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January 30, 2023 12:49
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contrl tello sample
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| # 参考サイト: https://ponkichi.blog/drone01/ | |
| import socket | |
| TELLO_IP = '192.168.10.1' | |
| TELLO_CM_PORT = 8889 | |
| TELLO_ST_PORT = 8890 | |
| TELLO_ADDRESS = (TELLO_IP, TELLO_CM_PORT) | |
| class TelloSock: | |
| def __init__(self, host, port): | |
| self._host = host | |
| self._port = port | |
| self._sock = self.sock_initialize() | |
| def sock_initialize(self): | |
| s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) | |
| s.bind(('', self._port)) | |
| return s | |
| def send(self, cmd): | |
| addr = (self._host, self._port) | |
| self._sock.sendto(cmd.encode('utf-8'), addr) | |
| def recv(self): | |
| try: | |
| r, _ = self._sock.recvfrom(1024) | |
| r_text = r.decode('utf-8') | |
| except Exception as e: | |
| print(e) | |
| return "" | |
| return r_text | |
| class TelloCommand: | |
| def __init__(self): | |
| self._cmd = TelloSock(TELLO_IP, TELLO_CM_PORT) | |
| self._status = TelloSock(TELLO_IP, TELLO_ST_PORT) | |
| def command(self, cmd): | |
| print(">> [%s]" % cmd) | |
| self._cmd.send(cmd) | |
| ret = self._cmd.recv() | |
| print("<< [%s]" % ret) | |
| return ret | |
| def status(self): | |
| r = self._status.recv() | |
| print("status [%s]" % r) | |
| return r | |
| class TelloControl: | |
| def __init__(self): | |
| self._cmd = TelloCommand() | |
| def enter_command_mode(self): | |
| while True: | |
| # コマンドモード | |
| r = self._cmd.command('command') | |
| if r == 'ok': | |
| print("command response OK") | |
| break | |
| print("wait for command response...") | |
| def has_enough_battery(self): | |
| r = self._cmd.command('battery?') | |
| print('Tello Battery: ' + r.strip() + '%') | |
| # 飛行できる分のバッテリ残量が無い場合はプログラムを終了 | |
| if int(r) < 20: | |
| print("Error: Low Battery") | |
| return False | |
| return True | |
| def initialize(self): | |
| self.enter_command_mode() | |
| if self.has_enough_battery() is False: | |
| return False | |
| return True | |
| def command(self, cmd): | |
| self._cmd.command(cmd) | |
| def main(): | |
| ctrl = TelloControl() | |
| if ctrl.initialize() is False: | |
| exit() | |
| ctrl.command("takeoff") | |
| ctrl.command("land") | |
| print("Drone Control Program : Start") | |
| if __name__ == "__main__": | |
| main() |
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