update the docs

.gitignore

@@ -1,5 +1,5 @@
-_build
+build
+dist
+
+src/robomaster.egg-info
 __pycache__
-*pyc
-!.gitignore
-.idea

CODESTYLE.md

@@ -0,0 +1,139 @@
+# Code Style Guide
+
+The code should generally follow [PEP8](https://www.python.org/dev/peps/pep-0008/)
+
+Code documentation should be written using Google style, which can be extracted
+using Sphinx:
+* http://google.github.io/styleguide/pyguide.html
+* http://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_google.html
+
+
+Main style points to consider:
+
+## Line Length
+
+PEP8 recommends a maximum line length of 80 characters.  While some lines
+are easier to read if they're a bit longer than that, generally try to stay
+within the 80 character limit.
+
+Parameter lists can be wrapped and long strings can be split by enclosing them
+in parentheses:
+
+````python
+long_string = ('First long line...'
+    'Second long line')
+````
+
+or by using triple quotes.
+
+## White Space
+
+Indentation should be made using 4 space characters.
+
+* Two blank lines between class definitions and top-level functions
+* One blank line between methods (generally)
+
+Follow [PEP8 guidelines](https://www.python.org/dev/peps/pep-0008/#whitespace-in-expressions-and-statements)
+for whitespace in expressions and statements.
+
+## Imports
+
+Import statements should be arranged in three blocks at the head of the file
+(though after the module documentation).  Each block of imports should be in
+alphabetical order.
+
+1. The first block should be Python-provided packages (eg. `sys`)
+2. The second block should be third-party packages (eg. `numpy`)
+3. The final block should be local packages and module (eg. `from . import camera`)
+
+````python
+import os
+import sys
+
+import numpy
+
+from . import camera
+from . import event
+````
+
+Wildcard imports (`from module import *`) should not be used outside of tests.
+
+Additionally it is generally useful to avoid importing variables from modules
+directly into the local namespace (`from module import some_object`) - Doing
+so means you now have two references to to the same thing, which impedes
+mocking during unit tests.
+
+Better instead to import the module and reference a qualified name (`import module`
+and `module.some_object`).
+
+## Names
+
+* Module level constants should be in CAPS
+* Class names should be CamelCase
+* Variables, attributes, functions, methods and properties should be lowercase_with_underscores
+* Variables, attributes, functions, methods and properties can be named with a
+leading underscore to indicate that they're "private"
+
+## Documentation
+
+See http://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_google.html
+for documentation examples.
+
+* Module-level documentation should appear first in the file, before imports
+* All public-facing classes, functions, methods etc should be documented
+* The first line of a docstring should contain the summary of what the item does.
+This should be followed by a blank line and the extended description, if any.
+* Use Sphinx-friendly markup (per the Google guide above) so that cross-references
+work automatically and examples are formatted correctly.
+
+### Documenting properties and attributes
+
+For class and object attributes, use the `#:` comment syntax rather than a
+trailing docstring.  Instance attributes can be documented in the `__init__`
+constructor.
+
+Properties should use a docstring like any other method, but should be
+written in the same style as an attribute, as that's how they'll be presented
+in Sphinx (ie. as `return_type: description`).
+
+Properties with setters must have the docstring on the getter rather than
+the setter.
+
+
+```python
+class MyClass:
+    """One line summary of class.
+
+    Docstring for constructor should appear in the class description
+
+    Args:
+        default_timeout (int): Default number of seconds for operations to
+            wait for timeout.
+    """
+    #: string: Description of a class-level attribute.  The description
+    #: may span multiple lines as long as they all begin with #:
+    class_level_attr = ''
+
+    def __init__(self, default_timeout=None):
+        #: int: The default number of seconds for operations to wait for timeout.
+        self.default_timeout = default_timeout
+
+    @property
+    def timeout_enabled(self):
+        """ description.
+        bool: True if a value for :attr:`default_timeout` has been set.
+        return:
+        exception:
+        """
+        return self.default_timeout is not None
+```
+
+
+## Exceptions
+
+Wherever practical, catch explicit exception classes rather than using
+a bare try/except statement (or matching `Exception`).
+
+To re-raise the original exception use `raise` by itself or
+`raise MyException() from exc`
+(rather than `raise exc`) to maintain the original stack trace.

examples/05_vision/02_line.py

@@ -43,7 +43,9 @@ def color(self):
 def on_detect_line(line_info):
     number = len(line_info)
     line.clear()
-    for i in range(0, number):
+    line_type = line_info[0]
+    print('line_type', line_type)
+    for i in range(1, number):
         x, y, ceta, c = line_info[i]
         line.append(PointInfo(x, y, ceta, c))
 

examples/12_drone/24_get_ssid.py

@@ -0,0 +1,29 @@
+# -*-coding:utf-8-*-
+# Copyright (c) 2020 DJI.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License in the file LICENSE.txt or at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import robomaster
+from robomaster import robot
+
+
+if __name__ == '__main__':
+    tl_drone = robot.Drone()
+    tl_drone.initialize()
+
+    # 获取飞机SSID信息
+    ssid = tl_drone.get_ssid()
+    print("drone ssid: {0}".format(ssid))
+
+    tl_drone.close()

lib/libmedia_codec/.gitignore

@@ -0,0 +1,4 @@
+output
+dist
+build
+libmedia_codec.egg-info

lib/libmedia_codec/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.4.1)
+project (robomaster_media_codec)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_BUILD_TYPE Release)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/output)
+
+set(PYBIND11_PYTHON_VERSION 3)
+add_subdirectory(pybind11)
+
+pybind11_add_module(libmedia_codec src/media_codec.cpp)
+
+IF (CMAKE_SYSTEM_NAME MATCHES "Windows")
+	SET(OPUS_INCLUDE_DIRS "${CMAKE_SOURCE_DIR}/src/opus-share/include")
+	SET(OPUS_LIBRARIES "${CMAKE_SOURCE_DIR}/src/opus-share/lib/opus.lib")
+	SET(FFMEPG_INCLUDE_DIRS "${CMAKE_SOURCE_DIR}/src/ffmpeg-4.2.2-win64-dev/include")
+	SET(FFMEPG_LIBRARIES_PATH "${CMAKE_SOURCE_DIR}/src/ffmpeg-4.2.2-win64-dev/lib")
+	target_link_libraries(libmedia_codec PRIVATE
+			${FFMEPG_LIBRARIES_PATH}/avcodec.lib
+			${FFMEPG_LIBRARIES_PATH}/swscale.lib
+			${FFMEPG_LIBRARIES_PATH}/avutil.lib
+			${OPUS_LIBRARIES})
+	target_include_directories(libmedia_codec PRIVATE 
+			${FFMEPG_INCLUDE_DIRS} 
+			${OPUS_INCLUDE_DIRS})
+ELSE ()
+	target_link_libraries(libmedia_codec PRIVATE opus avcodec swscale avutil)
+ENDIF (CMAKE_SYSTEM_NAME MATCHES "Windows")

lib/libmedia_codec/LICENSE

@@ -0,0 +1,36 @@
+Copyright (c) 2016 The Pybind Development Team, All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+You are under no obligation whatsoever to provide any bug fixes, patches, or
+upgrades to the features, functionality or performance of the source code
+("Enhancements") to anyone; however, if you choose to make your Enhancements
+available either publicly, or directly to the author of this software, without
+imposing a separate written license agreement for such Enhancements, then you
+hereby grant the following license: a non-exclusive, royalty-free perpetual
+license to install, use, modify, prepare derivative works, incorporate into
+other computer software, distribute, and sublicense such enhancements or
+derivative works thereof, in binary and source code form.

lib/libmedia_codec/MANIFEST.in

@@ -0,0 +1,4 @@
+include README.md LICENSE
+global-include CMakeLists.txt *.cmake
+recursive-include src *
+recursive-include pybind11/include *.h

lib/libmedia_codec/README.md

@@ -0,0 +1,83 @@
+# cmake_example for pybind11
+
+[![Build Status](https://travis-ci.org/pybind/cmake_example.svg?branch=master)](https://travis-ci.org/pybind/cmake_example)
+[![Build status](https://ci.appveyor.com/api/projects/status/57nnxfm4subeug43/branch/master?svg=true)](https://ci.appveyor.com/project/dean0x7d/cmake-example/branch/master)
+
+An example [pybind11](https://github.com/pybind/pybind11) module built with a
+CMake-based build system. This is useful for C++ codebases that have an existing
+CMake project structure.
+
+
+## Prerequisites
+
+**On Unix (Linux, OS X)**
+
+* A compiler with C++11 support
+* CMake >= 2.8.12
+
+**On Windows**
+
+* Visual Studio 2015 (required for all Python versions, see notes below)
+* CMake >= 3.1
+
+
+## Installation
+
+Just clone this repository and pip install. Note the `--recursive` option which is
+needed for the pybind11 submodule:
+
+```bash
+git clone --recursive https://github.com/pybind/cmake_example.git
+pip install ./cmake_example
+```
+
+With the `setup.py` file included in this example, the `pip install` command will
+invoke CMake and build the pybind11 module as specified in `CMakeLists.txt`.
+
+
+## Special notes for Windows
+
+**Compiler requirements**
+
+Pybind11 requires a C++11 compliant compiler, i.e Visual Studio 2015 on Windows.
+This applies to all Python versions, including 2.7. Unlike regular C extension
+modules, it's perfectly fine to compile a pybind11 module with a VS version newer
+than the target Python's VS version. See the [FAQ] for more details.
+
+**Runtime requirements**
+
+The Visual C++ 2015 redistributable packages are a runtime requirement for this
+project. It can be found [here][vs2015_runtime]. If you use the Anaconda Python
+distribution, you can add `vs2015_runtime` as a platform-dependent runtime
+requirement for you package: see the `conda.recipe/meta.yaml` file in this example.
+
+
+## Building the documentation
+
+Documentation for the example project is generated using Sphinx. Sphinx has the
+ability to automatically inspect the signatures and documentation strings in
+the extension module to generate beautiful documentation in a variety formats.
+The following command generates HTML-based reference documentation; for other
+formats please refer to the Sphinx manual:
+
+ - `cd cmake_example/docs`
+ - `make html`
+
+
+## License
+
+Pybind11 is provided under a BSD-style license that can be found in the LICENSE
+file. By using, distributing, or contributing to this project, you agree to the
+terms and conditions of this license.
+
+
+## Test call
+
+```python
+import cmake_example
+cmake_example.add(1, 2)
+```
+
+
+[FAQ]: http://pybind11.rtfd.io/en/latest/faq.html#working-with-ancient-visual-studio-2009-builds-on-windows
+[vs2015_runtime]: https://www.microsoft.com/en-us/download/details.aspx?id=48145

lib/libmedia_codec/cmake/FindOpus.cmake

@@ -0,0 +1,31 @@
+#
+# - Find the opus include file and library
+#
+#  OPUS_FOUND - system has opus
+#  OPUS_INCLUDE_DIRS - the opus include directory
+#  OPUS_LIBRARIES - The libraries needed to use opus
+
+find_path(OPUS_INCLUDE_DIRS
+	NAMES opus/opus.h
+	PATH_SUFFIXES include
+)
+if(OPUS_INCLUDE_DIRS)
+	set(HAVE_OPUS_OPUS_H 1)
+endif()
+
+find_library(OPUS_LIBRARIES NAMES opus)
+
+if(OPUS_LIBRARIES)
+	find_library(LIBM NAMES m)
+	if(LIBM)
+		list(APPEND OPUS_LIBRARIES ${LIBM})
+	endif()
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Opus
+	DEFAULT_MSG
+	OPUS_INCLUDE_DIRS OPUS_LIBRARIES HAVE_OPUS_OPUS_H
+)
+
+mark_as_advanced(OPUS_INCLUDE_DIRS OPUS_LIBRARIES HAVE_OPUS_OPUS_H)