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tello_manager.py
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tello_manager.py
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import threading
from threading import Thread
import socket
import time
import netifaces
import netaddr
from netaddr import IPNetwork
from collections import defaultdict
from stats import Stats
import binascii
class Tello:
"""
A wrapper class to interact with Tello
Communication with Tello is handled by Tello_Manager
"""
def __init__(self, tello_ip, Tello_Manager):
self.tello_ip = tello_ip
self.Tello_Manager = Tello_Manager
def send_command(self, command):
return self.Tello_Manager.send_command(command, self.tello_ip)
class Tello_Manager:
def __init__(self):
self.local_ip = ''
self.local_port = 8889
self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # socket for sending cmd
self.socket.bind((self.local_ip, self.local_port))
# thread for receiving cmd ack
self.receive_thread = threading.Thread(target=self._receive_thread)
self.receive_thread.daemon = True
self.receive_thread.start()
self.tello_ip_list = []
self.tello_list = []
self.log = defaultdict(list)
self.COMMAND_TIME_OUT = 9.0
self.last_response_index = {}
self.str_cmd_index = {}
def find_avaliable_tello(self, num):
"""
Find avaliable tello in server's subnets
:param num: Number of Tello this method is expected to find
:return: None
"""
print '[Start_Searching]Searching for %s available Tello...\n' % num
subnets, address = self.get_subnets()
possible_addr = []
for subnet, netmask in subnets:
for ip in IPNetwork('%s/%s' % (subnet, netmask)):
# skip local and broadcast
if str(ip).split('.')[3] == '0' or str(ip).split('.')[3] == '255':
continue
possible_addr.append(str(ip))
while len(self.tello_ip_list) < num:
print '[Still_Searching]Trying to find Tello in subnets...\n'
# delete already fond Tello
for tello_ip in self.tello_ip_list:
if tello_ip in possible_addr:
possible_addr.remove(tello_ip)
# skip server itself
for ip in possible_addr:
if ip in address:
continue
# record this command
self.log[ip].append(Stats('command', len(self.log[ip])))
self.socket.sendto(b'command', (ip, 8889))
time.sleep(5)
# filter out non-tello addresses in log
temp = defaultdict(list)
for ip in self.tello_ip_list:
temp[ip] = self.log[ip]
self.log = temp
def get_subnets(self):
"""
Look through the server's internet connection and
returns subnet addresses and server ip
:return: list[str]: subnets
list[str]: addr_list
"""
subnets = []
ifaces = netifaces.interfaces()
addr_list = []
for myiface in ifaces:
addrs = netifaces.ifaddresses(myiface)
if socket.AF_INET not in addrs:
continue
# Get ipv4 stuff
ipinfo = addrs[socket.AF_INET][0]
address = ipinfo['addr']
netmask = ipinfo['netmask']
# limit range of search. This will work for router subnets
if netmask != '255.255.255.0':
continue
# Create ip object and get
cidr = netaddr.IPNetwork('%s/%s' % (address, netmask))
network = cidr.network
subnets.append((network, netmask))
addr_list.append(address)
return subnets, addr_list
def get_tello_list(self):
return self.tello_list
def send_command(self, command, ip):
"""
Send a command to the ip address. Will be blocked until
the last command receives an 'OK'.
If the command fails (either b/c time out or error),
will try to resend the command
:param command: (str) the command to send
:param ip: (str) the ip of Tello
:return: The latest command response
"""
#global cmd
command_sof_1 = ord(command[0])
command_sof_2 = ord(command[1])
if command_sof_1 == 0x52 and command_sof_2 == 0x65:
multi_cmd_send_flag = True
else :
multi_cmd_send_flag = False
if multi_cmd_send_flag == True:
self.str_cmd_index[ip] = self.str_cmd_index[ip] + 1
for num in range(1,5):
str_cmd_index_h = self.str_cmd_index[ip]/128 + 1
str_cmd_index_l = self.str_cmd_index[ip]%128
if str_cmd_index_l == 0:
str_cmd_index_l = str_cmd_index_l + 2
cmd_sof =[0x52,0x65,str_cmd_index_h,str_cmd_index_l,0x01,num + 1,0x20]
cmd_sof_str = str(bytearray(cmd_sof))
cmd = cmd_sof_str + command[3:]
self.socket.sendto(cmd.encode('utf-8'), (ip, 8889))
print '[Multi_Command]----Multi_Send----IP:%s----Command: %s\n' % (ip, command[3:])
real_command = command[3:]
else:
self.socket.sendto(command.encode('utf-8'), (ip, 8889))
print '[Single_Command]----Single_Send----IP:%s----Command: %s\n' % (ip, command)
real_command = command
self.log[ip].append(Stats(real_command, len(self.log[ip])))
start = time.time()
while not self.log[ip][-1].got_response():
now = time.time()
diff = now - start
if diff > self.COMMAND_TIME_OUT:
print '[Not_Get_Response]Max timeout exceeded...command: %s \n' % real_command
return
def _receive_thread(self):
"""Listen to responses from the Tello.
Runs as a thread, sets self.response to whatever the Tello last returned.
"""
while True:
try:
self.response, ip = self.socket.recvfrom(1024)
ip = ''.join(str(ip[0]))
if self.response.upper() == 'OK' and ip not in self.tello_ip_list:
print '[Found_Tello]Found Tello.The Tello ip is:%s\n' % ip
self.tello_ip_list.append(ip)
self.last_response_index[ip] = 100
self.tello_list.append(Tello(ip, self))
self.str_cmd_index[ip] = 1
response_sof_part1 = ord(self.response[0])
response_sof_part2 = ord(self.response[1])
if response_sof_part1 == 0x52 and response_sof_part2 == 0x65:
response_index = ord(self.response[3])
if response_index != self.last_response_index[ip]:
#print '--------------------------response_index:%x %x'%(response_index,self.last_response_index)
print'[Multi_Response] ----Multi_Receive----IP:%s----Response: %s ----\n' % (ip, self.response[7:])
self.log[ip][-1].add_response(self.response[7:],ip)
self.last_response_index[ip] = response_index
else:
print'[Single_Response]----Single_Receive----IP:%s----Response: %s ----\n' % (ip, self.response)
self.log[ip][-1].add_response(self.response,ip)
#print'[Response_WithIP]----Receive----IP:%s----Response:%s----\n' % (ip, self.response)
except socket.error, exc:
print "[Exception_Error]Caught exception socket.error : %s\n" % exc
def get_log(self):
return self.log