Imperix Node SDK including the NodeLink communication handlers that allow robots and drones to communicate with the Imperix streamers and Commander API.
Imperix Node SDK - Python
Imperix is a new fleet control philosophy, not just a ground control program. Imperix connects an entire fleet to the internet using secured and encrypted communication protocols, and provides a command center interface to all units on the fleet.
The Imperix Node SDK is a set of open-source Software Developer Kits in common programming languages allowing users to connect and interface custom autopilot systems with the Imperix Cloud.
The core functionality of the SDK includes:
- Authenticating node with the Imperix Cloud
- Synchronizing mission state with the cloud
- Streaming manual control commands from the cloud
- Streaming telemetry, video, and data to the cloud
All dependencies for the Imperix Node SDK Python implementation are provided in the requirements.txt file. To install the dependencies, run the following command:
pip3 install -r requirements.txt
The SDK requires a node configuration file node.cfg to be placed in the program's root directory. The node configuration requires the following parameters:
- Unique node identifier string provided upon node registration
- Node authorization access key provided upon node registration
- Imperix Commander API URL (standard)
- Streamer/Stream Controller IP address/URL available in fleet manager
The node.cfg file may be downloaded from the Imperix Commander node configuration page.
The Imperix Node SDK is designed to authenticate the node and initialize communications in its own thread. Review detailed SDK documentation available on: https://docs.imperix.ai.
To use the SDK functions, import the SDK into your Python workspace/project using:
import asyncio from imperix import NodeLink
The NodeLink handlers and communication threads use the asyncio package's async/await calls for concurrent operations. In order to set this up correctly, an event loop must be created and handled.
See the example below for a main file definition:
# Developed by Aptus Engineering, Inc. <https://aptus.aero> # See LICENSE.md file in project root directory import asyncio from imperix import NodeLink # Set up callback functions # Called when mission is updated async def missionUpdateCallback(mission): print(mission) # Called with manual control command is received async def manualControlCallback(control): print(control) # Instantiate node link with callbacks node = NodeLink( missionUpdateCallback=missionUpdateCallback, manualControlCallback=manualControlCallback ) async def main(): # Connect and authenticate await node.connect() # Main loop... while True: await asyncio.sleep(1) print("hello") # Start event loop eventLoop = asyncio.get_event_loop() try: asyncio.ensure_future(main()) # Main thread eventLoop.run_forever() except KeyboardInterrupt: pass finally: eventLoop.close() asyncio.get_event_loop().run_until_complete(NodeLinkThread(node)) asyncio.get_event_loop().run_forever()
Initialization and Recieve Commands
Initialize a communication stream with the Imperix Cloud using the following command:
node = NodeLink( missionUpdateCallback=handleMissionUpdate, manualControlCallback=handleManualControl )
- handleMissionUpdate is a callback/lambda function which accepts the updated mission as a dictionary.
- handleManualControl is a callback/lambda function which accepts manual control command as a dictionary.
To connect to the Imperix Cloud, use the following command:
Where config is the path to the node configuration file.
Sending Mission Updates
In order to update mission parameters, call the function:
await node.updateMission( activeWaypoint=wptIdx, missionStatus=status )
- wptIdx is a dict key to the waypoint index the node is currently moving to/on.
- status is a string defining the current mission status. It can be one of:
- Standby if the mission is loaded but not active
- Active if the node is performing the loaded mission.
- Complete if the node successfully finished the mission
- Failed:[ERROR] if the node failed the mission. [ERROR] must be replaced with the reason for mission failure
Three kinds of data streams are available to send to the Imperix Cloud. Users can send one of:
- Telemetry - live data representing critical node status, such as location, velocities, attitude, etc.
- Video/Image - live or pre-captured video/image feeds for live view on the Imperix Commander or for future analytics using Imperix Intelligence.
- Data - any JSON-serializable data strings, such as sensor readings, messages etc.
In order to stream telemetry, construct a dictionary with keys indicating the following variables:
- ATT_ROLL (degrees)
- ATT_PITCH (degrees)
- ATT_HEADING (degrees)
- LOC_LATITUDE (degrees)
- LOC_LONGITUDE (degrees)
- LOC_ALTITUDE (meters)
- VEL_GROUNDSPEED (meters per second)
- VEL_AIRSPEED (meters per second)
- VEL_VERTICAL_SPEED (meters per second)
- VEL_ROLL_RATE (degrees per second)
- VEL_PITCH_RATE (degrees per second)
- VEL_YAW_RATE (degrees per second)
- STS_BATTERY (percentage 0-100)
- STS_SIGNAL (percentage 0-100)
And call the function:
Where telemetry is the dict with the above variables.
In order to stream image, either provide the image as a 1 or 3 channel numpy array to the function:
await node.transmitImage( image, timeStamp=timestamp, feed=feed )
- image is the numpy image,
- timestamp is a datetime object, or None to use current timestamp (live feed), and
- feed is a string identifying the name of the video feed. Default is PRIMARY.
A pre-compressed JPEG image binary (avaiable using OpenCV, or Pillow) can also be streamed by calling the function:
await node.transmitImageBinary( image, timeStamp=timestamp, feed=feed )
Where image is the pre-compressed JPEG image binary as a bytes object.
To stream an encoded MPEG(-4) video from a live camera, streaming can be started using the call:
await node.streamVideoFromSource(feed, source)
Where source is a string representing the camera source ***(eg. /dev/video0)***.
Videos can also be streamed from files by replacing the source argument with the file name, and by passing the isFile flag to the call:
await node.streamVideoFromSource(feed, source, isFile=True)
Finally, to stream data to the Imperix Cloud, the following function may be called:
Where data is a dictionary with JSON-serializable keys-value pairs.
Streaming Latency Feedback
A mechanism is built to allow in optimizing video/image frame-rate and latency. Every second, an image/video feedback packet is sent back to the node, whose data can be used to adjust the stream quality accordingly. The following variables can be used to access framerate and latency.
In order to close out of a session - to be used when disconnecting the node, performing updates, or shutting down the node, the following function may be called:
Shutting down the node, or exiting the program also automatically disconnects the node from the Imperix Cloud.
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