def __init__(self, tello, outputpath): self.vplayer = TelloUI(tello, outputpath) self.partrolDistance = 0.0 #accumulated distance in patrol mode self.state = STATE_INIT #Finite state machine self.fireCount = 0 self.searchCount = 0 self.box = [] # start the Tkinter mainloop self.Thread = threading.Thread(target = self.main_loop) self.Thread.daemon = True self.Thread.start()
def main():
drone = tello.Tello('', 8889)
vplayer = TelloUI(drone,"./img/")
# start the Tkinter mainloop
vplayer.root.mainloop()
def main():
#drone = tello.Tello('192.168.10.2', 8889)
drone = tello.Tello('192.168.10.2', 80)
vplayer = TelloUI(drone, "./img/")
# start the Tkinter mainloop
vplayer.root.mainloop()
def main():
drone = tello.Tello('', 8889)
controller = joystick.Joystick()
vplayer = TelloUI(drone, controller, "./img/")
# start the Tkinter mainloop
vplayer.root.mainloop()
def __init__(self):
self.tello = Tello()
#drone = tello.Tello('', 8889)
self.tello_ui = TelloUI(self.tello, "./img/")
# start the Tkinter
#print("before main loop")
# self.thread = threading.Thread(target=self.start_main_loop())
# self.thread.start()
print("after tello_ui initialization")
def main():
drone = tello.Tello('', 8889)
vplayer = TelloUI(drone, "./img/")
vplayer.telloTakeOff()
time.sleep(8)
vplayer.takeSnapshot()
time.sleep(8)
vplayer.telloLanding()
# start the Tkinter mainloop
vplayer.root.mainloop()
def __init__(self, tello, outputpath):
self.vplayer = TelloUI(tello, outputpath)
self.yolo = Yolov3(config='yolov3.cfg', weights='yolov3.weights')
self.FailDectionTimes = 0
self.PatrolTimes = 0
self.state = STATE_INIT #Finite state machine
self.bboxCenter = None
self.bboxHeight = None
self.bboxWidth = None
self.partrolDistance = 0.0 #accumulated distance in patrol mode
#Active linebot thread, if want to send message , call linebot.SendMassage(message)
self.linebotThread = threading.Thread(target=Linebot.Active)
self.linebotThread.daemon = True
self.linebotThread.start()
# start the Tkinter mainloop
self.UIThread = threading.Thread(target=self.MainLoop)
self.UIThread.daemon = True
self.UIThread.start()
import tello
from tello_control_ui import TelloUI
import socket
import time
import threading
def worker1(vplayer):
vplayer.root.mainloop()
drone = tello.Tello('', 8889)
vplayer = TelloUI(drone, "./img/")
th1 = threading.Thread(target=worker1, args=(vplayer, ))
th1.start()
tello_ip = '192.168.10.1'
tello_port = 8889
socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
tello_address = (tello_ip, tello_port)
socket.sendto('command'.encode('utf-8'), tello_address)
time.sleep(5)
socket.sendto('takeoff'.encode('utf-8'), tello_address)
time.sleep(5)
print('A')
vplayer.takeSnapshot()
time.sleep(5)
socket.sendto('land'.encode('utf-8'), tello_address)
def main():
drone = tello_video.Tello('192.168.10.1', 8889)
vplayer = TelloUI(drone, "./img/")
# start the Tkinter mainloop
vplayer.root.mainloop()
def main():
drone = tello.Tello('', 8889)
vplayer = TelloUI(drone,"./img/")
# It will starts tkimage loop
vplayer.root.mainloop()
def main():
# start the Tkinter mainloop
mainUI = TelloUI()
mainUI.root.mainloop()
class FireDetect:
"""Wrapper class to enable the fire detection."""
def __init__(self, tello, outputpath):
self.vplayer = TelloUI(tello, outputpath)
self.partrolDistance = 0.0 #accumulated distance in patrol mode
self.state = STATE_INIT #Finite state machine
self.fireCount = 0
self.searchCount = 0
self.box = []
# start the Tkinter mainloop
self.Thread = threading.Thread(target = self.main_loop)
self.Thread.daemon = True
self.Thread.start()
def main_loop(self):
while not self.isEventFinish():
if self.state is STATE_INIT:
#Do something init state should do
#self.Takeoff()
self.vplayer.tello.takeoff()
time.sleep(7)
self.state = STATE_PATROL
elif self.state is STATE_PATROL:
#Do patrol
isFinish = self.patrol()
if isFinish:
self.state = STATE_FINISH
elif self.detectFire():
#send message
self.fireCount = 0
self.apiUpdate()
self.state = STATE_CORRECT
print("STATE_PATROL")
elif self.state is STATE_CORRECT:
#correct position
print("STATE_CORRECT")
self.detectFire()
bbox = list(self.box)
MVcmd = self.correct(bbox)
print('box =', bbox)
print('MVcmd =', MVcmd)
# if not MVcmd:
# self.state = STATE_LOCATING
if not MVcmd:
pass
elif MVcmd[0]:
self.correctR(MVcmd[0])
elif MVcmd[1]:
self.correctT(MVcmd[1])
else:
self.state = STATE_LOCATING
# self.state = STATE_LOCATING
elif self.state is STATE_LOCATING:
#Do tracking
print("STATE_LOCATING")
isFinish = self.locate()
if isFinish:
self.state = STATE_SEARCH
elif self.state is STATE_SEARCH:
#Do tracking
print("STATE_SEARCH")
isFinish = self.search()
if isFinish:
self.state = STATE_LOCATING
elif self.state is STATE_FINISH:
print("STATE_FINISH")
if self.land() == 'ok':
return
time.sleep(1.5)
print('MainLoop')
print(type(self.vplayer.frame))
def patrol(self):
#Do partrol and return finish or not. Ture means finish, False mean need continue.
MaxDist = 5
response = self.vplayer.telloMoveForward(self.vplayer.distance)
print 'forward %f' % self.partrolDistance
if response == 'ok':
self.partrolDistance += self.vplayer.distance
if(self.partrolDistance > MaxDist):
return True
return False
def detectFire(self):
#Detect and return exist fire or not. Ture means exist fire.
self.fireCount = 0
box = np.array([0.0, 0.0, 0.0, 0.0])
for i in range(3):
image = cv2.cvtColor(self.vplayer.frame, cv2.COLOR_RGB2BGR)
data = self.apiDetect(image)
if data['is_fire']:
self.fireCount += 1
box += np.array(data['box'])
if self.fireCount > 1:
self.box = box / self.fireCount
return True
else:
return False
def locate(self):
#1.Call server API first.
#2.Circle the fire zone./move right until the fire is out of sight.
self.vplayer.telloMoveRight(0.2)
is_fire = self.detectFire()
if not is_fire:
return True
box_center_x = (self.box[0] + self.box[2]) / 2
print('shape =', self.vplayer.frame.shape)
x_interval = self.vplayer.frame.shape[1] / 3
if box_center_x < x_interval:
return True
return False
def search(self):
#Circle the fire zone./CCW rotate to search the fire.
self.vplayer.telloCCW(7)
is_fire = self.detectFire()
self.searchCount += 1
if self.searchCount > 5 and not is_fire:
return True
if not is_fire:
return False
box_center_x = (self.box[0] + self.box[2]) / 2
x_interval = self.vplayer.frame.shape[1] / 3
if box_center_x > x_interval * 2:
return True
self.searchCount = 0
return False
def correctR(self, R):
if R == 2:
self.vplayer.telloCW(5)
elif R == 1:
self.vplayer.telloCCW(5)
return
def correctT(self, T):
if T == 1:
self.vplayer.telloMoveForward(0.2)
elif T == 2:
self.vplayer.telloMoveBackward(0.1)
return
def correct(self, bbox):
r = []
if not bbox:
return r
width = bbox[2] - bbox[0]
height = bbox[3] - bbox[1]
size = width
# 1 for left; 2 for right
if(bbox[0] > 320 and bbox[2] < 960):
r.append(0)
elif(bbox[2] < 640):
r.append(1)
elif(bbox[0] > 640):
r.append(2)
# 1 for forward; 2 for backward
if(size > SIZE_L and size < SIZE_H):
r.append(0)
elif(size < SIZE_L):
r.append(1)
elif(size > SIZE_H):
r.append(2)
return r
def apiDetect(self, image):
image = cv2.pyrDown(image)
image = cv2.pyrDown(image)
data = json.dumps(image.tolist(), separators=(',', ':'), sort_keys=True, indent=4)
resp = requests.post(url='http://localhost:10008/api/v1/fire/detect', json={'image': data})
resp_data = json.loads(resp.content)['data']
resp_data['box'] = list(np.array(resp_data['box'], dtype=np.float) * 4)
print(resp_data)
return resp_data
def apiUpdate(self):
while True:
image = cv2.cvtColor(self.vplayer.frame, cv2.COLOR_RGB2BGR)
resp_data = self.apiDetect(image)
if not resp_data['is_fire']:
pass
else:
img_r1 = cv2.pyrDown(image)
red = (0, 0, 255)
box = resp_data['box']
left, top, right, bottom = int(box[0] / 2), int(box[1] / 2), int(box[2] / 2), int(box[3] / 2)
img_r1 = cv2.rectangle(img_r1, (left, top), (right, bottom), red, 4)
img_r1 = cv2.putText(img_r1, 'Fire', (left, top - 10), cv2.FONT_HERSHEY_COMPLEX, 1.2, red, 1)
data = json.dumps(img_r1.tolist(), separators=(',', ':'), sort_keys=True, indent=4)
resp = requests.post(url='http://localhost:10008/api/v1/fire/upload', json={'is_fire': True, 'image': data})
break
def land(self):
#Drone land. Turn 'OK' or 'FALSE'
return self.vplayer.tello.land()
def telloTakeOff(self):
return self.vplayer.tello.takeoff()
def telloLanding(self):
return self.vplayer.tello.land()
def telloCW(self, degree):
return self.vplayer.tello.rotate_cw(degree)
def telloCCW(self, degree):
return self.vplayer.tello.rotate_ccw(degree)
def telloMoveForward(self, distance):
return self.vplayer.tello.move_forward(distance)
def telloMoveBackward(self, distance):
return self.vplayer.tello.move_backward(distance)
def telloMoveLeft(self, distance):
return self.vplayer.tello.move_left(distance)
def telloMoveRight(self, distance):
return self.vplayer.tello.move_right(distance)
def telloUp(self, dist):
return self.vplayer.tello.move_up(dist)
def telloDown(self, dist):
return self.vplayer.tello.move_down(dist)
def isEventFinish(self): #Return Ture means finish
return self.vplayer.stopEvent.is_set()