def main():
drone = tellopy.Tello()
try:
drone.connect()
drone.wait_for_connection(60.0)
drone.takeoff()
sleep(1)
drone.take_picture()
#drone.clockwise(rad)
#drone.land()
i = 1
while i <= n:
drone.left(X)
drone.forward(Y)
sleep(3)
drone.clockwise(rad)
sleep(1)
#drone.take_picture()
#pic = drone.take_picture()
#pic =
#pic.show()
#pic.save('/Users/user/Desktop/lenna_square_pillow.jpg', quality=95)
i = i + 1
drone.land()
sleep(1)
drone.land()
sleep(1)
drone.land()
sleep(5)
except Exception as ex:
print(ex)
finally:
drone.quit()
def main():
drone = tellopy.Tello()
try:
drone.connect()
drone.wait_for_connection(60.0)
drone.takeoff()
#sleep(10)
container = av.open(drone.get_video_stream())
start_time = time.time()
videoCamera(start_time, container, drone, 5)
drone.clockwise(10)
sleep(5)
start_time = time.time()
videoCamera(start_time, container, drone, 5)
drone.land()
sleep(5)
drone.quit()
cv2.destroyAllWindows()
except Exception as ex:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type, exc_value, exc_traceback)
print(ex)
finally:
drone.quit()
cv2.destroyAllWindows()
def __init__(self):
self.prev_flight_data = None
self.record = False
self.tracking = False
self.keydown = False
self.date_fmt = '%Y-%m-%d_%H%M%S'
self.speed = 50
self.drone = tellopy.Tello()
self.init_drone()
self.init_controls()
# container for processing the packets into frames
self.container = av.open(self.drone.get_video_stream())
self.vid_stream = self.container.streams.video[0]
self.out_file = None
self.out_stream = None
self.out_name = None
self.start_time = time.time()
# tracking a color
green_lower = (30, 50, 50)
green_upper = (80, 255, 255)
#red_lower = (0, 50, 50)
# red_upper = (20, 255, 255)
# blue_lower = (110, 50, 50)
# upper_blue = (130, 255, 255)
self.track_cmd = ""
self.tracker = Tracker(self.vid_stream.height, self.vid_stream.width,
green_lower, green_upper)
def test():
drone = tellopy.Tello()
try:
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
drone.connect()
drone.wait_for_connection(60.0)
drone.takeoff()
sleep(5)
drone.up(10)
sleep(2)
drone.up(0)
sleep(1)
drone.forward(20)
sleep(5)
drone.forward(0)
sleep(1)
drone.backward(20)
sleep(5)
drone.backward(0)
sleep(1)
drone.land()
sleep(5)
except Exception as ex:
drone.land() #エラーが起きたらその場で緊急着陸
print(ex)
finally:
drone.quit()
def main():
global container, drone
drone = tellopy.Tello()
drone.video_encoder_rate = 1
drone.connect()
drone.wait_for_connection(60.0)
container = av.open(drone.get_video_stream())
drone.subscribe(drone.EVENT_FLIGHT_DATA, flight_data_handler)
listener = Listener(on_press=on_press, on_release=on_release)
listener.start()
try:
while True:
# loop with pygame.event.get() is too much tight w/o some sleep
video_handler()
time.sleep(0.01)
except KeyboardInterrupt as e:
print(e)
except Exception as e:
print(e)
cv2.destroyAllWindows()
drone.quit()
exit(1)
def main():
drone = None
try:
drone = tellopy.Tello()
print("Battery:", drone.battery())
except Exception as err:
print(err)
# Commands go here:
# Make sure to avoid the obstacles #
drone.takeoff()
time.sleep(3)
#drone.forward(20)
#time.sleep(3)
#drone.flip('f')
#time.sleep(3)
drone.cw(90)
time.sleep(3)
drone.land()
time.sleep(3)
print("Battery is at:", drone.battery())
print("You have flied for ", drone.flight_time())
def main():
global buttons
pygame.init()
pygame.joystick.init()
try:
js = pygame.joystick.Joystick(0)
js.init()
js_name = js.get_name()
buttons = JoystickPS4
except pygame.error:
pass
drone = tellopy.Tello()
drone.connect()
try:
while 1:
# loop with pygame.event.get() is too much tight w/o some sleep
time.sleep(0.01)
for e in pygame.event.get():
handle_input_event(drone, e)
except KeyboardInterrupt as e:
print(e)
except Exception as e:
print(e)
drone.quit()
exit(1)
def drone_camera():
drone = tellopy.Tello()
try:
drone.connect()
drone.wait_for_connection(60.0)
retry = 3
container = None
while container is None and 0 < retry:
retry = retry - 1
try:
container = av.open(drone.get_video_stream())
except av.AVError as ave:
print(ave)
print('retry ...')
while True:
for frame in container.decode(video=0):
image = cv2.cvtColor(np.array(frame.to_image()),
cv2.COLOR_RGB2BGR)
cv2.imshow('Image', image)
cv2.waitKey(1)
except Exception as ex:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type, exc_value, exc_traceback)
print(ex)
finally:
drone.quit()
cv2.destroyAllWindows()
def Drone():
print('Muse')
drone = tellopy.Tello()
try:
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
# unused var
unused_addr = 0
args = 0
drone.connect()
drone.wait_for_connection(60.0)
drone.takeoff()
time.sleep(5)
drone.forward(40)
time.sleep(5)
if is_jaw_clench:
drone.forward(1)
elif LookLeft():
drone.land()
elif LookRight():
drone.right(1)
except Exception as ex:
print(ex)
finally:
drone.quit()
def flyAndCapture():
drone = tellopy.Tello()
try:
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
# Connect to drone
drone.connect()
drone.wait_for_connection(60.0)
# Start camera feed
t1 = threading.Thread(target=cameraCapture, args=(drone, ))
t1.start()
sleep(15)
# Take-off
drone.takeoff()
print(
"motion thr: Inside motion thread, started another thread for camera stuff"
)
sleep(5)
drone.down(50)
print("motion thr: ok")
sleep(5)
drone.land()
print("motion thr: ok")
sleep(5)
print("motion thr: done")
except Exception as ex:
print(ex)
finally:
drone.quit()
def __init__(self):
#开始连接飞机
self.drone = tellopy.Tello()
try:
self.drone.connect()
self.drone.set_video_encoder_rate(2)
self.drone.start_video()
#订阅飞行数据信息
#self.drone.subscribe(self.drone.EVENT_FLIGHT_DATA,self.flight_data_handler)
#self.drone.wait_for_connection(60.0)
retry = 3
self.container = None #container用于存放帧
while self.container is None and 0 < retry:
retry -= 1
try:
self.container = av.open(self.drone.get_video_stream())
except av.AVError as ave:
print(ave)
print('retry...')
except:
print('ooooooooooooooo')
self.frame_skip = 300
def __init__(self):
rospy.init_node('tello_action_node', anonymous=False)
self.rate = rospy.Rate(1)
# Connect to the drone
self._drone = tellopy.Tello()
self._drone.connect()
self._drone.wait_for_connection(60.0)
rospy.loginfo('connected to drone')
self._drone.takeoff()
rospy.on_shutdown(self.shutdown)
self._drone.clockwise(360)
sleep(5)
self._drone.clockwise(0)
while not rospy.is_shutdown():
# self._drone.clockwise(360)
sleep(5)
# self._drone.counter_clockwise(20)
# self._drone.up(0)
# self._drone.down(0)
# self._drone.forward(0)
# self._drone.backward(0)
# self._drone.left(0)
# self._drone.right(0)
self.rate.sleep()
def connectDrone2():
global videoPortText
global connectionRequestPortText
global portText
global wifiInterfaceText
videoPort = int(videoPortText.get("1.0", END).strip())
port = int(portText.get("1.0", END).strip())
wifiInterface = wifiInterfaceText.get("1.0", END).strip()
connectionRequest = int(connectionRequestPortText.get("1.0", END).strip())
print(videoPort)
print(port)
print(wifiInterface)
print(connectionRequest)
drone2 = tellopy.Tello(wifiInterface, port, videoPort, connectionRequest)
try:
drone2.connect()
drone2.wait_for_connection(60.0)
container2 = av.open(drone2.get_video_stream())
while True:
for frame in container2.decode(video=0):
image = cv2.cvtColor(numpy.array(frame.to_image()), cv2.COLOR_RGB2BGR)
cv2.imshow('Drone', image)
cv2.waitKey(1)
except Exception as ex:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type, exc_value, exc_traceback)
print(ex)
finally:
drone2.quit()
cv2.destroyAllWindows()
def main():
pygame.init()
pygame.display.init()
pygame.display.set_mode((1280, 720))
pygame.font.init()
global font
font = pygame.font.SysFont("dejavusansmono", 32)
global wid
if 'window' in pygame.display.get_wm_info():
wid = pygame.display.get_wm_info()['window']
print("Tello video WID:", wid)
drone = tellopy.Tello()
drone.connect()
drone.wait_for_connection(60.0)
drone.start_video()
drone.subscribe(drone.EVENT_FLIGHT_DATA, flightDataHandler)
drone.subscribe(drone.EVENT_VIDEO_FRAME, videoFrameHandler)
drone.subscribe(drone.EVENT_FILE_RECEIVED, handleFileReceived)
speed = 30
try:
while 1:
time.sleep(
0.01
) # loop with pygame.event.get() is too mush tight w/o some sleep
for e in pygame.event.get():
# WASD for movement
if e.type == pygame.locals.KEYDOWN:
print('+' + pygame.key.name(e.key))
keyname = pygame.key.name(e.key)
if keyname == 'escape':
drone.quit()
exit(0)
if keyname in controls:
key_handler = controls[keyname]
if type(key_handler) == str:
getattr(drone, key_handler)(speed)
else:
key_handler(drone, speed)
elif e.type == pygame.locals.KEYUP:
print('-' + pygame.key.name(e.key))
keyname = pygame.key.name(e.key)
if keyname in controls:
key_handler = controls[keyname]
if type(key_handler) == str:
getattr(drone, key_handler)(0)
else:
key_handler(drone, 0)
except e:
print(str(e))
finally:
print('Shutting down connection to drone...')
if video_recorder:
toggle_recording(drone, 1)
drone.quit()
exit(1)
def rotate_cw(n_rote):
drone = tellopy.Tello()
secs_per_rotate = 16
flight_time = n_rote * secs_per_rotate
try:
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
drone.connect()
drone.wait_for_connection(60.0)
drone.takeoff()
sleep(5)
# drone.up(20)
# sleep(2)
# drone.up(0)
# 定常円旋回は、前進とその場旋回のベクトル和で実現
drone.forward(20) # 前進飛行速度=20cm/s
drone.clockwise(36) # 旋回方向と角速度を設定(時計回り, 36deg/s)
sleep(flight_time)
drone.forward(0)
drone.clockwise(0)
sleep(1)
drone.land()
sleep(5)
except Exception as ex:
drone.land() #エラーが起きたらその場で緊急着陸
print(ex)
finally:
drone.quit()
def test():
drone = tellopy.Tello()
try:
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
#드론에 연결
drone.connect()
drone.wait_for_connection(60.0)
#드론이륙
drone.takeoff()
#명령을 수행하는데 시간이 걸리기 때문에 딜레이를 추가해줍니다. 3~5초가 적절합니다.
sleep(5)
#drone_command.txt를 참조하여 적절한 명령을 추가합니다.
drone.clockwise(30)
sleep(5)
drone.flip_left()
sleep(5)
drone.land()
sleep(5)
#에러가 발생했을경우 처리하는 에러문구를 출력합니다.
except Exception as ex:
print(ex)
finally:
drone.quit()
def test():
drone = tellopy.Tello()
try:
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
drone.connect()
drone.wait_for_connection(60.0)
drone.takeoff()
sleep(4)
drone.flip_back()
sleep(4)
drone.flip_forward()
sleep(4)
drone.flip_forwardleft()
sleep(2)
drone.down(50)
sleep(3)
drone.land()
sleep(3)
except Exception as ex:
print(ex)
finally:
drone.quit()
def main():
drone = tellopy.Tello()
try:
drone.connect()
drone.wait_for_connection(60.0)
container = av.open(drone.get_video_stream())
frame_count = 0
while True:
for frame in container.decode(video=0):
frame_count = frame_count + 1
# skip first 300 frames
if frame_count < 300:
continue
image = cv2.cvtColor(numpy.array(frame.to_image()),
cv2.COLOR_RGB2BGR)
cv2.imshow('Original', image)
cv2.imshow('Canny', cv2.Canny(image, 100, 200))
cv2.waitKey(1)
except Exception as ex:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type, exc_value, exc_traceback)
print(ex)
finally:
drone.quit()
cv2.destroyAllWindows()
def main():
videostream = io.BytesIO()
videostream.seek(0)
drone = tellopy.Tello()
drone.log.set_level(2)
drone.connect()
drone.start_video()
drone.subscribe(drone.EVENT_VIDEO_FRAME, videoFrameHandler)
#
in_container = av.open(drone.get_video_stream())
out_container = av.open('tmp.mp4', mode='w')
# in tello.py it is set to 0x20
out_stream = out_container.add_stream('mpeg4', rate=32)
while True:
for packet in in_container.demux((in_container.streams.video[0], )):
for frame in packet.decode():
image = cv2.cvtColor(numpy.array(frame.to_image()),
cv2.COLOR_RGB2BGR)
print("image", type(image))
cv2.imshow('frame', image)
if cv2.waitKey(20) & 0xFF == ord('q'):
break
print(len(videostream))
def setup(self, *args, **kwargs):
self.drone = tellopy.Tello()
self.drone.connect()
self.drone.wait_for_connection(60.0)
self.stream = av.open(self.drone.get_video_stream()).decode(video=0)
for i in range(300):
_ = next(self.stream)
def __init__(self):
rospy.init_node('tello_driver_node', anonymous=False)
# ROS publishers
self._flight_data_pub = rospy.Publisher('tello/flight_data',
FlightData,
queue_size=10)
self._image_pub = rospy.Publisher('tello/image_raw',
Image,
queue_size=10)
self._cv_bridge = CvBridge()
# Connect to the drone
self._drone = tellopy.Tello()
self._drone.connect()
self._drone.wait_for_connection(60.0)
rospy.loginfo('connected to drone')
# Listen to flight data messages
self._drone.subscribe(self._drone.EVENT_FLIGHT_DATA,
self.flight_data_callback)
# Start video thread
self._stop_request = threading.Event()
video_thread = threading.Thread(target=self.video_worker)
video_thread.start()
rospy.spin()
rospy.on_shutdown(self.shutdown)
def main():
global buttons
pygame.init()
pygame.joystick.init()
try:
js = pygame.joystick.Joystick(0)
js.init()
js_name = js.get_name()
print('Joystick name: ' + js_name)
buttons = JoystickPS4
except pygame.error:
pass
drone = tellopy.Tello()
drone.connect()
drone.start_video()
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
drone.subscribe(drone.EVENT_VIDEO_FRAME, handler)
try:
while 1:
# loop with pygame.event.get() is too much tight w/o some sleep
time.sleep(0.01)
for e in pygame.event.get():
handle_input_event(drone, e)
except KeyboardInterrupt as e:
print(e)
except Exception as e:
print(e)
drone.quit()
exit(1)
def __init__(self):
print("Connecting to Airsim Client: ")
self.client = airsim.CarClient()
self.client.confirmConnection()
print("Connection confirmed, Enabling Car controls ")
self.client.enableApiControl(True)
self.car_controls= airsim.CarControls()
print("Car Controls enabled, Please enter Command parameters ")
self.car_state=self.client.getCarState()
self.mode = bool(input("Input car Mode: True (distance commands) " or "False"))
if(self.mode):
print("Going to Distance mode! ")
pass
else:
self.repeat= int(input("How many repeats? " or "3"))
self.record= bool(input("Record Images? " or "False"))
self.fold= os.getcwd()+'/pictures3/'
self.projectionMatrix = np.array([[1, 0.000000000, 0.000000000, -127.5000000000],
[0.000000000, 1, 0.000000000, -71.5000000000],
[0.000000000, 0.000000000, 1.00000000, 127.5 ],
[0.000000000, 0.000000000, -1/20.0000000, 0.000000000]])
color = (0,255,0)
self.rgb = "%d %d %d" % color
## Control Tello
self.drone = tellopy.Tello()
try:
self.drone.subscribe(drone.EVENT_FLIGHT_DATA,handler)
self.drone.connect()
drone.wait_for_connection(60.0)
def __init__(self):
self.prev_flight_data = None
self.record = False
self.tracking = False
self.keydown = False
self.date_fmt = '%Y-%m-%d_%H%M%S'
self.speed = 50
self.prev_tracking="tr_off"
self.drone = tellopy.Tello()
self.init_drone()
self.init_controls()
self.prev_tracking=0
# container for processing the packets into frames
self.container = av.open(self.drone.get_video_stream())
self.vid_stream = self.container.streams.video[0]
self.out_stream_writer=None
self.out_file = None
self.out_stream = None
self.out_name = None
self.start_time = time.time()
self.use_openpose=False
self.op = OP(number_people_max=5, min_size=10, debug=None)
self.fps = FPS()
def main():
drone = tellopy.Tello()
try:
drone.connect()
drone.wait_for_connection(60.0)
container = av.open(drone.get_video_stream())
# skip first 300 frames
frame_skip = 300
while True:
for frame in container.decode(video=0):
if 0 < frame_skip:
frame_skip = frame_skip - 1
continue
start_time = time.time()
image = cv2.cvtColor(numpy.array(frame.to_image()),
cv2.COLOR_RGB2BGR)
cv2.imshow('Original', image)
cv2.imshow('Canny', cv2.Canny(image, 100, 200))
cv2.waitKey(1)
if frame.time_base < 1.0 / 60:
time_base = 1.0 / 60
else:
time_base = frame.time_base
frame_skip = int((time.time() - start_time) / time_base)
except Exception as ex:
exc_type, exc_value, exc_traceback = sys.exc_info()
traceback.print_exception(exc_type, exc_value, exc_traceback)
print(ex)
finally:
drone.quit()
cv2.destroyAllWindows()
def test():
drone = tellopy.Tello()
try:
# drone.set_loglevel(d.LOG_ALL)
drone.subscribe(drone.CONNECTED_EVENT, handler)
# drone.subscribe(drone.WIFI_EVENT, handler)
# drone.subscribe(drone.LIGHT_EVENT, handler)
drone.subscribe(drone.FLIGHT_EVENT, handler)
# drone.subscribe(drone.LOG_EVENT, handler)
drone.subscribe(drone.TIME_EVENT, handler)
drone.subscribe(drone.VIDEO_FRAME_EVENT, handler)
drone.connect()
# drone.takeoff()
# time.sleep(5)
drone.down(50)
sleep(3)
drone.up(50)
sleep(3)
drone.down(0)
sleep(2)
drone.land()
sleep(5)
except Exception, ex:
print ex
show_exception(ex)
def test():
drone = tellopy.Tello()
try:
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
drone.subscribe(drone.EVENT_LOG_DATA, handler)
drone.record_log_data()
drone.connect()
drone.wait_for_connection(60.0)
drone.takeoff()
sleep(5)
drone.clockwise(100)
sleep(5)
drone.clockwise(0)
drone.down(50)
sleep(2)
drone.up(50)
sleep(2)
drone.up(0)
drone.land()
sleep(5)
except Exception as ex:
print(ex)
finally:
drone.quit()
def __init__(self, commands):
self.tello = tellopy.Tello()
self.commands = commands
self.activity = {
'takeoff': self.tello.takeoff,
'land': self.tello.land
}
def test():
input = ser.readline()[0]
drone = tellopy.Tello()
try:
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
drone.connect()
drone.wait_for_connection(60.0)
# drone.takeoff()
drone.land()
# sleep(30)
print("BYE")
#drone.down(50)
#sleep(5)
#drone.land()
#sleep(5)
except Exception as ex:
print(ex)
drone.quit
finally:
#drone.quit()
if input == 48: # right
drone.right(50)
elif input == 49: #up
drone.left(50)
elif input == 51: #down
drone.down(50)
elif input == 54: #left
drone.left(50)
elif input == 57: #select
drone.land()
def test():
drone = tellopy.Tello()
try:
# drone.set_loglevel(d.LOG_ALL)
drone.subscribe(drone.EVENT_CONNECTED, handler)
# drone.subscribe(drone.EVENT_WIFI, handler)
# drone.subscribe(drone.EVENT_LIGHT, handler)
drone.subscribe(drone.EVENT_FLIGHT_DATA, handler)
# drone.subscribe(drone.EVENT_LOG, handler)
drone.subscribe(drone.EVENT_TIME, handler)
drone.subscribe(drone.EVENT_VIDEO_FRAME, handler)
drone.connect()
# drone.takeoff()
# time.sleep(5)
drone.down(50)
sleep(3)
drone.up(50)
sleep(3)
drone.down(0)
sleep(2)
drone.land()
sleep(5)
except Exception as ex:
print(ex)
show_exception(ex)
finally:
drone.quit()
print('end.')
