Hello Drone example for JdeRobot/ArDrone

hello_drone.py

#
#  Copyright (C) 1997-2015 JDE Developers Team
#
#  This program 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 3 of the License, or
#  (at your option) any later version.
#
#  This program is distributed in the hope that it will be useful,
#  but WITHOUT ANY WARRANTY; without even the implied warranty of
#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#  GNU General Public License for more details.
#
#  You should have received a copy of the GNU General Public License
#  along with this program.  If not, see http://www.gnu.org/licenses/.
#  Authors :
#       Victor Arribas <v.arribas.urjc@gmail.com>
#


""" @package hellodrone

    Hello Drone base code.
    Created only thanks to @almartinflorido's introrob_py
"""

import jderobot, Ice
import threading, time

import traceback

class HelloDrone:

    def __init__(self):
        self.lock = threading.Lock();
        self.iceSetup()

    def iceSetup(self):
        """
        In this function we will initialize ICE communication.
        Please, see Python/Ice hello world for more info:
            https://zeroc.com/doc/Ice-3.2b/manual/Hello.4.7.html#56529
        """
        ice = None;
        try:
            ice = Ice.initialize()
            rawProxy = ice.stringToProxy("Extra:default -h localhost -p 9701")
            self.proxyAdvCommands=jderobot.ArDroneExtraPrx.checkedCast(rawProxy)
            self.ice = ice

            if not self.proxyAdvCommands:
                print "Failled to obtain the proxy"
        except:
            traceback.print_exc()
            exit(1)

    def sendCmdAdv(self, fn):
        funct = getattr(self.proxyAdvCommands, fn)
        if self.proxyAdvCommands:
            self.lock.acquire()
            funct()
            self.lock.release()


if __name__ == "__main__":
    """ This minimal example will takeoff drone from ground from a second. """
    helloDrone = HelloDrone()
    helloDrone.sendCmdAdv("takeoff")
    time.sleep(3)
    helloDrone.sendCmdAdv("land")

    """ Teorical TODO:
        clean Ice exit (explicit proxy shutdown)
        https://zeroc.com/doc/Ice-3.3.0/reference/Ice/Communicator.html#shutdown
    """
    if helloDrone.ice:
        print "Shutting down Ice communications...."
        helloDrone.ice.shutdown();