Class: Artoo::Drivers::ArdroneNavigation

Inherits:
Driver
  • Object
show all
Defined in:
lib/artoo/drivers/ardrone_navigation.rb

Overview

Ardrone navigation driver behaviors

Constant Summary collapse

COMMANDS = 
[:emergency_landing?].freeze

Instance Method Summary collapse

Instance Method Details

#emergency_landing? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/artoo/drivers/ardrone_navigation.rb', line 48

def emergency_landing?
  @emergency_landing
end

#handle_update ⇒ Object

Receives data from navigation and publishes and event in update topic for it



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# File 'lib/artoo/drivers/ardrone_navigation.rb', line 22

def handle_update
  navdata = connection.receive_data
  return unless navdata

  @emergency_landing = navdata.emergency_landing?

  navdata.options.each do |opt|
    n = navdata.clone
    n.options = opt

    case
    when opt.is_a?(::Argus::NavOptionDemo) 
      publish(event_topic_name("update"), "navdata_demo", n, opt)
      publish(event_topic_name("demo"), n, opt)

    when opt.is_a?(::Argus::NavOptionVisionDetect)
      publish(event_topic_name("update"), "navdata_vision_detect", n, opt)
      publish(event_topic_name("vision_detect"), n, opt)

    end
  end

  publish(event_topic_name("update"), "navdata", navdata)
  publish(event_topic_name("navdata"), navdata)
end

#start_driver ⇒ Object

Starts driver and handle updates from device



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# File 'lib/artoo/drivers/ardrone_navigation.rb', line 10

def start_driver
  every(interval) do
    handle_update
  end

  super

  publish(event_topic_name("ready"))
end