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https://github.com/OpenSolo/OpenSolo.git
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19ea16784c
The Solex GCS app has a photo logging function for missions and geo tagging. This sends the applicable data from the Solo to the app.
99 lines
2.4 KiB
Python
Executable File
99 lines
2.4 KiB
Python
Executable File
#!/usr/bin/env python
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# definitions of packets that go from the App to Artoo or App to Solo and vice versa.
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# All packets are of the form (in little endian)
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# 32-bit type identifier
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# 32-bit length
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# n bytes value
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# https://docs.google.com/a/3drobotics.com/document/d/1rA1zs3T7X1n9ip9YMGZEcLCW6Mx1RR1bNlh9gF0i8nM/edit#heading=h.tcfcw63p9sfk
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# packet type definitions
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# Solo-App messages
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# NOTE: Make sure this stays in sync with the app's definitions! Those are in iSolo/networking/SoloPacket.swift
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SOLO_MESSAGE_HEADER_LENGTH = 8
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# Sends Solo's current shot to the app
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SOLO_MESSAGE_GET_CURRENT_SHOT = 0
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SOLO_MESSAGE_SET_CURRENT_SHOT = 1
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# send a location
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SOLO_MESSAGE_LOCATION = 2
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# record a position (for cable cam)
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SOLO_RECORD_POSITION = 3
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SOLO_CABLE_CAM_OPTIONS = 4
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SOLO_MESSAGE_GET_BUTTON_SETTING = 5
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SOLO_MESSAGE_SET_BUTTON_SETTING = 6
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SOLO_PAUSE = 7
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SOLO_FOLLOW_OPTIONS = 19
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SOLO_FOLLOW_OPTIONS_V2 = 119
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SOLO_SHOT_OPTIONS = 20
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SOLO_SHOT_ERROR = 21
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SOLO_PANO_OPTIONS = 22
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SOLO_ZIPLINE_OPTIONS = 23
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SOLO_REWIND_OPTIONS = 24
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SOLO_PANO_STATE = 25
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SOLO_HOME_LOCATION = 26
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SOLO_POWER_STATE = 27
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SOLO_ZIPLINE_LOCK = 28
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SOLO_SPLINE_RECORD = 50
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SOLO_SPLINE_PLAY = 51
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SOLO_SPLINE_POINT = 52
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SOLO_SPLINE_SEEK = 53
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SOLO_SPLINE_PLAYBACK_STATUS = 54
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SOLO_SPLINE_PATH_SETTINGS = 55
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SOLO_SPLINE_DURATIONS = 56
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SOLO_SPLINE_ATTACH = 57
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# Artoo-App messages start at 100
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# Shot manager to app messages start at 1000
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SOLO_MESSAGE_SHOTMANAGER_ERROR = 1000
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# recorded waypoint contents
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SOLO_CABLE_CAM_WAYPOINT = 1001
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# IG shots.
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## IG Inspect - app to shotmanager
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SOLO_INSPECT_START = 10001
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SOLO_INSPECT_SET_WAYPOINT = 10002
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SOLO_INSPECT_MOVE_GIMBAL = 10003
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SOLO_INSPECT_MOVE_VEHICLE = 10004
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## IG Scan
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SOLO_SCAN_START = 10101
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## IG Survey
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SOLO_SURVEY_START = 10201
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# Geo Fence
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GEOFENCE_SET_DATA = 3000
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GEOFENCE_SET_ACK = 3001
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GEOFENCE_UPDATE_POLY = 3002
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GEOFENCE_CLEAR = 3003
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GEOFENCE_ACTIVATED = 3004
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# Gopro control messages
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GOPRO_SET_ENABLED = 5000
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GOPRO_SET_REQUEST = 5001
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GOPRO_RECORD = 5003
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GOPRO_V1_STATE = 5005
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GOPRO_V2_STATE = 5006
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GOPRO_REQUEST_STATE = 5007
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GOPRO_SET_EXTENDED_REQUEST = 5009
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GOPRO_PHOTO = 5020 # Added to Open Solo for solex app photo logging
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# enums for packet types
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# failure to enter a shot due to poor ekf
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SHOT_ERROR_BAD_EKF = 0
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# can't enter shot if we're not armed
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SHOT_ERROR_UNARMED = 1
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#can't enter shot if we're RTL
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SHOT_ERROR_RTL = 2
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# status error codes for spline point message
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SPLINE_ERROR_NONE = 0
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SPLINE_ERROR_MODE = -1
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SPLINE_ERROR_DUPLICATE = -2 |