnsomatic.com, this is very slow. I tried what was suggested in the aforementioned link (python + stem to control tor through the control port), but all you get is circuit's IPs with no assurance of which one is the one on the exitnode, and, sometimes the real IP is not even among the results.
Any help would be appreciated.
Also, from here, at the bottom, Amine suggests a way to renew the identity in Tor. There is an instruction, controller.get_newnym_wait(), which he uses to wait until the new connection is ready (controller is from Control in steam.control), isn't there any thing like that in Steam (sorry, I checked and double/triple checked and couldn't find nothing) that tells you that Tor is changing its identity?
You can get the exit node ip without calling a geoip site.
This is however on a different stackexchange site here - https://tor.stackexchange.com/questions/3253/how-do-i-trap-circuit-id-none-errors-in-the-stem-script-exit-used-py
As posted by #mirimir his code below essentially attaches a stream event listener function, which is then used to get the circuit id, circuit fingerprint, then finally the exit ip address -
#!/usr/bin/python
import functools
import time
from stem import StreamStatus
from stem.control import EventType, Controller
def main():
print "Tracking requests for tor exits. Press 'enter' to end."
print
with Controller.from_port() as controller:
controller.authenticate()
stream_listener = functools.partial(stream_event, controller)
controller.add_event_listener(stream_listener, EventType.STREAM)
raw_input() # wait for user to press enter
def stream_event(controller, event):
if event.status == StreamStatus.SUCCEEDED and event.circ_id:
circ = controller.get_circuit(event.circ_id)
exit_fingerprint = circ.path[-1][0]
exit_relay = controller.get_network_status(exit_fingerprint)
t = time.localtime()
print "datetime|%d-%02d-%02d %02d:%02d:%02d % (t.tm_year, t.tm_mon, t.tm_mday, t.tm_hour, t.tm_min, t.tm_sec)
print "website|%s" % (event.target)
print "exitip|%s" % (exit_relay.address)
print "exitport|%i" % (exit_relay.or_port)
print "fingerprint|%s" % exit_relay.fingerprint
print "nickname|%s" % exit_relay.nickname
print "locale|%s" % controller.get_info("ip-to-country/%s" % exit_relay.address, 'unknown')
print
You can use this code for check current IP (change SOCKS_PORT value to yours):
import re
import stem.process
import requesocks
SOCKS_PORT = 9053
tor_process = stem.process.launch_tor()
proxy_address = 'socks5://127.0.0.1:{}'.format(SOCKS_PORT)
proxies = {
'http': proxy_address,
'https': proxy_address
}
response = requesocks.get("http://httpbin.org/ip", proxies=proxies)
print re.findall(r'[\d.-]+', response.text)[0]
tor_process.kill()
If you want to use socks you should do:
pip install requests[socks]
Then you can do:
import requests
import json
import stem.process
import stem
SOCKS_PORT = "9999"
tor = stem.process.launch_tor_with_config(
config={
'SocksPort': SOCKS_PORT,
},
tor_cmd= 'absolute_path/to/tor.exe',
)
r = requests.Session()
proxies = {
'http': 'socks5://localhost:' + SOCKS_PORT,
'https': 'socks5://localhost:' + SOCKS_PORT
}
response = r.get("http://httpbin.org/ip", proxies=proxies)
self.current_ip = response.json()['origin']