view release on metacpan or  search on metacpan

bin/uav_joystick  view on Meta::CPAN

#!/usr/bin/perl
# Copyright (c) 2014  Timm Murray
# All rights reserved.
# 
# Redistribution and use in source and binary forms, with or without 
# modification, are permitted provided that the following conditions are met:
# 
#     * Redistributions of source code must retain the above copyright notice, 
#       this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright 
#       notice, this list of conditions and the following disclaimer in the 
#       documentation and/or other materials provided with the distribution.
# 
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
# POSSIBILITY OF SUCH DAMAGE.
use v5.14;
use warnings;
use AnyEvent;
use UAV::Pilot;
use UAV::Pilot::Commands;
use UAV::Pilot::ARDrone::Driver;
use UAV::Pilot::ARDrone::NavPacket;
use UAV::Pilot::ARDrone::Control::Event;
use UAV::Pilot::Events;
use UAV::Pilot::SDL::Events;
use UAV::Pilot::SDL::Joystick;
use Getopt::Long ();

use constant NAV_UPDATE_INTERVAL => 1 / 30;


my $IP       = '192.168.1.1';
my $SHOW_NAV = 0;
my $CONF     = undef;
Getopt::Long::GetOptions(
    'host=s'   => \$IP,
    'show-nav' => \$SHOW_NAV,
    'conf=s'   => \$CONF,
);


sub show_nav
{
    my ($driver, $cv, $events, $nav_feeder) = @_;
    eval "use UAV::Pilot::ARDrone::SDLNavOutput";
    die $@ if $@;

    my $sdl_nav = UAV::Pilot::ARDrone::SDLNavOutput->new({
        condvar => $cv,
        driver  => $driver,
        feeder  => $nav_feeder,
    });
    $events->register( $sdl_nav );

    return 1;
}


{
    my $ardrone = UAV::Pilot::ARDrone::Driver->new({
        host => $IP,
    });
    $ardrone->connect;

    my $dev = UAV::Pilot::ARDrone::Control::Event->new({
        driver => $ardrone,
    });

    my $cv = $dev->init_event_loop;
    my $events = UAV::Pilot::Events->new({
        condvar => $cv,
    });

    my $sdl_events = UAV::Pilot::SDL::Events->new;
    $events->register( $sdl_events );

    my $joystick = UAV::Pilot::SDL::Joystick->new({
        condvar    => $cv,
        controller => $dev,
        conf_path  => $CONF,
    });
    $events->register( $joystick );

    show_nav( $ardrone, $cv, $events, $dev ) if $SHOW_NAV;
    $events->init_event_loop;
    say "Ready to fly";
    $cv->recv;
    $joystick->close;
}


=head1 SYNOPSIS

    uav_joystick --show-nav

=head1 DESCRIPTION

Controls a Parrot AR.Drone with an SDL-compatible joystick.

C<--show-nav> displays the navigation output in an SDL window.  Closing the window will end 
the program.

The joystick parameters can be configured in a config file.  See C<UAV::Pilot::SDL::Joystick>
for details.

=cut