Sihlela ukulawula kwezwi kwe-copter sisebenzisa i-Node.js ne-ARDrone

Kulesi sifundo sizobheka ukwenza uhlelo lwe-drone enokulawula kwezwi kusetshenziswa i-Node.js ne-Web Speech API. I-Copter - Parrot ARDrone 2.0.

Siyakukhumbuza: kubo bonke abafundi be-"Habr" - isaphulelo sama-ruble angu-10 lapho ubhalisa kunoma yisiphi isifundo se-Skillbox usebenzisa ikhodi yephromoshini ethi "Habr".

I-Skillbox iyancoma: Isifundo esiwusizo "I-Mobile Developer PRO".

Isingeniso

Ama-drones ayamangalisa. Ngikujabulela kakhulu ukudlala nge-quad yami, ukuthatha izithombe namavidiyo, noma ukuzijabulisa nje. Kodwa izimoto zasemoyeni ezingenamuntu (ama-UAV) zisetshenziselwa okungaphezu nje kokuzijabulisa. Basebenza kuma-cinema, bafunda izinguzunga zeqhwa, futhi basetshenziswa amasosha nabamele umkhakha wezolimo.

Kulesi sifundo sizobheka ukudala uhlelo oluzokuvumela ukuthi ulawule i-drone. usebenzisa imiyalo yezwi. Yebo, i-copter izokwenza lokho othi ikwenze. Ekupheleni kwe-athikili kunohlelo olwenziwe ngomumo kanye nevidiyo yokulawula kwe-UAV.

I-Iron

Sidinga okulandelayo:

• I-Parrot ARDrone 2.0;
• Ikhebula le-Ethernet;
• umbhobho omuhle.

Ukuthuthukiswa nokuphathwa kuzokwenziwa kuma-workstations ane-Windows/Mac/Ubuntu. Ngokwami, ngisebenze neMac kanye no-Ubuntu 18.04.

Isofthiwe

Landa inguqulo yakamuva ye-Node.js kusuka isayithi elisemthethweni.

Kudingeka futhi inguqulo yakamuva ye-Google Chrome.

Ukuqonda i-copter

Ake sizame ukuqonda ukuthi iParrot ARDrone isebenza kanjani. Le copter inamamotho amane.

Izinjini eziphikisayo zisebenza ohlangothini olufanayo. Ipheya elilodwa lizungeza ngokwewashi, elinye ngokuphambene newashi. I-drone ihamba ngokushintsha i-engeli yokuthambekela okuhlobene nobuso bomhlaba, ishintsha isivinini sokujikeleza kwezinjini nokunye ukunyakaza okuningana okuguquguqukayo.

Njengoba singabona emdwebeni ongenhla, ukushintsha imingcele ehlukahlukene kuholela ekushintsheni kwendlela yokuhamba kwe-copter. Isibonelo, ukwehlisa noma ukukhulisa isivinini sokuzungezisa ama-rotor angakwesokunxele nangakwesokudla kudala umqulu. Lokhu kuvumela i-drone ukuthi indizele phambili noma emuva.

Ngokushintsha isivinini kanye nendlela ama-motor, sibeka ama-engeli e-tilt avumela i-copter ukuthi ihambe kwezinye izindawo. Empeleni, kuphrojekthi yamanje asikho isidingo sokufunda i-aerodynamics, udinga nje ukuqonda izimiso eziyisisekelo.

Isebenza kanjani iParrot ARDrone

I-drone iyindawo ye-Wi-Fi. Ukuze uthole futhi uthumele imiyalo ku-copter, udinga ukuxhuma kuleli phuzu. Kunezinhlelo zokusebenza eziningi ezahlukahlukene ezikuvumela ukuthi ulawule ama-quadcopter. Konke kubukeka kanjena:

Ngokushesha nje lapho i-drone ixhunyiwe, vula itheminali kanye ne-telnet 192.168.1.1 - lena i-IP ye-copter. Nge-Linux ungasebenzisa Linux Busybox.

Isakhiwo sohlelo lokusebenza

Ikhodi yethu izohlukaniswa ngamamojula alandelayo:

• ukusebenzelana komsebenzisi nge-API yenkulumo ukuze kutholwe izwi;
• imiyalo yokuhlunga nokuqhathanisa nezinga;
• ukuthumela imiyalo ku-drone;
• ukusakazwa kwevidiyo bukhoma.

I-API isebenza inqobo nje uma kunoxhumo lwe-inthanethi. Ukuqinisekisa lokhu, sengeza uxhumano lwe-Ethernet.

Isikhathi sokudala isicelo!

Ikhodi

Okokuqala, masidale ifolda entsha bese sishintshela kuyo sisebenzisa itheminali.

Bese sidala iphrojekthi ye-Node sisebenzisa imiyalo engezansi.

Okokuqala, sifaka ukuncika okudingekayo.

ukufaka i-npm 

Sizosekela imiyalo elandelayo:

• suka;
• ukuhlalisa;
• phezulu - i-drone ikhuphuka isigamu semitha futhi ihamba;
• phansi - iwela isigamu semitha futhi iqhwa;
• kwesokunxele - iya ingxenye yemitha kwesokunxele;
• ngakwesokudla - uhamba isigamu semitha ukuya kwesokudla;
• ukujikeleza - kuzungeza iwashi ngamadigri angama-90;
• phambili - iya phambili isigamu semitha;
• emuva - ibuyela emuva isigamu semitha;
• Ima.

Nansi ikhodi ekuvumela ukuthi wamukele imiyalo, uyihlunge futhi ulawule i-drone.

const express = require('express');
const bodyparser = require('body-parser');
var arDrone = require('ar-drone');
const router = express.Router();
const app = express();
const commands = ['takeoff', 'land','up','down','goleft','goright','turn','goforward','gobackward','stop'];
 
var drone  = arDrone.createClient();
// disable emergency
drone.disableEmergency();
// express
app.use(bodyparser.json());
app.use(express.static(__dirname + '/public'));
 
router.get('/',(req,res) => {
    res.sendFile('index.html');
});
 
router.post('/command',(req,res) => {
    console.log('command recieved ', req.body);
    console.log('existing commands', commands);
    let command = req.body.command.replace(/ /g,'');
    if(commands.indexOf(command) !== -1) {
        switch(command.toUpperCase()) {
            case "TAKEOFF":
                console.log('taking off the drone');
                drone.takeoff();
            break;
            case "LAND":
                console.log('landing the drone');
                drone.land();
            break;
            case "UP":
                console.log('taking the drone up half meter');
                drone.up(0.2);
                setTimeout(() => {
                    drone.stop();
                    clearTimeout();
                },2000);
            break;
            case "DOWN":
                console.log('taking the drone down half meter');
                drone.down(0.2);
                setTimeout(() => {
                    drone.stop();
                    clearTimeout();
                },2000);
            break;
            case "GOLEFT":
                console.log('taking the drone left 1 meter');
                drone.left(0.1);
                setTimeout(() => {
                    drone.stop();
                    clearTimeout();
                },1000);
            break;
            case "GORIGHT":
                console.log('taking the drone right 1 meter');
                drone.right(0.1);
                setTimeout(() => {
                    drone.stop();
                    clearTimeout();
                },1000);
            break;
            case "TURN":
                console.log('turning the drone');
                drone.clockwise(0.4);
                setTimeout(() => {
                    drone.stop();
                    clearTimeout();
                },2000);
            break;
            case "GOFORWARD":
                console.log('moving the drone forward by 1 meter');
                drone.front(0.1);
                setTimeout(() => {
                    drone.stop();
                    clearTimeout();
                },2000);
            break;
            case "GOBACKWARD":
                console.log('moving the drone backward 1 meter');
                drone.back(0.1);
                setTimeout(() => {
                    drone.stop();
                    clearTimeout();
                },2000);
            break;
            case "STOP":
                drone.stop();
            break;
            default:
            break;    
        }
    }
    res.send('OK');
});
 
app.use('/',router);
 
app.listen(process.env.port || 3000);

Futhi nansi ikhodi ye-HTML ne-JavaScript elalela umsebenzisi futhi ithumele umyalo kuseva ye-Node.

<!DOCTYPE html>
    <head>
        <meta charset="utf-8">
        <meta http-equiv="X-UA-Compatible" content="IE=edge">
        <title>Voice Controlled Notes App</title>
        <meta name="description" content="">
        <meta name="viewport" content="width=device-width, initial-scale=1">
        <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/shoelace-css/1.0.0-beta16/shoelace.css">
        <link rel="stylesheet" href="styles.css">
 
    </head>
    <body>
        <div class="container">
 
            <h1>Voice Controlled Drone</h1>
            <p class="page-description">A tiny app that allows you to control AR drone using voice</p>
 
            <h3 class="no-browser-support">Sorry, Your Browser Doesn't Support the Web Speech API. Try Opening This Demo In Google Chrome.</h3>
 
            <div class="app">
                <h3>Give the command</h3>
                <div class="input-single">
                    <textarea id="note-textarea" placeholder="Create a new note by typing or using voice recognition." rows="6"></textarea>
                </div>    
                <button id="start-record-btn" title="Start Recording">Start Recognition</button>
                <button id="pause-record-btn" title="Pause Recording">Pause Recognition</button>
                <p id="recording-instructions">Press the <strong>Start Recognition</strong> button and allow access.</p>
 
            </div>
 
        </div>
 
        <script src="https://cdnjs.cloudflare.com/ajax/libs/jquery/3.2.1/jquery.min.js"></script>
        <script src="script.js"></script>
 
    </body>
</html>

Futhi nekhodi ye-JavaScript yokusebenza ngemiyalo yezwi, ukuyithumela kuseva ye-Node.

try {
 var SpeechRecognition = window.SpeechRecognition || window.webkitSpeechRecognition;
 var recognition = new SpeechRecognition();
 }
 catch(e) {
 console.error(e);
 $('.no-browser-support').show();
 $('.app').hide();
 }
// other code, please refer GitHub source
recognition.onresult = function(event) {
// event is a SpeechRecognitionEvent object.
// It holds all the lines we have captured so far.
 // We only need the current one.
 var current = event.resultIndex;
// Get a transcript of what was said.
var transcript = event.results[current][0].transcript;
// send it to the backend
$.ajax({
 type: 'POST',
 url: '/command/',
 data: JSON.stringify({command: transcript}),
 success: function(data) { console.log(data) },
 contentType: "application/json",
 dataType: 'json'
 });
};

Kwethulwa uhlelo lokusebenza

Uhlelo lungaqaliswa ngale ndlela elandelayo (kubalulekile ukwenza isiqiniseko sokuthi i-copter ixhunywe ku-Wi-Fi futhi ikhebula le-Ethernet lixhunywe kukhompyutha).

Vula i-localhost:3000 esipheqululini bese uchofoza okuthi Qala Ukuqaphela.

Sizama ukulawula i-drone futhi siyajabula.

Isakaza ividiyo evela kundizamtshina

Kuphrojekthi, dala ifayela elisha bese ukopisha le khodi lapho:

const http = require("http");
const drone = require("dronestream");
 
const server = http.createServer(function(req, res) {
 
require("fs").createReadStream(__dirname + "/public/video.html").pipe(res);
 });
 
drone.listen(server);
 
server.listen(4000);

Futhi nansi ikhodi ye-HTML, siyibeka ngaphakathi kwefolda yomphakathi.

<!doctype html>
 <html>
 <head>
 <meta http-equiv="content-type" content="text/html; charset=utf-8">
 <title>Stream as module</title>
 <script src="/dronestream/nodecopter-client.js" type="text/javascript" charset="utf-8"></script>
 </head>
 <body>
 <h1 id="heading">Drone video stream</h1>
 <div id="droneStream" style="width: 640px; height: 360px"> </div>
 
<script type="text/javascript" charset="utf-8">
 
new NodecopterStream(document.getElementById("droneStream"));
 
</script>
 
</body>
</html>

Yethula futhi uxhume ku-localhost:8080 ukuze ubuke ividiyo ngekhamera engaphambili.

Amathiphu awusizo

• Ndize le drone ungene endlini.
• Ngaso sonke isikhathi faka ikhava yokuvikela kundiza yakho engenantambo ngaphambi kokusuka.
• Hlola ukuthi ibhethri ishajiwe yini.
• Uma i-drone iziphatha ngendlela eyinqaba, yibambe phansi bese uyipheqa. Lesi senzo sizofaka i-copter kumodi yesimo esiphuthumayo futhi ama-rotor azoma ngokushesha.

Ikhodi elungile nedemo

IDEMO EBUKHOMA

ZITHATHELE

Kwenzekile!

Ikhodi yokubhala bese ubuka umshini uqala ukulalela kuzokunikeza injabulo! Manje sesithole ukuthi ungayifundisa kanjani i-drone ukulalela imiyalo yezwi. Eqinisweni, kunamathuba amaningi kakhulu: ukuqashelwa kobuso bomsebenzisi, izindiza ezizimele, ukubonwa kokuthinta nokunye okuningi.

Yini ongayiphakamisa ukuze uthuthukise uhlelo?

I-Skillbox iyancoma:

• Kusetshenziswe izifundo ze-inthanethi "Python Data Analyst".
• Inkambo eku-inthanethi "Umthuthukisi we-Professional frontend".
• Isifundo sonyaka esisebenzayo "Unjiniyela we-PHP kusuka ku-0 kuye ku-PRO".

Source: www.habr.com