def __init__(self, tello_ip='192.168.10.1', portCmd=8889): self.pill2kill = threading.Event() self.task20ms = TimerTask(0.02, self._timerTask, "World") self.sockCmd = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.addrCmd = (tello_ip, portCmd) self.sockCmd.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.sockCmd.settimeout(.5) self.threadCmdRX = threading.Thread(target=self._threadCmdRX, args=(self.pill2kill, "task")) self.threadCmdRX.start() self.threadVideoRX = threading.Thread(target=self._threadVideoRX, args=(self.pill2kill, "task")) self.threadVideoRX.start() self.seqID = 0 self.stickData = 0 self.rcCtr = 0 self._sendCmd(0x00, self.TELLO_CMD_CONN, None)
class Tello: # TELLO COMMAND TELLO_CMD_CONN = 1 TELLO_CMD_CONN_ACK = 2 TELLO_CMD_SSID = 17 # pt48 TELLO_CMD_SET_SSID = 18 # pt68 TELLO_CMD_SSID_PASS = 19 # pt48 TELLO_CMD_SET_SSID_PASS = 20 # pt68 TELLO_CMD_REGION = 21 # pt48 TELLO_CMD_SET_REGION = 22 # pt68 TELLO_CMD_REQ_VIDEO_SPS_PPS = 37 # pt60 TELLO_CMD_TAKE_PICTURE = 48 # pt68 TELLO_CMD_SWITCH_PICTURE_VIDEO = 49 # pt68 TELLO_CMD_START_RECORDING = 50 # pt68 TELLO_CMD_SET_EV = 52 # pt48 TELLO_CMD_DATE_TIME = 70 # pt50 TELLO_CMD_STICK = 80 # pt60 TELLO_CMD_LOG_HEADER_WRITE = 4176 # pt50 TELLO_CMD_LOG_DATA_WRITE = 4177 # RX_O TELLO_CMD_LOG_CONFIGURATION = 4178 # pt50 TELLO_CMD_WIFI_SIGNAL = 26 # RX_O TELLO_CMD_VIDEO_BIT_RATE = 40 # pt48 TELLO_CMD_LIGHT_STRENGTH = 53 # RX_O TELLO_CMD_VERSION_STRING = 69 # pt48 TELLO_CMD_ACTIVATION_TIME = 71 # pt48 TELLO_CMD_LOADER_VERSION = 73 # pt48 TELLO_CMD_STATUS = 86 # RX_O TELLO_CMD_ALT_LIMIT = 4182 # pt48 TELLO_CMD_LOW_BATT_THRESHOLD = 4183 # pt48 TELLO_CMD_ATT_ANGLE = 4185 # pt48 TELLO_CMD_SET_JPEG_QUALITY = 55 # pt68 TELLO_CMD_TAKEOFF = 84 # pt68 TELLO_CMD_LANDING = 85 # pt68 TELLO_CMD_SET_ALT_LIMIT = 88 # pt68 TELLO_CMD_FLIP = 92 # pt70 TELLO_CMD_THROW_FLY = 93 # pt48 TELLO_CMD_PALM_LANDING = 94 # pt48 TELLO_CMD_PLANE_CALIBRATION = 4180 # pt68 TELLO_CMD_SET_LOW_BATTERY_THRESHOLD = 4181 # pt68 TELLO_CMD_SET_ATTITUDE_ANGLE = 4184 # pt68 TELLO_CMD_ERROR1 = 67 # RX_O TELLO_CMD_ERROR2 = 68 # RX_O TELLO_CMD_FILE_SIZE = 98 # pt50 TELLO_CMD_FILE_DATA = 99 # pt50 TELLO_CMD_FILE_COMPLETE = 100 # pt48 TELLO_CMD_HANDLE_IMU_ANGLE = 90 # pt48 TELLO_CMD_SET_VIDEO_BIT_RATE = 32 # pt68 TELLO_CMD_SET_DYN_ADJ_RATE = 33 # pt68 TELLO_CMD_SET_EIS = 36 # pt68 TELLO_CMD_SMART_VIDEO_START = 128 # pt68 TELLO_CMD_SMART_VIDEO_STATUS = 129 # pt50 TELLO_CMD_BOUNCE = 4179 # pt68 # Smart Video TELLO_SMART_VIDEO_STOP = 0x00 TELLO_SMART_VIDEO_START = 0x01 TELLO_SMART_VIDEO_360 = 0x01 TELLO_SMART_VIDEO_CIRCLE = 0x02 TELLO_SMART_VIDEO_UP_OUT = 0x03 # PORT TELLO_PORT_VIDEO = 6037 # CRC TABLES TBL_CRC16 = [ 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78 ] TBL_CRC8 = [ 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35, ] NEW_ALT_LIMIT = 30 def __init__(self, tello_ip='192.168.10.1', portCmd=8889): self.pill2kill = threading.Event() self.task20ms = TimerTask(0.02, self._timerTask, "World") self.sockCmd = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.addrCmd = (tello_ip, portCmd) self.sockCmd.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) self.sockCmd.settimeout(.5) self.threadCmdRX = threading.Thread(target=self._threadCmdRX, args=(self.pill2kill, "task")) self.threadCmdRX.start() self.threadVideoRX = threading.Thread(target=self._threadVideoRX, args=(self.pill2kill, "task")) self.threadVideoRX.start() self.seqID = 0 self.stickData = 0 self.rcCtr = 0 self._sendCmd(0x00, self.TELLO_CMD_CONN, None) def __del__(self): self.stop() def stop(self): self.task20ms.stop() self.pill2kill.set() self.sockCmd.close() def setStickData(self, fast, roll, pitch, thr, yaw): self.stickData = (fast << 44) | (yaw << 33) | (thr << 22) | ( pitch << 11) | (roll) def takeOff(self): self._sendCmd(0x68, self.TELLO_CMD_TAKEOFF, None) def land(self): self._sendCmd(0x68, self.TELLO_CMD_LANDING, bytearray([0x00])) def setSmartVideoShot(self, mode, isStart): data = self.TELLO_SMART_VIDEO_START if isStart == True else self.TELLO_SMART_VIDEO_STOP data = data | (mode << 2) self._sendCmd(0x68, self.TELLO_CMD_SMART_VIDEO_START, bytearray([data])) def bounce(self, isStart): data = 0x30 if isStart == True else 0x31 self._sendCmd(0x68, self.TELLO_CMD_BOUNCE, bytearray([data])) ############################################################################### # utility functions ############################################################################### def _calcCRC16(self, buf, size): i = 0 seed = 0x3692 while size > 0: seed = self.TBL_CRC16[(seed ^ buf[i]) & 0xff] ^ (seed >> 8) i = i + 1 size = size - 1 return seed def _calcCRC8(self, buf, size): i = 0 seed = 0x77 while size > 0: seed = self.TBL_CRC8[(seed ^ buf[i]) & 0xff] i = i + 1 size = size - 1 return seed def _printArray(self, buf, size=None): i = 0 if size is None: size = len(buf) while size > 0: print('0x' + format(buf[i], '02x') + ', ') i = i + 1 size = size - 1 print('') def _buildPacket(self, pacType, cmdID, seqID, data): size = len(data) if data != None else 0 size = 11 + size bb = ByteBuffer.allocate(size) bb.clear() bb.put_ULInt8(0xCC) bb.put_ULInt16(size << 3) crc8 = self._calcCRC8(bb.get_array(), 3) bb.put_ULInt8(crc8) bb.put_ULInt8(pacType) bb.put_ULInt16(cmdID) bb.put_ULInt16(seqID) if data: bb.put(data) crc16 = self._calcCRC16(bb.get_array(), size - 2) bb.put_ULInt16(crc16) bb.flip() return bb def _parsePacket(self, buf): dataSize = 0 cmdID = 0 if len(buf) >= 11: bb = ByteBuffer.wrap(buf) mark = bb.get_ULInt8() if mark == 0xCC: size = bb.get_ULInt16() >> 3 crc8 = bb.get_ULInt8() calcCRC8 = self._calcCRC8(buf, 3) if crc8 != calcCRC8: print('wrong CRC8 {0:02x / 1:02x}'.format(crc8, calcCRC8)) pacType = bb.get_ULInt8() cmdID = bb.get_ULInt16() seqID = bb.get_ULInt16() dataSize = size - 11 data = None # if dataSize > 0: # data = bytearray(dataSize) # bb.get(data) bb.set_position(size - 2) crc16 = bb.get_ULInt16() calcCRC16 = self._calcCRC16(buf, size - 2) if crc16 != calcCRC16: print('wrong CRC8 {0:04x / 1:04x}'.format( crc16, calcCRC16)) # print 'pt:{0:02x}, cmd:{1:4d}={2:04x}, seq:{3:04x}, data_sz:{4:d} - '.format(pacType, cmdID, cmdID, seqID, dataSize) else: if mark == 0x63: ack = ByteBuffer.allocate(11) ack.put_bytes('conn_ack:'.encode()) ack.put_ULInt16(self.TELLO_PORT_VIDEO) ack.flip() if ack.get_array() == buf: cmdID = self.TELLO_CMD_CONN_ACK else: print('wrong video port !!') else: print('wrong mark !! {0:02x}'.format(mark)) elif buf != None: print('wrong packet length={0:d}, 1st byte={1:02x}'.format( len(buf), buf[0])) return cmdID def _sendCmd(self, pacType, cmdID, data): bb = None payload = None out = None seq = 0 len = 0 if cmdID == self.TELLO_CMD_CONN: out = ByteBuffer.allocate(11) out.clear() out.put_bytes('conn_req:'.encode()) out.put_ULInt16(self.TELLO_PORT_VIDEO) self.seqID = self.seqID + 1 elif cmdID == self.TELLO_CMD_STICK: now = datetime.datetime.now() bb = ByteBuffer.allocate(11) bb.clear() # put 64bit stick data pp = ByteBuffer.allocate(8) pp.put_ULInt64(self.stickData) pp.flip() # get 48bit data only bb.put(pp.get_array(), 0, 6) bb.put_ULInt8(now.hour) bb.put_ULInt8(now.minute) bb.put_ULInt8(now.second) bb.put_ULInt16(now.microsecond & 0xffff) seq = 0 elif cmdID == self.TELLO_CMD_DATE_TIME: seq = self.seqID now = datetime.datetime.now() bb = ByteBuffer.allocate(15) bb.clear() bb.put_ULInt8(0x00) bb.put_ULInt16(now.year) bb.put_ULInt16(now.month) bb.put_ULInt16(now.day) bb.put_ULInt16(now.hour) bb.put_ULInt16(now.minute) bb.put_ULInt16(now.second) bb.put_ULInt16(now.microsecond & 0xffff) self.seqID = self.seqID + 1 elif cmdID == self.TELLO_CMD_REQ_VIDEO_SPS_PPS: seq = 0 else: seq = self.seqID self.seqID = self.seqID + 1 if bb != None: payload = bb.get_array() else: payload = data if out == None: out = self._buildPacket(pacType, cmdID, seq, payload) self.sockCmd.sendto(out.get_array(), self.addrCmd) return None ############################################################################### # CommandRX Thread ############################################################################### def _threadCmdRX(self, stop_event, arg): # print '_threadCmdRX started !!!' statusCtr = 0 data = bytearray(1024) payload = None while not stop_event.is_set(): try: size, addr = self.sockCmd.recvfrom_into(data) except socket.timeout as e: time.sleep(.5) continue except socket.error as e: print(e) continue else: cmdID = self._parsePacket(data[:size]) payload = ByteBuffer.wrap(data[9:size - 1]) if cmdID == self.TELLO_CMD_CONN_ACK: print('connection successful !') # self._printArray(data[:size]) elif cmdID == self.TELLO_CMD_DATE_TIME: self._sendCmd(0x50, cmdID, None) elif cmdID == self.TELLO_CMD_STATUS: if statusCtr == 3: self._sendCmd(0x60, self.TELLO_CMD_REQ_VIDEO_SPS_PPS, None) self._sendCmd(0x48, self.TELLO_CMD_VERSION_STRING, None) self._sendCmd(0x48, self.TELLO_CMD_SET_VIDEO_BIT_RATE, None) self._sendCmd(0x48, self.TELLO_CMD_ALT_LIMIT, None) self._sendCmd(0x48, self.TELLO_CMD_LOW_BATT_THRESHOLD, None) self._sendCmd(0x48, self.TELLO_CMD_ATT_ANGLE, None) self._sendCmd(0x48, self.TELLO_CMD_REGION, None) self._sendCmd(0x48, self.TELLO_CMD_SET_EV, bytearray([0x00])) statusCtr = statusCtr + 1 elif cmdID == self.TELLO_CMD_VERSION_STRING: if size >= 42: print('Version:' + data[10:30].decode()) elif cmdID == self.TELLO_CMD_SMART_VIDEO_START: if payload.get_remaining() > 0: print('smart video start') elif cmdID == self.TELLO_CMD_ALT_LIMIT: if payload.get_remaining() > 0: payload.get_ULInt8() # 0x00 height = payload.get_ULInt16() print('alt limit : {0:2d} meter'.format(height)) if height != self.NEW_ALT_LIMIT: print('set new alt limit : {0:2d} meter'.format( self.NEW_ALT_LIMIT)) self._sendCmd( 0x68, self.TELLO_CMD_SET_ALT_LIMIT, bytearray([ self.NEW_ALT_LIMIT & 0xff, (self.NEW_ALT_LIMIT >> 8) & 0xff ])) elif cmdID == self.TELLO_CMD_SMART_VIDEO_STATUS: if payload.get_remaining() > 0: resp = payload.get_ULInt8() dummy = resp & 0x07 start = (resp >> 3) & 0x03 mode = (resp >> 5) & 0x07 print('smart video status - mode:{0:d}, start:{1:d}'. format(mode, start)) self._sendCmd(0x50, self.TELLO_CMD_SMART_VIDEO_STATUS, bytearray([0x00])) # else: # for i in data: # print hex(ord(i)), # print '' # print '_threadCmdRX terminated !!!' ############################################################################### # VideoRX Thread ############################################################################### def _threadVideoRX(self, stop_event, arg): videoPlayer = Popen( ['mplayer', '-fps', '30', '-', '-vo', 'jpeg:outdir=temp'], stdin=PIPE) # print '_threadVideoRX started !!!' sockVideo = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) addrVideo = ('192.168.10.2', self.TELLO_PORT_VIDEO) sockVideo.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) sockVideo.settimeout(.5) sockVideo.bind(addrVideo) data = bytearray(4096) fileVideo = open('video.h264', 'wb') isSPSRcvd = False while not stop_event.is_set(): try: size, addr = sockVideo.recvfrom_into(data) except socket.timeout as e: time.sleep(.5) continue except socket.error as e: print(e) break else: if size > 6 and data[2] == 0x00 and data[3] == 0x00 and data[ 4] == 0x00 and data[5] == 0x01: nal_type = data[6] & 0x1f # print 'NAL=', nal_type if nal_type == 7: isSPSRcvd = True # drop 2 bytes if isSPSRcvd: fileVideo.write(data[2:size]) videoPlayer.stdin.write(data[2:size]) sockVideo.close() fileVideo.close() # print '_threadVideoRX terminated !!!' ############################################################################### # timerTask ############################################################################### def _timerTask(self, arg): self._sendCmd(0x60, self.TELLO_CMD_STICK, None) self.rcCtr = self.rcCtr + 1 # every 1sec if self.rcCtr % 50 == 0: self._sendCmd(0x60, self.TELLO_CMD_REQ_VIDEO_SPS_PPS, None)