Permalink
Switch branches/tags
Nothing to show
Find file Copy path
5f67c59 Mar 22, 2018
1 contributor

Users who have contributed to this file

375 lines (244 sloc) 9 KB
"""License.
Copyright 2018 Todd Mueller <firstnamelastname@gmail.com>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
"""
import socket
import threading
import time
import traceback
class Tello:
"""Wrapper to simply interactions with the Ryze Tello drone."""
def __init__(self, local_ip, local_port, imperial=True, command_timeout=.3, tello_ip='192.168.10.1', tello_port=8889):
"""Binds to the local IP/port and puts the Tello into command mode.
Args:
local_ip (str): Local IP address to bind.
local_port (int): Local port to bind.
imperial (bool): If True, speed is MPH and distance is feet.
If False, speed is KPH and distance is meters.
command_timeout (int|float): Number of seconds to wait for a response to a command.
tello_ip (str): Tello IP.
tello_port (int): Tello port.
Raises:
RuntimeError: If the Tello rejects the attempt to enter command mode.
"""
self.abort_flag = False
self.command_timeout = command_timeout
self.imperial = imperial
self.response = None
self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.tello_address = (tello_ip, tello_port)
self.socket.bind((local_ip, local_port))
self.receive_thread = threading.Thread(target=self._receive_thread)
self.receive_thread.daemon=True
self.receive_thread.start()
if self.send_command('command') != 'OK':
raise RuntimeError('Tello rejected attempt to enter command mode')
def __del__(self):
"""Closes the local socket."""
self.socket.close()
def _receive_thread(self):
"""Listens for 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(256)
except Exception:
break
def flip(self, direction):
"""Flips.
Args:
direction (str): Direction to flip, 'l', 'r', 'f', 'b', 'lb', 'lf', 'rb' or 'rf'.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.send_command('flip %s' % direction)
def get_battery(self):
"""Returns percent battery life remaining.
Returns:
int: Percent battery life remaining.
"""
battery = self.send_command('battery?')
try:
battery = int(battery)
except:
pass
return battery
def get_flight_time(self):
"""Returns the number of seconds elapsed during flight.
Returns:
int: Seconds elapsed during flight.
"""
flight_time = self.send_command('time?')
try:
flight_time = int(flight_time)
except:
pass
return flight_time
def get_speed(self):
"""Returns the current speed.
Returns:
int: Current speed in KPH or MPH.
"""
speed = self.send_command('speed?')
try:
speed = float(speed)
if self.imperial is True:
speed = round((speed / 44.704), 1)
else:
speed = round((speed / 27.7778), 1)
except:
pass
return speed
def land(self):
"""Initiates landing.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.send_command('land')
def move(self, direction, distance):
"""Moves in a direction for a distance.
This method expects meters or feet. The Tello API expects distances
from 20 to 500 centimeters.
Metric: .1 to 5 meters
Imperial: .7 to 16.4 feet
Args:
direction (str): Direction to move, 'forward', 'back', 'right' or 'left'.
distance (int|float): Distance to move.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
distance = float(distance)
if self.imperial is True:
distance = int(round(distance * 30.48))
else:
distance = int(round(distance * 100))
return self.send_command('%s %s' % (direction, distance))
def move_backward(self, distance):
"""Moves backward for a distance.
See comments for Tello.move().
Args:
distance (int): Distance to move.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.move('back', distance)
def move_down(self, distance):
"""Moves down for a distance.
See comments for Tello.move().
Args:
distance (int): Distance to move.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.move('down', distance)
def move_forward(self, distance):
"""Moves forward for a distance.
See comments for Tello.move().
Args:
distance (int): Distance to move.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.move('forward', distance)
def move_left(self, distance):
"""Moves left for a distance.
See comments for Tello.move().
Args:
distance (int): Distance to move.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.move('left', distance)
def move_right(self, distance):
"""Moves right for a distance.
See comments for Tello.move().
Args:
distance (int): Distance to move.
"""
return self.move('right', distance)
def move_up(self, distance):
"""Moves up for a distance.
See comments for Tello.move().
Args:
distance (int): Distance to move.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.move('up', distance)
def send_command(self, command):
"""Sends a command to the Tello and waits for a response.
If self.command_timeout is exceeded before a response is received,
a RuntimeError exception is raised.
Args:
command (str): Command to send.
Returns:
str: Response from Tello.
Raises:
RuntimeError: If no response is received within self.timeout seconds.
"""
self.abort_flag = False
timer = threading.Timer(self.command_timeout, self.set_abort_flag)
self.socket.sendto(command.encode('utf-8'), self.tello_address)
timer.start()
while self.response is None:
if self.abort_flag is True:
raise RuntimeError('No response to command')
timer.cancel()
response = self.response.decode('utf-8')
self.response = None
return response
def set_abort_flag(self):
"""Sets self.abort_flag to True.
Used by the timer in Tello.send_command() to indicate to that a response
timeout has occurred.
"""
self.abort_flag = True
def set_speed(self, speed):
"""Sets speed.
This method expects KPH or MPH. The Tello API expects speeds from
1 to 100 centimeters/second.
Metric: .1 to 3.6 KPH
Imperial: .1 to 2.2 MPH
Args:
speed (int|float): Speed.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
speed = float(speed)
if self.imperial is True:
speed = int(round(speed * 44.704))
else:
speed = int(round(speed * 27.7778))
return self.send_command('speed %s' % speed)
def takeoff(self):
"""Initiates take-off.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.send_command('takeoff')
def rotate_cw(self, degrees):
"""Rotates clockwise.
Args:
degrees (int): Degrees to rotate, 1 to 360.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.send_command('cw %s' % degrees)
def rotate_ccw(self, degrees):
"""Rotates counter-clockwise.
Args:
degrees (int): Degrees to rotate, 1 to 360.
Returns:
str: Response from Tello, 'OK' or 'FALSE'.
"""
return self.send_command('ccw %s' % degrees)