class FrontEnd(object):
def __init__(self):
# Init pygame
pygame.init()
# Create pygame window
pygame.display.set_caption("Tello video stream")
self.screen = pygame.display.set_mode([960, 720])
# Init Tello object that interacts with the Tello drone
self.tello = Tello()
# Drone velocities between -100~100
self.for_back_velocity = 0
self.left_right_velocity = 0
self.up_down_velocity = 0
self.yaw_velocity = 0
self.speed = 10
self.send_rc_control = False
# create update timer
pygame.time.set_timer(pygame.USEREVENT + 1, 50)
def run(self):
if not self.tello.connect():
print("Tello not connected")
return
if not self.tello.set_speed(self.speed):
print("Not set speed to lowest possible")
return
# In case streaming is on. This happens when we quit this program without the escape key.
if not self.tello.streamoff():
print("Could not stop video stream")
return
if not self.tello.streamon():
print("Could not start video stream")
return
frame_read = self.tello.get_frame_read()
# TELLO EVENT REGION
should_stop = False
while not should_stop:
for event in pygame.event.get():
if event.type == pygame.USEREVENT + 1:
self.update()
elif event.type == pygame.QUIT:
should_stop = True
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
should_stop = True
else:
self.keydown(event.key)
elif event.type == pygame.KEYUP:
self.keyup(event.key)
if frame_read.stopped:
frame_read.stop()
break
self.updateOnFaces(frame_read)
self.screen.fill([0, 0, 0])
frame = cv2.cvtColor(frame_read.frame, cv2.COLOR_BGR2RGB)
frame = np.rot90(frame)
frame = np.flipud(frame)
frame = pygame.surfarray.make_surface(frame)
self.screen.blit(frame, (0, 0))
# HAND TRACKING
pygame.display.update()
time.sleep(1 / FPS)
# Call it always before finishing. To deallocate resources.
self.tello.end()
def updateOnFaces(self, frame_read):
gray = cv2.cvtColor(frame_read.frame, cv2.COLOR_BGR2GRAY)
faces = faceCascade.detectMultiScale(
gray,
scaleFactor=1.1,
minNeighbors=5,
minSize=(30, 30),
)
# Draw a rectangle around the faces
index = 0
for (x, y, w, h) in faces:
if index != 0:
return
if x < 960 / 2:
image = cv2.putText(frame_read.frame, 'LEFT', org, font,
fontScale, color, thickness, cv2.LINE_AA)
self.left_right_velocity = -S
elif x > 960 / 2:
image = cv2.putText(frame_read.frame, 'RIGHT', org, font,
fontScale, color, thickness, cv2.LINE_AA)
self.left_right_velocity = S
if y > (720 / 2) - h:
image = cv2.putText(frame_read.frame, 'DOWN', (900, 50), font,
fontScale, color, thickness, cv2.LINE_AA)
self.up_down_velocity = -S
elif y < 720 / 2:
image = cv2.putText(frame_read.frame, 'UP', (900, 50), font,
fontScale, color, thickness, cv2.LINE_AA)
self.up_down_velocity = S
if (w * h) < faceWidth * faceHeight:
image = cv2.putText(frame_read.frame, 'FORWARD', (50, 100),
font, fontScale, color, thickness,
cv2.LINE_AA)
self.for_back_velocity = S
elif (w * h) > faceWidth * faceHeight:
image = cv2.putText(frame_read.frame, 'BACKWARD', (50, 100),
font, fontScale, color, thickness,
cv2.LINE_AA)
self.for_back_velocity = -S
cv2.rectangle(frame_read.frame, (faceX, faceY),
(faceX + faceWidth, faceY + faceHeight), (0, 0, 255),
2)
cv2.rectangle(frame_read.frame, (x, y), (x + w, y + h),
(0, 255, 0), 2)
index += 1
def keydown(self, key):
""" Update velocities based on key pressed
Arguments:
key: pygame key
"""
if key == pygame.K_UP: # set forward velocity
self.for_back_velocity = S
elif key == pygame.K_DOWN: # set backward velocity
self.for_back_velocity = -S
elif key == pygame.K_LEFT: # set left velocity
self.left_right_velocity = -S
elif key == pygame.K_RIGHT: # set right velocity
self.left_right_velocity = S
elif key == pygame.K_w: # set up velocity
self.up_down_velocity = S
elif key == pygame.K_s: # set down velocity
self.up_down_velocity = -S
elif key == pygame.K_a: # set yaw counter clockwise velocity
self.yaw_velocity = -S
elif key == pygame.K_d: # set yaw clockwise velocity
self.yaw_velocity = S
def keyup(self, key):
""" Update velocities based on key released
Arguments:
key: pygame key
"""
keys = pygame.key.get_pressed()
if key == pygame.K_UP or key == pygame.K_DOWN: # set zero forward/backward velocity
self.for_back_velocity = 0
elif key == pygame.K_LEFT or key == pygame.K_RIGHT: # set zero left/right velocity
self.left_right_velocity = 0
elif key == pygame.K_w or key == pygame.K_s: # set zero up/down velocity
self.up_down_velocity = 0
elif key == pygame.K_a or key == pygame.K_d: # set zero yaw velocity
self.yaw_velocity = 0
elif key == pygame.K_t: # takeoff
self.tello.takeoff()
self.send_rc_control = True
elif key == pygame.K_l: # land
self.tello.land()
self.send_rc_control = False
elif key == pygame.K_f:
self.tello.flip_back()
elif key == pygame.K_g:
self.tello.flip_forward()
elif key == pygame.K_h:
self.tello.flip_right()
elif key == pygame.K_j:
self.tello.flip_left()
def update(self):
""" Update routine. Send velocities to Tello."""
if self.send_rc_control:
self.tello.send_rc_control(self.left_right_velocity,
self.for_back_velocity,
self.up_down_velocity,
self.yaw_velocity)
class FrontEnd(object):
""" Maintains the Tello display and moves it through the keyboard keys.
Press escape key to quit.
The controls are:
- T: Takeoff
- L: Land
- Arrow keys: Forward, backward, left and right.
- A and D: Counter clockwise and clockwise rotations
- W and S: Up and down.
"""
def __init__(self):
# Init pygame
pygame.init()
# Creat pygame window
pygame.display.set_caption("Tello video stream")
self.screen = pygame.display.set_mode([960, 720])
# Init Tello object that interacts with the Tello drone
self.tello = Tello()
# Drone velocities between -100~100
self.for_back_velocity = 0
self.left_right_velocity = 0
self.up_down_velocity = 0
self.yaw_velocity = 0
self.speed = 10
self.send_rc_control = False
# create update timer
pygame.time.set_timer(pygame.USEREVENT + 1, 50)
def run(self):
if not self.tello.connect():
print("Tello not connected")
return
if not self.tello.set_speed(self.speed):
print("Not set speed to lowest possible")
return
# In case streaming is on. This happens when we quit this program without the escape key.
if not self.tello.streamoff():
print("Could not stop video stream")
return
if not self.tello.streamon():
print("Could not start video stream")
return
frame_read = self.tello.get_frame_read()
should_stop = False
while not should_stop:
for event in pygame.event.get():
if event.type == pygame.USEREVENT + 1:
self.update()
elif event.type == pygame.QUIT:
should_stop = True
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
should_stop = True
else:
self.keydown(event.key)
elif event.type == pygame.KEYUP:
self.keyup(event.key)
if frame_read.stopped:
frame_read.stop()
break
self.screen.fill([0, 0, 0])
frame = cv2.cvtColor(frame_read.frame, cv2.COLOR_BGR2RGB)
frame = np.rot90(frame)
frame = np.flipud(frame)
frame = pygame.surfarray.make_surface(frame)
#elaborazione del frame per riconoscere oggetti
#impartire comandi al drone sulla base del riconoscimento dell'ogg
self.screen.blit(frame, (0, 0))
pygame.display.update()
time.sleep(1 / FPS)
# Call it always before finishing. To deallocate resources.
self.tello.end()
def keydown(self, key):
""" Update velocities based on key pressed
Arguments:
key: pygame key
"""
if key == pygame.K_UP: # set forward velocity
self.for_back_velocity = S
elif key == pygame.K_DOWN: # set backward velocity
self.for_back_velocity = -S
elif key == pygame.K_LEFT: # set left velocity
self.left_right_velocity = -S
elif key == pygame.K_RIGHT: # set right velocity
self.left_right_velocity = S
elif key == pygame.K_w: # set up velocity
self.up_down_velocity = S
elif key == pygame.K_s: # set down velocity
self.up_down_velocity = -S
elif key == pygame.K_a: # set yaw counter clockwise velocity
self.yaw_velocity = -S
elif key == pygame.K_d: # set yaw clockwise velocity
self.yaw_velocity = S
def keyup(self, key):
""" Update velocities based on key released
Arguments:
key: pygame key
"""
if key == pygame.K_UP or key == pygame.K_DOWN: # set zero forward/backward velocity
self.for_back_velocity = 0
elif key == pygame.K_LEFT or key == pygame.K_RIGHT: # set zero left/right velocity
self.left_right_velocity = 0
elif key == pygame.K_w or key == pygame.K_s: # set zero up/down velocity
self.up_down_velocity = 0
elif key == pygame.K_a or key == pygame.K_d: # set zero yaw velocity
self.yaw_velocity = 0
elif key == pygame.K_t: # takeoff
self.tello.takeoff()
self.send_rc_control = True
elif key == pygame.K_l: # land
self.tello.land()
self.send_rc_control = False
elif key == pygame.K_b: # flip_back
self.tello.flip_back()
self.send_rc_control = True
elif key == pygame.K_f: # flip_forward
self.tello.flip_forward()
self.send_rc_control = True
elif key == pygame.K_p: # battery
self.tello.get_battery()
self.send_rc_control = True
def update(self):
""" Update routine. Send velocities to Tello."""
if self.send_rc_control:
self.tello.send_rc_control(self.left_right_velocity,
self.for_back_velocity,
self.up_down_velocity,
self.yaw_velocity)