def __init__(self, type, connection_type=ConnectionType.WIFI_DIRECT):
#self.connection = robot_connection.RobotConnection()
self.connection = type
self.connection_type = connection_type
self.video_decoder = libh264decoder.H264Decoder()
libh264decoder.disable_logging()
self.audio_decoder = opus_decoder.opus_decoder()
self.video_decoder_thread = threading.Thread(
target=self._video_decoder_task)
self.video_decoder_msg_queue = queue.Queue(64)
self.video_display_thread = threading.Thread(
target=self._video_display_task)
self.video_read_thread = threading.Thread(target=self._video_read_task)
self.video_track_thread = threading.Thread(
target=self._video_track_task)
self.audio_decoder_thread = threading.Thread(
target=self._audio_decoder_task)
self.audio_decoder_msg_queue = queue.Queue(32)
self.audio_display_thread = threading.Thread(
target=self._audio_display_task)
self.command_ack_list = []
self.is_shutdown = False #默认连接上去了
self.image = np.zeros((1280, 680, 3), np.uint8)
def __init__(self, connection_type):
self.connection = robot_connection.RobotConnection()
self.connection_type = connection_type
self.video_decoder = libh264decoder.H264Decoder()
libh264decoder.disable_logging()
self.video_decoder_thread = threading.Thread(target=self._video_decoder_task)
self.video_decoder_msg_queue = queue.Queue(64)
self.video_display_thread = threading.Thread(target=self._video_display_task)
self.command_ack_list = []
self.is_shutdown = True
self.state = 0
self.angles = ['20', '-20']
self._threat_json = [
{
'msg': 'threat detected!',
'position': [0, 0]
},
{
'msg': 'No threat!',
'position': [0, 0]
}
]
self.api_json = self._threat_json[self.state]
def __init__(self, ip='0.0.0.0', port=11111):
# socket settings for the video stream
self.socket_video = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.socket_video.bind(('0.0.0.0', 11111))
libh264decoder.disable_logging()
self.decoder = libh264decoder.H264Decoder()
self.frame = None # current video frame stored as a numpy array of RGB
self.capturing = True
self.thread_video = threading.Thread(target=self.recv_video)
self.thread_video.daemon = True
self.thread_video.start()
def __init__(self, connection_type):
self.connection = robot_connection.RobotConnection()
self.connection_type = connection_type
self.video_decoder = libh264decoder.H264Decoder()
libh264decoder.disable_logging()
self.audio_decoder = opus_decoder.opus_decoder()
self.video_decoder_thread = threading.Thread(target=self._video_decoder_task)
self.video_decoder_msg_queue = queue.Queue(64)
self.video_display_thread = threading.Thread(target=self._video_display_task)
self.audio_decoder_thread = threading.Thread(target=self._audio_decoder_task)
self.audio_decoder_msg_queue = queue.Queue(32)
self.audio_display_thread = threading.Thread(target=self._audio_display_task)
self.command_ack_list = []
self.is_shutdown = True
def __init__(self,tello_ip,command_port=8889,video_port=11111,telem_port=8890,interface=None):
self.tello_ip = tello_ip
self.command_port = command_port
self.video_port = video_port
self.telem_port = telem_port
self.interface = interface
self.command_sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
self.video_sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
self.telem_sock = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
if self.interface:
self.command_sock.setsockopt(socket.SOL_SOCKET, 25,self.interface.encode())
self.video_sock.setsockopt(socket.SOL_SOCKET, 25,self.interface.encode())
self.telem_sock.setsockopt(socket.SOL_SOCKET, 25,self.interface.encode())
self.command_sock.bind(('0.0.0.0', self.command_port))
self.command_sock.setblocking(False)
self.command_sock.settimeout(10)
self.sock_process_thread = threading.Thread(target=self._process_socks)
self.sock_process_thread.daemon = True
self.telem_sock.bind(('0.0.0.0', int(self.telem_port)))
self.telem_sock.setblocking(False)
self.telem_sock.settimeout(10)
self.video_sock.bind(('0.0.0.0', self.video_port))
self.video_sock.setblocking(False)
self.decoder_queue = queue.Queue(128)
self.decoder = libh264decoder.H264Decoder()
libh264decoder.disable_logging()
self.videothread = threading.Thread(target=self._receive_video_data)
self.videothread.daemon = True
self.r_socks =[]
self.w_socks =[]
self.a_socks =[]
#state variable
self.in_command_mode = False
self.in_action_mode = False
self.in_flight = False
self.error_and_stop_flight = False
self.last_cmd = ''
self.start_cmd_time = -1
self.timeout = 9.0
self.wait_time = 8.0 #wait duration for a response to an action, after which wait ends and next command is sent. TODO: to change wait_time based on command and past data
self.socket_closed = False
self.connecting = False
self.connect_attempt = 0
self.max_connect_attempt = 3 #number of attempts to connect
self.prevent_tello_inactivity_and_land_duration = 8 #duration after which hover command is sent to prevent auto land of tello due to inactivity
self.last_frame = None
self.frame = None
self.is_freeze = False
self._cmdseq = 0
self.response =''
self.data_queue = {
self.command_sock : queue.Queue(32), #for buffering data from drone
self.video_sock : queue.Queue(32), #for buffering video data from drone
self.telem_sock : queue.Queue(32), #for buffering telemetry data from drone
}
self.cmd_queue = queue.Queue() #for buffering instructions from users
self.data_timeout = 3
self.batterylevel = -1
self.tof = -1