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Module blueye.sdk.camera

None

None

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from __future__ import annotations

import re

import warnings

from collections import namedtuple

from enum import Enum

from typing import TYPE_CHECKING, NamedTuple

import numpy as np

import requests

# Necessary to avoid cyclic imports

if TYPE_CHECKING:

    from .drone import Drone

class Tilt:

    @staticmethod

    def _tilt_angle_from_debug_flags(flags: int) -> float:

        """Helper function for decoding tilt angle from debug flags

        The tilt angle is encoded as an int8, with 0 at 0 degrees, and each increment representing

        0.5 degrees in either direction. A positive angle is upwards, and negative is downwards.

        """

        TILT_ANGLE_MASK = 0x0000FF0000000000

        TILT_ANGLE_OFFSET = 40

        tilt_angle_array = np.array(

            np.right_shift(np.bitwise_and(flags, TILT_ANGLE_MASK), TILT_ANGLE_OFFSET),

            dtype=[("tilt_angle", np.int8)],

        ).astype([("tilt_angle", float)])

        return tilt_angle_array["tilt_angle"] / 2

    @staticmethod

    def _tilt_stabilization_status_from_debug_flags(flags: int) -> bool:

        """Helper function for decoding tilt stabilization status from debug flags"""

        TILT_STABILIZATION_MASK = 0x100

        return bool(flags & TILT_STABILIZATION_MASK)

    def __init__(self, parent_drone: Drone):

        self._parent_drone = parent_drone

    def _verify_tilt_in_features(self):

        """Checks that the connected drone has the tilt feature

        Raises a RuntimeError if it does not.

        """

        if "tilt" not in self._parent_drone.features:

            raise RuntimeError("The connected drone does not support tilting the camera.")

    def set_speed(self, speed: float):

        """Set the speed and direction of the camera tilt

        *Arguments*:

        * speed (float): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.

        Requires a drone with the tilt feature, and software version 1.5 or newer.

        A RuntimeError is raised if either of those requirements are not met.

        """

        self._parent_drone._verify_required_blunux_version("1.5")

        self._verify_tilt_in_features()

        # The tilt command is grouped together with the thruster commands, so to avoid messing with

        # the thruster setpoint while tilting we need to get the current setpoint and send it with

        # the tilt command.

        with self._parent_drone.motion.thruster_lock:

            thruster_setpoints = self._parent_drone.motion.current_thruster_setpoints.values()

            self._parent_drone._tcp_client.motion_input_tilt(*thruster_setpoints, 0, 0, speed)

    @property

    def angle(self) -> float:

        """Return the current angle of the camera tilt

        Requires a drone with the tilt feature, and software version 1.5 or newer.

        A RuntimeError is raised if either of those requirements are not met.

        """

        self._parent_drone._verify_required_blunux_version("1.5")

        self._verify_tilt_in_features()

        debug_flags = self._parent_drone._state_watcher.general_state["debug_flags"]

        return self._tilt_angle_from_debug_flags(debug_flags)

    @property

    def stabilization_enabled(self) -> bool:

        """Get the state of active camera stabilization

        Use the `toggle_stabilization` method to turn stabilization on or off

        *Returns*:

        * Current state of active camera stabilization (bool)

        """

        self._parent_drone._verify_required_blunux_version("1.6.42")

        self._verify_tilt_in_features()

        debug_flags = self._parent_drone._state_watcher.general_state["debug_flags"]

        return self._tilt_stabilization_status_from_debug_flags(debug_flags)

    def toggle_stabilization(self):

        """Toggle active camera stabilization on or off

        Requires a drone with the tilt feature, and Blunux version 1.6.42 or newer.

        A RuntimeError is raised if either of those requirements are not met.

        """

        self._parent_drone._verify_required_blunux_version("1.6.42")

        self._verify_tilt_in_features()

        self._parent_drone._tcp_client.toggle_tilt_stabilization()

class LogoOverlay(Enum):

    DISABLED = 0

    BLUEYE = 1

    CUSTOM = 2

class DepthUnitOverlay(Enum):

    METERS = 0

    FEET = 1

class TemperatureUnitOverlay(Enum):

    CELSIUS = 0

    FAHRENHEIT = 1

class FontSizeOverlay(Enum):

    PX15 = 15

    PX20 = 20

    PX25 = 25

    PX30 = 30

    PX35 = 35

    PX40 = 40

class Overlay:

    """Control the overlay on videos and pictures"""

    def __init__(self, parent_drone: Drone):

        self._parent_drone = parent_drone

    def _get_named_overlay_parameters(self) -> NamedTuple:

        """Get overlay parameters from drone and convert them to a named tuple"""

        NamedParameters = namedtuple(

            "Parameters",

            [

                "returned_parameter",

                "temperature_enabled",

                "depth_enabled",

                "heading_enabled",

                "tilt_enabled",

                "date_enabled",

                "logo_index",

                "depth_unit",

                "temperature_unit",

                "tz_offset",

                "margin_width",

                "margin_height",

                "font_size",

                "title",

                "subtitle",

                "date_format",

            ],

        )

        parameters = self._parent_drone._tcp_client.get_overlay_parameters()

        return NamedParameters(*parameters)

    @property

    def temperature_enabled(self) -> bool:

        """Get or set the state of the temperature overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().temperature_enabled)

    @temperature_enabled.setter

    def temperature_enabled(self, enable_temperature: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_temperature_enabled(

            1 if enable_temperature else 0

        )

    @property

    def depth_enabled(self) -> bool:

        """Get or set the state of the depth overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().depth_enabled)

    @depth_enabled.setter

    def depth_enabled(self, enable_depth: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_depth_enabled(1 if enable_depth else 0)

    @property

    def heading_enabled(self) -> bool:

        """Get or set the state of the heading overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().heading_enabled)

    @heading_enabled.setter

    def heading_enabled(self, enable_heading: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_heading_enabled(1 if enable_heading else 0)

    @property

    def tilt_enabled(self) -> bool:

        """Get or set the state of the tilt overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().tilt_enabled)

    @tilt_enabled.setter

    def tilt_enabled(self, enable_tilt: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_tilt_enabled(1 if enable_tilt else 0)

    @property

    def date_enabled(self) -> bool:

        """Get or set the state of the date overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().date_enabled)

    @date_enabled.setter

    def date_enabled(self, enable_date: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_date_enabled(1 if enable_date else 0)

    @property

    def logo(self) -> LogoOverlay:

        """Get or set logo overlay selection

        Needs to be set to an instance of the `LogoOverlay` class, if not a RuntimeWarning is

        raised.

        Requires Blunux version 1.8.72 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        return LogoOverlay(self._get_named_overlay_parameters().logo_index)

    @logo.setter

    def logo(self, logo_index: LogoOverlay):

        self._parent_drone._verify_required_blunux_version("1.8.72")

        if not isinstance(logo_index, LogoOverlay):

            warnings.warn("Invalid logo index, ignoring", RuntimeWarning)

        elif logo_index.value not in range(3):

            warnings.warn("Logo index out of range, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_logo_index(logo_index.value)

    @property

    def depth_unit(self) -> DepthUnitOverlay:

        """Get or set the depth unit for the overlay

        Needs to be set to an instance of the `DepthUnitOverlay` class, if not a RuntimeWarning is

        raised.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return DepthUnitOverlay(self._get_named_overlay_parameters().depth_unit)

    @depth_unit.setter

    def depth_unit(self, unit_index: DepthUnitOverlay):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if not isinstance(unit_index, DepthUnitOverlay):

            warnings.warn("Invalid depth unit index, ignoring", RuntimeWarning)

        elif unit_index.value not in range(2):

            warnings.warn("Depth unit index out of range, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_depth_unit(unit_index.value)

    @property

    def temperature_unit(self) -> TemperatureUnitOverlay:

        """Get or set the temperature unit for the overlay

        Needs to be set to an instance of the `TemperatureUnitOverlay` class, if not a

        RuntimeWarning is raised.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return TemperatureUnitOverlay(self._get_named_overlay_parameters().temperature_unit)

    @temperature_unit.setter

    def temperature_unit(self, unit_index: TemperatureUnitOverlay):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if not isinstance(unit_index, TemperatureUnitOverlay):

            warnings.warn("Invalid temperature unit index, ignoring", RuntimeWarning)

        elif unit_index.value not in range(2):

            warnings.warn("Temperature unit index out of range, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_temperature_unit(unit_index.value)

    @property

    def timezone_offset(self) -> int:

        """Get or set the timezone offset for the overlay

        Set to the number of minutes (either positive or negative) the timestamp should be offset.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().tz_offset

    @timezone_offset.setter

    def timezone_offset(self, offset: int):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_tz_offset(offset)

    @property

    def margin_width(self) -> int:

        """Get or set the margin width for the overlay

        The amount of pixels to use as margin on the right and left side of the overlay. Needs to

        be a positive integer.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().margin_width

    @margin_width.setter

    def margin_width(self, width: int):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if width < 0:

            warnings.warn("Invalid margin width, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_margin_width(width)

    @property

    def margin_height(self) -> int:

        """Get or set the margin height for the overlay

        The amount of pixels to use as margin on the top and bottom side of the overlay. Needs to be

        a positive integer.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().margin_height

    @margin_height.setter

    def margin_height(self, height: int):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if height < 0:

            warnings.warn("Invalid margin height, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_margin_height(height)

    @property

    def font_size(self) -> FontSizeOverlay:

        """Get or set the font size for the overlay

        Needs to be an instance of the `FontSizeOverlay` class, if not a RuntimeWarning is raised.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return FontSizeOverlay(self._get_named_overlay_parameters().font_size)

    @font_size.setter

    def font_size(self, size: FontSizeOverlay):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if not isinstance(size, FontSizeOverlay):

            warnings.warn("Invalid font size, ignoring", RuntimeWarning)

        elif size.value not in range(15, 41):

            warnings.warn("Font size out of range, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_font_size(size.value)

    @property

    def title(self) -> str:

        """Get or set the title for the overlay

        The title needs to be a string of only ASCII characters with a maximum length of 63

        characters. If a longer title is passed it will be truncated, and a RuntimeWarning is

        raised.

        Set to an empty string to disable title.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().title.decode("utf-8").rstrip("\x00")

    @title.setter

    def title(self, input_title: str):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        new_title = input_title

        if len(input_title) > 63:

            warnings.warn("Too long title, truncating to 63 characters", RuntimeWarning)

            new_title = new_title[:63]

        try:

            encoded_title = bytes(new_title, "ascii")

        except UnicodeEncodeError:

            warnings.warn("Title can only contain ASCII characters, ignoring", RuntimeWarning)

            return

        self._parent_drone._tcp_client.set_overlay_title(encoded_title + b"\x00")

    @property

    def subtitle(self) -> str:

        """Get or set the subtitle for the overlay

        The subtitle needs to be a string of only ASCII characters with a maximum length of 63

        characters. If a longer subtitle is passed it will be truncated, and a RuntimeWarning is

        raised.

        Set to an empty string to disable the subtitle.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().subtitle.decode("utf-8").rstrip("\x00")

    @subtitle.setter

    def subtitle(self, input_subtitle: str):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        new_subtitle = input_subtitle

        if len(input_subtitle) > 63:

            warnings.warn("Too long subtitle, truncating to 63 characters", RuntimeWarning)

            new_subtitle = new_subtitle[:63]

        try:

            encoded_subtitle = bytes(new_subtitle, "ascii")

        except UnicodeEncodeError:

            warnings.warn("Subtitle can only contain ASCII characters, ignoring", RuntimeWarning)

            return

        self._parent_drone._tcp_client.set_overlay_subtitle(encoded_subtitle + b"\x00")

    @property

    def date_format(self) -> str:

        """Get or set the format string for the time displayed in the overlay

        Must be a string containing only ASCII characters, with a max length of 63 characters.

        The format codes are defined by the C89 standard, see

        https://docs.python.org/3/library/datetime.html#strftime-and-strptime-format-codes

        for an overview of the available codes.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().date_format.decode("utf-8").rstrip("\x00")

    @date_format.setter

    def date_format(self, input_format_str: str):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        format_str = input_format_str

        if len(format_str) > 63:

            warnings.warn(

                "Too long date format string, truncating to 63 characters", RuntimeWarning

            )

            format_str = format_str[:63]

        try:

            encoded_format_str = bytes(format_str, "ascii")

        except UnicodeEncodeError:

            warnings.warn(

                "Date format string can only contain ASCII characters, ignoring", RuntimeWarning

            )

            return

        self._parent_drone._tcp_client.set_overlay_date_format(encoded_format_str + b"\x00")

    def upload_logo(self, path_to_logo: str):

        """Upload user selectable logo for watermarking videos and pictures

        Set the logo-property to `LogoOverlay.CUSTOM` to enable this logo.

        Allowed filetype: JPG or PNG.

        Max resolution: 2000 px.

        Max file size: 5 MB.

        Requires Blunux version 1.8.72 or newer.

        *Exceptions*:

        * `requests.exceptions.HTTPError` : Status code 400 for invalid files

        * `requests.exceptions.ConnectTimeout` : If unable to create a connection within 1s

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        with open(path_to_logo, "rb") as f:

            url = f"http://{self._parent_drone._ip}/asset/logo"

            files = {"image": f}

            response = requests.post(url, files=files, timeout=1)

        response.raise_for_status()

    def download_logo(self, output_directory="."):

        """Download the original user uploaded logo (PNG or JPG)

        Select the download directory with the output_directory parameter.

        *Exceptions*:

        * `requests.exceptions.HTTPError` : If no custom logo is uploaded.

        * `requests.exceptions.ConnectTimeout` : If unable to create a connection within 1s

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        response = requests.get(f"http://{self._parent_drone._ip}/asset/logo", timeout=1)

        response.raise_for_status()

        filename = re.findall('filename="(.+)"', response.headers["Content-Disposition"])[0]

        with open(f"{output_directory}/{filename}", "wb") as f:

            f.write(response.content)

    def delete_logo(self):

        """Delete the user uploaded logo from the drone

        *Exceptions*:

        * `requests.exceptions.HTTPError` : If an error occurs during deletion

        * `requests.exceptions.ConnectTimeout` : If unable to create a connection within 1s

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        response = requests.delete(f"http://{self._parent_drone._ip}/asset/logo", timeout=1)

        response.raise_for_status()

class Camera:

    def __init__(self, parent_drone: Drone):

        self._state_watcher = parent_drone._state_watcher

        self._parent_drone = parent_drone

        self.tilt = Tilt(parent_drone)

        self.overlay = Overlay(parent_drone)

    @property

    def is_recording(self) -> bool:

        """Start or stop a camera recording

        *Arguments*:

        * is_recording (bool): Set to True to start a recording, set to False to stop the current recording

        *Returns*:

        * is_recording (bool): True if the camera is currently recording, False if not

        """

        state = self._state_watcher.general_state

        if state["camera_record_time"] != -1:

            return True

        else:

            return False

    @is_recording.setter

    def is_recording(self, start_recording: bool):

        if start_recording:

            self._parent_drone._tcp_client.start_recording()

        else:

            self._parent_drone._tcp_client.stop_recording()

    @property

    def bitrate(self) -> int:

        """Set or get the camera bitrate

        *Arguments*:

        * bitrate (int): Set the camera bitrate in bits, Valid values are in range <1 000 000, 16 000 000>

        *Returns*:

        * bitrate (int): Get the camera bitrate

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        bitrate = camera_parameters[1]

        return bitrate

    @bitrate.setter

    def bitrate(self, bitrate: int):

        self._parent_drone._tcp_client.set_camera_bitrate(bitrate)

    @property

    def exposure(self) -> int:

        """Set or get the camera exposure

        *Arguments*:

        * exposure (int): Set the camera exposure_value: 1 = 1/1000th of a second, 5 = 1/200th of a second. Valid values are in the range <1, 5000>

        *Returns*:

        * exposure (int): Get the camera exposure

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        exposure = camera_parameters[2]

        return exposure

    @exposure.setter

    def exposure(self, exposure: int):

        self._parent_drone._tcp_client.set_camera_exposure(exposure)

    @property

    def whitebalance(self) -> int:

        """Set or get the camera white balance

        *Arguments*:

        * whitebalance (int): Set the camera white balance. Valid values are in the range <2800, 9300>

        *Returns*:

        * whitebalance (int): Get the camera white balance

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        whitebalance = camera_parameters[3]

        return whitebalance

    @whitebalance.setter

    def whitebalance(self, whitebalance: int):

        self._parent_drone._tcp_client.set_camera_whitebalance(whitebalance)

    @property

    def hue(self) -> int:

        """Set or get the camera hue

        *Arguments*:

        * hue (int): Set the camera hue. Valid values are in the range <-40, 40>

        *Returns*:

        * hue (int): Get the camera hue

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        hue = camera_parameters[4]

        return hue

    @hue.setter

    def hue(self, hue: int):

        self._parent_drone._tcp_client.set_camera_hue(hue)

    @property

    def resolution(self) -> int:

        """Set or get the camera resolution

        *Arguments*:

        * resolution (int): Set the camera in vertical pixels. Valid values are 720 or 1080

        *Returns*:

        * resolution (int): Get the camera resolution

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        resolution = camera_parameters[5]

        return resolution

    @resolution.setter

    def resolution(self, resolution: int):

        self._parent_drone._tcp_client.set_camera_resolution(resolution)

    @property

    def framerate(self) -> int:

        """Set or get the camera frame rate

        *Arguments*:

        * framerate (int): Set the camera frame rate in frames per second. Valid values are 25 or 30

        *Returns*:

        * framerate (int): Get the camera frame rate

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        framerate = camera_parameters[6]

        return framerate

    @framerate.setter

    def framerate(self, framerate: int):

        self._parent_drone._tcp_client.set_camera_framerate(framerate)

    @property

    def record_time(self) -> int:

        """Set or get the duration of the current camera recording

        *Returns*:

        * record_time (int): The length in seconds of the current recording, -1 if the camera is not currently recording

        """

        return self._state_watcher.general_state["camera_record_time"]

    def take_picture(self):

        """Takes a still picture and stores it locally on the drone

        These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client.

        This feature was added with drone version 1.4.7, so if you try to use it with an older

        version this method will raise a RunTimeError.

        """

        self._parent_drone._verify_required_blunux_version("1.4.7")

        self._parent_drone._tcp_client.take_still_picture()

Variables

TYPE_CHECKING

Classes

Camera

class Camera(
    parent_drone: 'Drone'
)
View Source
class Camera:

    def __init__(self, parent_drone: Drone):

        self._state_watcher = parent_drone._state_watcher

        self._parent_drone = parent_drone

        self.tilt = Tilt(parent_drone)

        self.overlay = Overlay(parent_drone)

    @property

    def is_recording(self) -> bool:

        """Start or stop a camera recording

        *Arguments*:

        * is_recording (bool): Set to True to start a recording, set to False to stop the current recording

        *Returns*:

        * is_recording (bool): True if the camera is currently recording, False if not

        """

        state = self._state_watcher.general_state

        if state["camera_record_time"] != -1:

            return True

        else:

            return False

    @is_recording.setter

    def is_recording(self, start_recording: bool):

        if start_recording:

            self._parent_drone._tcp_client.start_recording()

        else:

            self._parent_drone._tcp_client.stop_recording()

    @property

    def bitrate(self) -> int:

        """Set or get the camera bitrate

        *Arguments*:

        * bitrate (int): Set the camera bitrate in bits, Valid values are in range <1 000 000, 16 000 000>

        *Returns*:

        * bitrate (int): Get the camera bitrate

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        bitrate = camera_parameters[1]

        return bitrate

    @bitrate.setter

    def bitrate(self, bitrate: int):

        self._parent_drone._tcp_client.set_camera_bitrate(bitrate)

    @property

    def exposure(self) -> int:

        """Set or get the camera exposure

        *Arguments*:

        * exposure (int): Set the camera exposure_value: 1 = 1/1000th of a second, 5 = 1/200th of a second. Valid values are in the range <1, 5000>

        *Returns*:

        * exposure (int): Get the camera exposure

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        exposure = camera_parameters[2]

        return exposure

    @exposure.setter

    def exposure(self, exposure: int):

        self._parent_drone._tcp_client.set_camera_exposure(exposure)

    @property

    def whitebalance(self) -> int:

        """Set or get the camera white balance

        *Arguments*:

        * whitebalance (int): Set the camera white balance. Valid values are in the range <2800, 9300>

        *Returns*:

        * whitebalance (int): Get the camera white balance

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        whitebalance = camera_parameters[3]

        return whitebalance

    @whitebalance.setter

    def whitebalance(self, whitebalance: int):

        self._parent_drone._tcp_client.set_camera_whitebalance(whitebalance)

    @property

    def hue(self) -> int:

        """Set or get the camera hue

        *Arguments*:

        * hue (int): Set the camera hue. Valid values are in the range <-40, 40>

        *Returns*:

        * hue (int): Get the camera hue

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        hue = camera_parameters[4]

        return hue

    @hue.setter

    def hue(self, hue: int):

        self._parent_drone._tcp_client.set_camera_hue(hue)

    @property

    def resolution(self) -> int:

        """Set or get the camera resolution

        *Arguments*:

        * resolution (int): Set the camera in vertical pixels. Valid values are 720 or 1080

        *Returns*:

        * resolution (int): Get the camera resolution

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        resolution = camera_parameters[5]

        return resolution

    @resolution.setter

    def resolution(self, resolution: int):

        self._parent_drone._tcp_client.set_camera_resolution(resolution)

    @property

    def framerate(self) -> int:

        """Set or get the camera frame rate

        *Arguments*:

        * framerate (int): Set the camera frame rate in frames per second. Valid values are 25 or 30

        *Returns*:

        * framerate (int): Get the camera frame rate

        """

        camera_parameters = self._parent_drone._tcp_client.get_camera_parameters()

        framerate = camera_parameters[6]

        return framerate

    @framerate.setter

    def framerate(self, framerate: int):

        self._parent_drone._tcp_client.set_camera_framerate(framerate)

    @property

    def record_time(self) -> int:

        """Set or get the duration of the current camera recording

        *Returns*:

        * record_time (int): The length in seconds of the current recording, -1 if the camera is not currently recording

        """

        return self._state_watcher.general_state["camera_record_time"]

    def take_picture(self):

        """Takes a still picture and stores it locally on the drone

        These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client.

        This feature was added with drone version 1.4.7, so if you try to use it with an older

        version this method will raise a RunTimeError.

        """

        self._parent_drone._verify_required_blunux_version("1.4.7")

        self._parent_drone._tcp_client.take_still_picture()

Instance variables

bitrate

Set or get the camera bitrate

Arguments:

  • bitrate (int): Set the camera bitrate in bits, Valid values are in range <1 000 000, 16 000 000>

Returns:

  • bitrate (int): Get the camera bitrate
exposure

Set or get the camera exposure

Arguments:

  • exposure (int): Set the camera exposure_value: 1 = 1/1000th of a second, 5 = 1/200th of a second. Valid values are in the range <1, 5000>

Returns:

  • exposure (int): Get the camera exposure
framerate

Set or get the camera frame rate

Arguments:

  • framerate (int): Set the camera frame rate in frames per second. Valid values are 25 or 30

Returns:

  • framerate (int): Get the camera frame rate
hue

Set or get the camera hue

Arguments:

  • hue (int): Set the camera hue. Valid values are in the range <-40, 40>

Returns:

  • hue (int): Get the camera hue
is_recording

Start or stop a camera recording

Arguments:

  • is_recording (bool): Set to True to start a recording, set to False to stop the current recording

Returns:

  • is_recording (bool): True if the camera is currently recording, False if not
record_time

Set or get the duration of the current camera recording

Returns:

  • record_time (int): The length in seconds of the current recording, -1 if the camera is not currently recording
resolution

Set or get the camera resolution

Arguments:

  • resolution (int): Set the camera in vertical pixels. Valid values are 720 or 1080

Returns:

  • resolution (int): Get the camera resolution
whitebalance

Set or get the camera white balance

Arguments:

  • whitebalance (int): Set the camera white balance. Valid values are in the range <2800, 9300>

Returns:

  • whitebalance (int): Get the camera white balance

Methods

take_picture

def take_picture(
    self
)

Takes a still picture and stores it locally on the drone

These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client. This feature was added with drone version 1.4.7, so if you try to use it with an older version this method will raise a RunTimeError.

View Source
    def take_picture(self):

        """Takes a still picture and stores it locally on the drone

        These pictures can be downloaded with the Blueye App, or by any WebDAV compatible client.

        This feature was added with drone version 1.4.7, so if you try to use it with an older

        version this method will raise a RunTimeError.

        """

        self._parent_drone._verify_required_blunux_version("1.4.7")

        self._parent_drone._tcp_client.take_still_picture()

DepthUnitOverlay

class DepthUnitOverlay(
    /,
    *args,
    **kwargs
)
View Source
class DepthUnitOverlay(Enum):

    METERS = 0

    FEET = 1

Ancestors (in MRO)

  • enum.Enum

Class variables

FEET
METERS
name
value

FontSizeOverlay

class FontSizeOverlay(
    /,
    *args,
    **kwargs
)
View Source
class FontSizeOverlay(Enum):

    PX15 = 15

    PX20 = 20

    PX25 = 25

    PX30 = 30

    PX35 = 35

    PX40 = 40

Ancestors (in MRO)

  • enum.Enum

Class variables

PX15
PX20
PX25
PX30
PX35
PX40
name
value

LogoOverlay

class LogoOverlay(
    /,
    *args,
    **kwargs
)
View Source
class LogoOverlay(Enum):

    DISABLED = 0

    BLUEYE = 1

    CUSTOM = 2

Ancestors (in MRO)

  • enum.Enum

Class variables

BLUEYE
CUSTOM
DISABLED
name
value

Overlay

class Overlay(
    parent_drone: 'Drone'
)
View Source
class Overlay:

    """Control the overlay on videos and pictures"""

    def __init__(self, parent_drone: Drone):

        self._parent_drone = parent_drone

    def _get_named_overlay_parameters(self) -> NamedTuple:

        """Get overlay parameters from drone and convert them to a named tuple"""

        NamedParameters = namedtuple(

            "Parameters",

            [

                "returned_parameter",

                "temperature_enabled",

                "depth_enabled",

                "heading_enabled",

                "tilt_enabled",

                "date_enabled",

                "logo_index",

                "depth_unit",

                "temperature_unit",

                "tz_offset",

                "margin_width",

                "margin_height",

                "font_size",

                "title",

                "subtitle",

                "date_format",

            ],

        )

        parameters = self._parent_drone._tcp_client.get_overlay_parameters()

        return NamedParameters(*parameters)

    @property

    def temperature_enabled(self) -> bool:

        """Get or set the state of the temperature overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().temperature_enabled)

    @temperature_enabled.setter

    def temperature_enabled(self, enable_temperature: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_temperature_enabled(

            1 if enable_temperature else 0

        )

    @property

    def depth_enabled(self) -> bool:

        """Get or set the state of the depth overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().depth_enabled)

    @depth_enabled.setter

    def depth_enabled(self, enable_depth: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_depth_enabled(1 if enable_depth else 0)

    @property

    def heading_enabled(self) -> bool:

        """Get or set the state of the heading overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().heading_enabled)

    @heading_enabled.setter

    def heading_enabled(self, enable_heading: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_heading_enabled(1 if enable_heading else 0)

    @property

    def tilt_enabled(self) -> bool:

        """Get or set the state of the tilt overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().tilt_enabled)

    @tilt_enabled.setter

    def tilt_enabled(self, enable_tilt: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_tilt_enabled(1 if enable_tilt else 0)

    @property

    def date_enabled(self) -> bool:

        """Get or set the state of the date overlay

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return bool(self._get_named_overlay_parameters().date_enabled)

    @date_enabled.setter

    def date_enabled(self, enable_date: bool):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_date_enabled(1 if enable_date else 0)

    @property

    def logo(self) -> LogoOverlay:

        """Get or set logo overlay selection

        Needs to be set to an instance of the `LogoOverlay` class, if not a RuntimeWarning is

        raised.

        Requires Blunux version 1.8.72 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        return LogoOverlay(self._get_named_overlay_parameters().logo_index)

    @logo.setter

    def logo(self, logo_index: LogoOverlay):

        self._parent_drone._verify_required_blunux_version("1.8.72")

        if not isinstance(logo_index, LogoOverlay):

            warnings.warn("Invalid logo index, ignoring", RuntimeWarning)

        elif logo_index.value not in range(3):

            warnings.warn("Logo index out of range, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_logo_index(logo_index.value)

    @property

    def depth_unit(self) -> DepthUnitOverlay:

        """Get or set the depth unit for the overlay

        Needs to be set to an instance of the `DepthUnitOverlay` class, if not a RuntimeWarning is

        raised.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return DepthUnitOverlay(self._get_named_overlay_parameters().depth_unit)

    @depth_unit.setter

    def depth_unit(self, unit_index: DepthUnitOverlay):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if not isinstance(unit_index, DepthUnitOverlay):

            warnings.warn("Invalid depth unit index, ignoring", RuntimeWarning)

        elif unit_index.value not in range(2):

            warnings.warn("Depth unit index out of range, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_depth_unit(unit_index.value)

    @property

    def temperature_unit(self) -> TemperatureUnitOverlay:

        """Get or set the temperature unit for the overlay

        Needs to be set to an instance of the `TemperatureUnitOverlay` class, if not a

        RuntimeWarning is raised.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return TemperatureUnitOverlay(self._get_named_overlay_parameters().temperature_unit)

    @temperature_unit.setter

    def temperature_unit(self, unit_index: TemperatureUnitOverlay):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if not isinstance(unit_index, TemperatureUnitOverlay):

            warnings.warn("Invalid temperature unit index, ignoring", RuntimeWarning)

        elif unit_index.value not in range(2):

            warnings.warn("Temperature unit index out of range, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_temperature_unit(unit_index.value)

    @property

    def timezone_offset(self) -> int:

        """Get or set the timezone offset for the overlay

        Set to the number of minutes (either positive or negative) the timestamp should be offset.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().tz_offset

    @timezone_offset.setter

    def timezone_offset(self, offset: int):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        self._parent_drone._tcp_client.set_overlay_tz_offset(offset)

    @property

    def margin_width(self) -> int:

        """Get or set the margin width for the overlay

        The amount of pixels to use as margin on the right and left side of the overlay. Needs to

        be a positive integer.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().margin_width

    @margin_width.setter

    def margin_width(self, width: int):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if width < 0:

            warnings.warn("Invalid margin width, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_margin_width(width)

    @property

    def margin_height(self) -> int:

        """Get or set the margin height for the overlay

        The amount of pixels to use as margin on the top and bottom side of the overlay. Needs to be

        a positive integer.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().margin_height

    @margin_height.setter

    def margin_height(self, height: int):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if height < 0:

            warnings.warn("Invalid margin height, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_margin_height(height)

    @property

    def font_size(self) -> FontSizeOverlay:

        """Get or set the font size for the overlay

        Needs to be an instance of the `FontSizeOverlay` class, if not a RuntimeWarning is raised.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return FontSizeOverlay(self._get_named_overlay_parameters().font_size)

    @font_size.setter

    def font_size(self, size: FontSizeOverlay):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        if not isinstance(size, FontSizeOverlay):

            warnings.warn("Invalid font size, ignoring", RuntimeWarning)

        elif size.value not in range(15, 41):

            warnings.warn("Font size out of range, ignoring", RuntimeWarning)

        else:

            self._parent_drone._tcp_client.set_overlay_font_size(size.value)

    @property

    def title(self) -> str:

        """Get or set the title for the overlay

        The title needs to be a string of only ASCII characters with a maximum length of 63

        characters. If a longer title is passed it will be truncated, and a RuntimeWarning is

        raised.

        Set to an empty string to disable title.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().title.decode("utf-8").rstrip("\x00")

    @title.setter

    def title(self, input_title: str):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        new_title = input_title

        if len(input_title) > 63:

            warnings.warn("Too long title, truncating to 63 characters", RuntimeWarning)

            new_title = new_title[:63]

        try:

            encoded_title = bytes(new_title, "ascii")

        except UnicodeEncodeError:

            warnings.warn("Title can only contain ASCII characters, ignoring", RuntimeWarning)

            return

        self._parent_drone._tcp_client.set_overlay_title(encoded_title + b"\x00")

    @property

    def subtitle(self) -> str:

        """Get or set the subtitle for the overlay

        The subtitle needs to be a string of only ASCII characters with a maximum length of 63

        characters. If a longer subtitle is passed it will be truncated, and a RuntimeWarning is

        raised.

        Set to an empty string to disable the subtitle.

        Requires Blunux version 1.7.60 or newer.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().subtitle.decode("utf-8").rstrip("\x00")

    @subtitle.setter

    def subtitle(self, input_subtitle: str):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        new_subtitle = input_subtitle

        if len(input_subtitle) > 63:

            warnings.warn("Too long subtitle, truncating to 63 characters", RuntimeWarning)

            new_subtitle = new_subtitle[:63]

        try:

            encoded_subtitle = bytes(new_subtitle, "ascii")

        except UnicodeEncodeError:

            warnings.warn("Subtitle can only contain ASCII characters, ignoring", RuntimeWarning)

            return

        self._parent_drone._tcp_client.set_overlay_subtitle(encoded_subtitle + b"\x00")

    @property

    def date_format(self) -> str:

        """Get or set the format string for the time displayed in the overlay

        Must be a string containing only ASCII characters, with a max length of 63 characters.

        The format codes are defined by the C89 standard, see

        https://docs.python.org/3/library/datetime.html#strftime-and-strptime-format-codes

        for an overview of the available codes.

        """

        self._parent_drone._verify_required_blunux_version("1.7.60")

        return self._get_named_overlay_parameters().date_format.decode("utf-8").rstrip("\x00")

    @date_format.setter

    def date_format(self, input_format_str: str):

        self._parent_drone._verify_required_blunux_version("1.7.60")

        format_str = input_format_str

        if len(format_str) > 63:

            warnings.warn(

                "Too long date format string, truncating to 63 characters", RuntimeWarning

            )

            format_str = format_str[:63]

        try:

            encoded_format_str = bytes(format_str, "ascii")

        except UnicodeEncodeError:

            warnings.warn(

                "Date format string can only contain ASCII characters, ignoring", RuntimeWarning

            )

            return

        self._parent_drone._tcp_client.set_overlay_date_format(encoded_format_str + b"\x00")

    def upload_logo(self, path_to_logo: str):

        """Upload user selectable logo for watermarking videos and pictures

        Set the logo-property to `LogoOverlay.CUSTOM` to enable this logo.

        Allowed filetype: JPG or PNG.

        Max resolution: 2000 px.

        Max file size: 5 MB.

        Requires Blunux version 1.8.72 or newer.

        *Exceptions*:

        * `requests.exceptions.HTTPError` : Status code 400 for invalid files

        * `requests.exceptions.ConnectTimeout` : If unable to create a connection within 1s

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        with open(path_to_logo, "rb") as f:

            url = f"http://{self._parent_drone._ip}/asset/logo"

            files = {"image": f}

            response = requests.post(url, files=files, timeout=1)

        response.raise_for_status()

    def download_logo(self, output_directory="."):

        """Download the original user uploaded logo (PNG or JPG)

        Select the download directory with the output_directory parameter.

        *Exceptions*:

        * `requests.exceptions.HTTPError` : If no custom logo is uploaded.

        * `requests.exceptions.ConnectTimeout` : If unable to create a connection within 1s

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        response = requests.get(f"http://{self._parent_drone._ip}/asset/logo", timeout=1)

        response.raise_for_status()

        filename = re.findall('filename="(.+)"', response.headers["Content-Disposition"])[0]

        with open(f"{output_directory}/{filename}", "wb") as f:

            f.write(response.content)

    def delete_logo(self):

        """Delete the user uploaded logo from the drone

        *Exceptions*:

        * `requests.exceptions.HTTPError` : If an error occurs during deletion

        * `requests.exceptions.ConnectTimeout` : If unable to create a connection within 1s

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        response = requests.delete(f"http://{self._parent_drone._ip}/asset/logo", timeout=1)

        response.raise_for_status()

Instance variables

date_enabled

Get or set the state of the date overlay

Requires Blunux version 1.7.60 or newer.

date_format

Get or set the format string for the time displayed in the overlay

Must be a string containing only ASCII characters, with a max length of 63 characters.

The format codes are defined by the C89 standard, see https://docs.python.org/3/library/datetime.html#strftime-and-strptime-format-codes for an overview of the available codes.

depth_enabled

Get or set the state of the depth overlay

Requires Blunux version 1.7.60 or newer.

depth_unit

Get or set the depth unit for the overlay

Needs to be set to an instance of the DepthUnitOverlay class, if not a RuntimeWarning is raised.

Requires Blunux version 1.7.60 or newer.

font_size

Get or set the font size for the overlay

Needs to be an instance of the FontSizeOverlay class, if not a RuntimeWarning is raised.

Requires Blunux version 1.7.60 or newer.

heading_enabled

Get or set the state of the heading overlay

Requires Blunux version 1.7.60 or newer.

logo

Get or set logo overlay selection

Needs to be set to an instance of the LogoOverlay class, if not a RuntimeWarning is raised.

Requires Blunux version 1.8.72 or newer.

margin_height

Get or set the margin height for the overlay

The amount of pixels to use as margin on the top and bottom side of the overlay. Needs to be a positive integer.

Requires Blunux version 1.7.60 or newer.

margin_width

Get or set the margin width for the overlay

The amount of pixels to use as margin on the right and left side of the overlay. Needs to be a positive integer.

Requires Blunux version 1.7.60 or newer.

subtitle

Get or set the subtitle for the overlay

The subtitle needs to be a string of only ASCII characters with a maximum length of 63 characters. If a longer subtitle is passed it will be truncated, and a RuntimeWarning is raised.

Set to an empty string to disable the subtitle.

Requires Blunux version 1.7.60 or newer.

temperature_enabled

Get or set the state of the temperature overlay

Requires Blunux version 1.7.60 or newer.

temperature_unit

Get or set the temperature unit for the overlay

Needs to be set to an instance of the TemperatureUnitOverlay class, if not a RuntimeWarning is raised.

Requires Blunux version 1.7.60 or newer.

tilt_enabled

Get or set the state of the tilt overlay

Requires Blunux version 1.7.60 or newer.

timezone_offset

Get or set the timezone offset for the overlay

Set to the number of minutes (either positive or negative) the timestamp should be offset.

Requires Blunux version 1.7.60 or newer.

title

Get or set the title for the overlay

The title needs to be a string of only ASCII characters with a maximum length of 63 characters. If a longer title is passed it will be truncated, and a RuntimeWarning is raised.

Set to an empty string to disable title.

Requires Blunux version 1.7.60 or newer.

Methods

def delete_logo(
    self
)

Delete the user uploaded logo from the drone

Exceptions:

  • requests.exceptions.HTTPError : If an error occurs during deletion

  • requests.exceptions.ConnectTimeout : If unable to create a connection within 1s

View Source
    def delete_logo(self):

        """Delete the user uploaded logo from the drone

        *Exceptions*:

        * `requests.exceptions.HTTPError` : If an error occurs during deletion

        * `requests.exceptions.ConnectTimeout` : If unable to create a connection within 1s

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        response = requests.delete(f"http://{self._parent_drone._ip}/asset/logo", timeout=1)

        response.raise_for_status()
def download_logo(
    self,
    output_directory='.'
)

Download the original user uploaded logo (PNG or JPG)

Select the download directory with the output_directory parameter.

Exceptions:

  • requests.exceptions.HTTPError : If no custom logo is uploaded.

  • requests.exceptions.ConnectTimeout : If unable to create a connection within 1s

View Source
    def download_logo(self, output_directory="."):

        """Download the original user uploaded logo (PNG or JPG)

        Select the download directory with the output_directory parameter.

        *Exceptions*:

        * `requests.exceptions.HTTPError` : If no custom logo is uploaded.

        * `requests.exceptions.ConnectTimeout` : If unable to create a connection within 1s

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        response = requests.get(f"http://{self._parent_drone._ip}/asset/logo", timeout=1)

        response.raise_for_status()

        filename = re.findall('filename="(.+)"', response.headers["Content-Disposition"])[0]

        with open(f"{output_directory}/{filename}", "wb") as f:

            f.write(response.content)
def upload_logo(
    self,
    path_to_logo: 'str'
)

Upload user selectable logo for watermarking videos and pictures

Set the logo-property to LogoOverlay.CUSTOM to enable this logo.

Allowed filetype: JPG or PNG. Max resolution: 2000 px. Max file size: 5 MB.

Requires Blunux version 1.8.72 or newer.

Exceptions:

  • requests.exceptions.HTTPError : Status code 400 for invalid files

  • requests.exceptions.ConnectTimeout : If unable to create a connection within 1s

View Source
    def upload_logo(self, path_to_logo: str):

        """Upload user selectable logo for watermarking videos and pictures

        Set the logo-property to `LogoOverlay.CUSTOM` to enable this logo.

        Allowed filetype: JPG or PNG.

        Max resolution: 2000 px.

        Max file size: 5 MB.

        Requires Blunux version 1.8.72 or newer.

        *Exceptions*:

        * `requests.exceptions.HTTPError` : Status code 400 for invalid files

        * `requests.exceptions.ConnectTimeout` : If unable to create a connection within 1s

        """

        self._parent_drone._verify_required_blunux_version("1.8.72")

        with open(path_to_logo, "rb") as f:

            url = f"http://{self._parent_drone._ip}/asset/logo"

            files = {"image": f}

            response = requests.post(url, files=files, timeout=1)

        response.raise_for_status()

TemperatureUnitOverlay

class TemperatureUnitOverlay(
    /,
    *args,
    **kwargs
)
View Source
class TemperatureUnitOverlay(Enum):

    CELSIUS = 0

    FAHRENHEIT = 1

Ancestors (in MRO)

  • enum.Enum

Class variables

CELSIUS
FAHRENHEIT
name
value

Tilt

class Tilt(
    parent_drone: 'Drone'
)
View Source
class Tilt:

    @staticmethod

    def _tilt_angle_from_debug_flags(flags: int) -> float:

        """Helper function for decoding tilt angle from debug flags

        The tilt angle is encoded as an int8, with 0 at 0 degrees, and each increment representing

        0.5 degrees in either direction. A positive angle is upwards, and negative is downwards.

        """

        TILT_ANGLE_MASK = 0x0000FF0000000000

        TILT_ANGLE_OFFSET = 40

        tilt_angle_array = np.array(

            np.right_shift(np.bitwise_and(flags, TILT_ANGLE_MASK), TILT_ANGLE_OFFSET),

            dtype=[("tilt_angle", np.int8)],

        ).astype([("tilt_angle", float)])

        return tilt_angle_array["tilt_angle"] / 2

    @staticmethod

    def _tilt_stabilization_status_from_debug_flags(flags: int) -> bool:

        """Helper function for decoding tilt stabilization status from debug flags"""

        TILT_STABILIZATION_MASK = 0x100

        return bool(flags & TILT_STABILIZATION_MASK)

    def __init__(self, parent_drone: Drone):

        self._parent_drone = parent_drone

    def _verify_tilt_in_features(self):

        """Checks that the connected drone has the tilt feature

        Raises a RuntimeError if it does not.

        """

        if "tilt" not in self._parent_drone.features:

            raise RuntimeError("The connected drone does not support tilting the camera.")

    def set_speed(self, speed: float):

        """Set the speed and direction of the camera tilt

        *Arguments*:

        * speed (float): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.

        Requires a drone with the tilt feature, and software version 1.5 or newer.

        A RuntimeError is raised if either of those requirements are not met.

        """

        self._parent_drone._verify_required_blunux_version("1.5")

        self._verify_tilt_in_features()

        # The tilt command is grouped together with the thruster commands, so to avoid messing with

        # the thruster setpoint while tilting we need to get the current setpoint and send it with

        # the tilt command.

        with self._parent_drone.motion.thruster_lock:

            thruster_setpoints = self._parent_drone.motion.current_thruster_setpoints.values()

            self._parent_drone._tcp_client.motion_input_tilt(*thruster_setpoints, 0, 0, speed)

    @property

    def angle(self) -> float:

        """Return the current angle of the camera tilt

        Requires a drone with the tilt feature, and software version 1.5 or newer.

        A RuntimeError is raised if either of those requirements are not met.

        """

        self._parent_drone._verify_required_blunux_version("1.5")

        self._verify_tilt_in_features()

        debug_flags = self._parent_drone._state_watcher.general_state["debug_flags"]

        return self._tilt_angle_from_debug_flags(debug_flags)

    @property

    def stabilization_enabled(self) -> bool:

        """Get the state of active camera stabilization

        Use the `toggle_stabilization` method to turn stabilization on or off

        *Returns*:

        * Current state of active camera stabilization (bool)

        """

        self._parent_drone._verify_required_blunux_version("1.6.42")

        self._verify_tilt_in_features()

        debug_flags = self._parent_drone._state_watcher.general_state["debug_flags"]

        return self._tilt_stabilization_status_from_debug_flags(debug_flags)

    def toggle_stabilization(self):

        """Toggle active camera stabilization on or off

        Requires a drone with the tilt feature, and Blunux version 1.6.42 or newer.

        A RuntimeError is raised if either of those requirements are not met.

        """

        self._parent_drone._verify_required_blunux_version("1.6.42")

        self._verify_tilt_in_features()

        self._parent_drone._tcp_client.toggle_tilt_stabilization()

Instance variables

angle

Return the current angle of the camera tilt

Requires a drone with the tilt feature, and software version 1.5 or newer. A RuntimeError is raised if either of those requirements are not met.

stabilization_enabled

Get the state of active camera stabilization

Use the toggle_stabilization method to turn stabilization on or off

Returns:

  • Current state of active camera stabilization (bool)

Methods

set_speed

def set_speed(
    self,
    speed: 'float'
)

Set the speed and direction of the camera tilt

Arguments:

  • speed (float): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.

Requires a drone with the tilt feature, and software version 1.5 or newer. A RuntimeError is raised if either of those requirements are not met.

View Source
    def set_speed(self, speed: float):

        """Set the speed and direction of the camera tilt

        *Arguments*:

        * speed (float): Speed and direction of the tilt. 1 is max speed up, -1 is max speed down.

        Requires a drone with the tilt feature, and software version 1.5 or newer.

        A RuntimeError is raised if either of those requirements are not met.

        """

        self._parent_drone._verify_required_blunux_version("1.5")

        self._verify_tilt_in_features()

        # The tilt command is grouped together with the thruster commands, so to avoid messing with

        # the thruster setpoint while tilting we need to get the current setpoint and send it with

        # the tilt command.

        with self._parent_drone.motion.thruster_lock:

            thruster_setpoints = self._parent_drone.motion.current_thruster_setpoints.values()

            self._parent_drone._tcp_client.motion_input_tilt(*thruster_setpoints, 0, 0, speed)

toggle_stabilization

def toggle_stabilization(
    self
)

Toggle active camera stabilization on or off

Requires a drone with the tilt feature, and Blunux version 1.6.42 or newer. A RuntimeError is raised if either of those requirements are not met.

View Source
    def toggle_stabilization(self):

        """Toggle active camera stabilization on or off

        Requires a drone with the tilt feature, and Blunux version 1.6.42 or newer.

        A RuntimeError is raised if either of those requirements are not met.

        """

        self._parent_drone._verify_required_blunux_version("1.6.42")

        self._verify_tilt_in_features()

        self._parent_drone._tcp_client.toggle_tilt_stabilization()