def _scan_multi_robot(self, num=0):
""" Automatic scanning of robots in the network
:param num:
:return:
"""
if config.LOCAL_IP_STR:
local_ip = config.LOCAL_IP_STR
else:
local_ip = conn.get_local_ip()
local_port = 8889
local_addr = (local_ip, local_port)
self._scan_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # socket for sending cmd
self._scan_socket.bind(local_addr)
# thread for receiving cmd ack
receive_thread = threading.Thread(target=self._receive_task, args=(num, ))
# receive_thread.daemon = True
receive_thread.start()
robot_list = []
# scan by number
ip_list = self._scan_ip(num)
for ip in ip_list:
te_ap_conf = config.te_conf
if config.LOCAL_IP_STR:
local_ip = config.LOCAL_IP_STR
else:
local_ip = conn.get_local_ip()
local_port = random.randint(config.ROBOT_SDK_PORT_MIN, config.ROBOT_SDK_PORT_MAX)
local_addr = (local_ip, local_port)
te_ap_conf.default_sdk_addr = (local_addr)
te_ap_conf.default_cmd_addr = (ip, te_ap_conf.default_cmd_addr_port)
logger.info("MultiDrone: _scan_multi_robot, dron ip {0} uses addr {1}".format(
te_ap_conf.default_cmd_addr, local_addr))
drone_client = client.TextClient(te_ap_conf)
drone_obj = robot.Drone(drone_client)
if not hasattr(robot.Drone, "ip_addr"):
drone_obj.ip_addr = ip
robot_list.append(drone_obj)
self._scan_socket.close()
return robot_list
# YOLO END
if __name__ == '__main__':
# fill in your lan address:
robomaster.config.LOCAL_IP_STR = "192.168.31.22"
# fill in robot lan address:
robomaster.config.ROBOT_IP_STR = "192.168.31.143"
# TT无人机默认 udp 模式，不设置也不影响
# DEFAULT_PROTO_TYPE = "udp"
yolo = YOLO() # For YOLO
tl_drone = robot.Drone()
# tl_drone.initialize(conn_type="ap")
tl_drone.initialize(conn_type="sta")
# 获取飞机电池电量信息
tl_battery = tl_drone.battery
battery_info = tl_battery.get_battery()
print("Drone battery soc: {0}".format(battery_info))
# stop motor spinning
tl_flight = tl_drone.flight
tl_flight.motor_off()
# initialize the camera
tl_camera = tl_drone.camera
t = time.time()
def init_device(self, timeout=5):
# todo timeout
self.tello = robot.Drone() # todo timeout，挪到 REPL 里，作为连接的前置行为
self.tello.initialize()
self.pub_notification("Device(Tello) Connected!", type="SUCCESS")
