Struct parrot_ar_drone::Communication

pub struct Communication {
    pub drone_ip: String,
    pub nav_data_port: u32,
    pub video_port: u32,
    pub cmd_port: u32,
    pub ctl_port: u32,
    pub rec_port: u32,
    // some fields omitted
}

Component that is responsible for the communication between the drone and this API.

Fields

drone_ip: String

The drones IP (default is 192.168.1.1)

nav_data_port: u32

UDP port (default 5554) from which we receive Navigation Data

video_port: u32

UDP port (default 5555) from which we receive the video image. It should be readable by OpenCV without any fancy processing

cmd_port: u32

UDP port (default 5556) to which we send commands

ctl_port: u32

TCP port (default 5559) from which we get config information

rec_port: u32

TCP port (default 5553) from which we get the recording

Methods

impl Communication

pub fn new() -> Communication

Returns a Communication struct with default settings, if you didn't do any fancy shenanigans with the drones settings, this should be enough for you.

pub fn try_connection(&self) -> bool

Tries connecting to the drone (may hang on routers which have the drones ip (default 192.168.1.1)

pub fn command(&mut self, command: &str, params: Vec<String>)

Pushes a command to the send queue, every 50 ms a command is sent, if no command is in queue then every 200 ms a keepalive command is sent.

pub fn command_str(&mut self, command: &str, params: Vec<&str>)

Same as command, however it takes Vec<&str> and converts is himself

pub fn start_connection(&mut self, echo_commands: &bool) -> Result<(), String>

Initialises the connection with the drone, sends 2 commands which seem to initialize the drone (taken from ps_drone). Creates a separate thread to deal with sending these commands and the keepalive sign. Parameters: echo_commands: Should it print every command sent? (except keepalives)

pub fn shutdown_connection(&mut self)

Shuts down the communication thread and the connection to the drone

pub fn get_ctl_tcp_connection(&self) -> Result<TcpStream, String>

pub fn get_navdata_udp_connection(&self) -> Result<UdpSocket, String>

pub fn get_video_udp_connection(&self) -> Result<UdpSocket, String>

pub fn get_record_tcp_connection(&self) -> Result<TcpStream, String>