Updated to DJITellopy, added an emergancy stop, and more

README.md

@@ -1,6 +1,8 @@
 # tello_sim
 
-**tello_sim** is a simple Python simulator (sim) that can be used by students to test their [tello](https://www.ryzerobotics.com/tello-edu) flight plans before deploying them to a real drone. It was inspired by the [easyTello](https://github.com/Virodroid/easyTello) library and uses it for the drone interface.
+**tello_sim** is a simple Python simulator (sim) that can be used by students to test their [tello](https://www.ryzerobotics.com/tello-edu) flight plans before deploying them to a real drone. In this fork, it uses [DJITellopy](https://github.com/damiafuentes/DJITelloPy)
+
+This is a fork of a previous project written by [Fireline-Science](https://github.com/Fireline-Science/tello_sim), so all credit goes to him for the heavy lifting. I simply am just updating it to help teach my classes.
 
 One suggested use for the sim is to develop an in-class obstacle course for students to fly their drone through. For example, you could have designated launch and landing positions that are separated by a series of obstacles. Obstacles could include tunnels to fly through or corners to navigate around.
 
@@ -63,20 +65,20 @@ my_drone.takeoff()
 ![](/images/takeoff.png)
 
 ```python
-my_drone.forward(40)
+my_drone.move_forward(40)
 ```
 ![](/images/forward.png)
 
 By default, the simulator plots a 25 cm error region in light blue around the flight path. For more advanced projects, you can override the default parameter by including the optional second error bar parameter in centimeters like ```forward(40, e=50)```. This is useful when you want to change the model (simulation) based on empirical (actual) testing.
 
 
 ```python
-my_drone.cw(45)
+my_drone.rotate_counter_clockwise(45)
 ```
 ![](/images/cw.png)
 
 ```python
-my_drone.forward(50)
+my_drone.move_forward(50)
 ```
 ![](/images/forward_2.png)
 
@@ -105,13 +107,13 @@ In a classroom, it can be useful to allow students to share their command script
         ]
     },
     {
-    	"command": "cw",
+    	"command": "rotate_counter_clockwise",
 	"arguments": [
 	    90
 	]
     },
     {
-    	"command": "forward",
+    	"command": "move_forward",
 	"arguments": [
 	    100
 	]
@@ -143,7 +145,7 @@ my_drone.reset()
 ```
 
 ## Deploying to a Real Drone
-We are using the [easytello](https://github.com/Virodroid/easyTello) library to allow you to deploy your simulated flight to a real drone. Once you are connected to your drone via WiFi, you can deploy the commands you built up in an interactive session or loaded via a command file in Jupyter with the following command:
+We are using the [DJITellopy](https://github.com/damiafuentes/DJITelloPy) library to allow you to deploy your simulated flight to a real drone. Once you are connected to your drone via WiFi, you can deploy the commands you built up in an interactive session or loaded via a command file in Jupyter with the following command:
 
 ```python
 my_drone.deploy()
@@ -171,3 +173,10 @@ Note: if you are running multiple scripts to the drone, you may have to kill the
 lsof -i:8889
 kill XXXX
 ```
+
+If you're on Windows the following commands should work
+```
+
+netstat -p tcp -ano  | findstr ":21" (Outpuuted as Protocol Local Address Foreign Address State PID)
+taskkill /F /ID XXXX
+```

commands.json

@@ -8,67 +8,67 @@
         "arguments": []
     },
     {
-        "command": "forward",
+        "command": "move_forward",
         "arguments": [
             100
         ]
     },
     {
-    	"command": "cw",
-	"arguments": [
-	    90
-	]
+        "command": "rotate_clockwise",
+        "arguments": [
+            90
+        ]
     },
     {
-    	"command": "forward",
-	"arguments": [
-	    100
-	]
+        "command": "move_forward",
+        "arguments": [
+            100
+        ]
     },
     {
-    	"command": "cw",
-	"arguments": [
-	    90
-	]
+        "command": "rotate_clockwise",
+        "arguments": [
+            90
+        ]
     },
     {
-    	"command": "forward",
-	"arguments": [
-	    100
-	]
+        "command": "move_forward",
+        "arguments": [
+            100
+        ]
     },
     {
-    	"command": "cw",
-	"arguments": [
-	    90
-	]
+        "command": "rotate_clockwise",
+        "arguments": [
+            90
+        ]
     },
     {
-    	"command": "forward",
-	"arguments": [
-	    100
-	]
+        "command": "move_forward",
+        "arguments": [
+            100
+        ]
     },
     {
-    	"command": "cw",
-	"arguments": [
-	    45 
-	]
+        "command": "rotate_clockwise",
+        "arguments": [
+            45
+        ]
     },
     {
-    	"command": "forward",
-	"arguments": [
-	    50
-	]
+        "command": "move_forward",
+        "arguments": [
+            50
+        ]
     },
     {
-    	"command": "flip",
-	"arguments": [
-	    "r"
-	]
+        "command": "flip",
+        "arguments": [
+            "r"
+        ]
     },
     {
         "command": "land",
         "arguments": []
     }
-]
+]

example.py

@@ -6,7 +6,7 @@
 
 # flight commands are below
 my_drone.takeoff()
-my_drone.forward(130)
-my_drone.ccw(90)
-my_drone.forward(80)
+my_drone.move_forward(130)
+my_drone.rotate_clockwise(90)
+my_drone.move_forward(80)
 my_drone.land()

my_first_flight.json

@@ -8,19 +8,19 @@
         "arguments": []
     },
     {
-        "command": "forward",
+        "command": "move_forward",
         "arguments": [
             50
         ]
     },
     {
-        "command": "cw",
+        "command": "rotate_clockwise",
         "arguments": [
             90
         ]
     },
     {
-        "command": "forward",
+        "command": "move_forward",
         "arguments": [
             100
         ]

setup.py

@@ -14,7 +14,7 @@
     install_requires=[
         'pandas',
         'matplotlib',
-        'easytello'
+        'djitellopy'
     ],
     classifiers=[
         'Programming Language :: Python :: 3',

tello_sim/simulator.py

@@ -5,8 +5,8 @@
 import numpy as np
 import pandas as pd
 
-from easytello import Tello
-
+from djitellopy import Tello
+from djitellopy import TelloException
 
 class Simulator():
     def __init__(self):
@@ -60,13 +60,33 @@ def send_command(self, command: str, *args):
         print('I am running your "{}" command.'.format(self.serialize_command(command_json)))
 
         time.sleep(2)
+
+
+    def send_command_with_retries(self, command: str, timeout: int = 7, retries: int = 3, *args):
+        command_json = {
+            'command': command,
+            'arguments': args
+        }
+        self.command_log.append(command_json)
+        print('I am running your "{}" command.'.format(self.serialize_command(command_json)))
+
+        for i in range(retries):
+            try:
+                response = self.driver_instance.send_command_with_return(command, timeout)
+                if(response == 'ok'):
+                    return True
+
+            except Exception as e:
+                print("Connection attempt #{} failed trying to send command: {}".format(i, command))
+                time.sleep(1)
+        print('Failed to send command after {} retries'.format(retries))
 
     # Control Commands
     def command(self):
         print("Hi! My name is TelloSim and I am your training drone.")
         print("I help you try out your flight plan before sending it to a real Tello.")
         print("I am now ready to take off. 🚁")
-        self.send_command('command')
+        self.send_command_with_retries('command')
 
     def check_takeoff(self):
         if not self.takeoff_state:
@@ -141,6 +161,16 @@ def takeoff(self):
             print("My estimated takeoff altitude is {} centimeters".format(self.altitude))
         else:
             print("My current altitude is {} centimeters, so I can't takeoff again!".format(self.altitude))
+
+
+    def emergency(self):
+        """
+        Stop all motors immediately.
+        """
+        self.send_command_with_retries("emergency")
+        self.takeoff_state = False
+        self.altitude = 0
+
 
     def land(self, e=25):
         """
@@ -155,13 +185,13 @@ def land(self, e=25):
         print("Get ready for landing!")
         self.takeoff_state = False
         self.altitude = 0
-        self.send_command('land')
+        self.send_command_with_retries('land')
         print("Here are the graphs of your flight! I can't wait to try this for real.")
         self.plot_horz_steps(e)
         self.plot_altitude_steps(e)
 
 
-    def up(self, dist: int, e=25):
+    def move_up(self, dist: int, e=25):
         """
         Command drone to fly up a given number of centimeters.
 
@@ -186,7 +216,7 @@ def up(self, dist: int, e=25):
         self.send_command('up', dist)
         self.plot_altitude_steps(e)
 
-    def down(self, dist: int, e=25):
+    def move_down(self, dist: int, e=25):
         """
         Command drone to fly down a given number of centimeters.
 
@@ -211,7 +241,7 @@ def down(self, dist: int, e=25):
         self.send_command('down', dist)
         self.plot_altitude_steps(e)
 
-    def left(self, dist: int, e=25):
+    def move_left(self, dist: int, e=25):
         """
         Command drone to fly left a given number of centimeters.
 
@@ -238,7 +268,7 @@ def left(self, dist: int, e=25):
         self.send_command('left', dist)
         self.plot_horz_steps(e)
 
-    def right(self, dist: int, e=25):
+    def move_right(self, dist: int, e=25):
         """
         Command drone to fly right a given number of centimeters.
 
@@ -264,7 +294,7 @@ def right(self, dist: int, e=25):
         self.send_command('right', dist)
         self.plot_horz_steps(e)
 
-    def forward(self, dist: int, e=25):
+    def move_forward(self, dist: int, e=25):
         """
         Command drone to fly forward a given number of centimeters.
 
@@ -290,7 +320,7 @@ def forward(self, dist: int, e=25):
         self.send_command('forward', dist)
         self.plot_horz_steps(e)
 
-    def back(self, dist: int, e=25):
+    def move_back(self, dist: int, e=25):
         """
         Command drone to fly backward a given number of centimeters.
 
@@ -315,7 +345,7 @@ def back(self, dist: int, e=25):
         self.send_command('back', dist)
         self.plot_horz_steps(e)
 
-    def cw(self, degr: int):
+    def rotate_clockwise(self, degr: int):
         """
         Rotate drone clockwise.
 
@@ -335,7 +365,7 @@ def cw(self, degr: int):
         self.send_command('cw', degr)
         print("My new bearing is {} degrees.".format(self.bearing))
 
-    def ccw(self, degr: int):
+    def rotate_counter_clockwise(self, degr: int):
         """
         Rotate drone counter clockwise.
 
@@ -345,7 +375,7 @@ def ccw(self, degr: int):
 
         Examples
         ----------
-        drone.ccw(90) # rotates drone 90 degrees counter clockwise
+        drone.rotate_counter_clockwise(90) # rotates drone 90 degrees counter clockwise
 
         """
         self.check_takeoff()
@@ -381,6 +411,7 @@ def flip(self, direc: str, e=25):
         self.send_command('flip', direc)
         self.flip_coors.append(self.cur_loc)
         self.plot_horz_steps(e)
+
 
     # Deploys the command log from the simulation state to the actual drone
     def deploy(self):
@@ -399,10 +430,16 @@ def deploy(self):
             # Since the driver binds to a socket on instantiation, we can only
             # keep a single driver instance open per session
             self.driver_instance = Tello()
+
+            try:
+                self.driver_instance.connect()
+            except Exception as e:
+                print("Failed to connect to drone. Please check that you are connected to the drone's WiFi network. If you're still having issues, please ask for help!")
 
         for command in self.command_log:
-            self.driver_instance.send_command(self.serialize_command(command))
-
+            self.driver_instance.send_command_without_return(self.serialize_command(command))
+
+
     # Resets the simulation state back to the beginning: no commands + landed
     def reset(self):
         """