def startTele(self):
# UDP server socket to receive telemetry (tello is broadcasting on a client socket)
self.tele_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.tele_sock.settimeout(self.tele_timeout)
self.tele_sock.bind(self.tele_address)
# thread to read the telemetry socket
self.tele_thread = threading.Thread(target=self.teleLoop)
self.tele_thread.start()
monad.log('telemetry thread started')
def __init__(self):
server = http.server.HTTPServer(self.server_address, self.AjaxServer)
thread = threading.Thread(target=server.serve_forever)
thread.daemon = True
try:
thread.start()
except KeyboardInterrupt:
server.shutdown()
sys.exit(0)
monad.log('portal server thread started')
def __init__(self):
self.state = 'asleep' # awake, shutdown
self.wakestate = 'sleeping' # waking, connected, ready, flying
self.ctrAlive = 0
self.ctrAwake = 0
self.ctrLanding = 0
self.ctrConnectWarning = 0
thread = threading.Thread(target=self.loop)
thread.start()
monad.log('cortex thread started')
def sendCommand(self, cmd, wait=False):
global monad
rmsg = ''
try:
msg = cmd.encode(encoding="utf-8")
len = self.cmd_sock.sendto(msg, self.cmd_address)
monad.log(f'command {cmd} sent')
except Exception as ex:
monad.log(cmd + ' sendto failed:' + str(ex))
monad.cortex.command('kill')
else:
if wait:
try:
data, server = self.cmd_sock.recvfrom(
self.cmd_maxlen) # blocking
print(f'data: {data}')
print(f'server: {server}')
# why do we get this sometimes
# data: b'\xcc\x18\x01\xb9\x88V\x00\xe2\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00I\x00\x00\xa7\x0f\x00\x06\x00\x00\x00\x00\x00W\xbe'
rmsg = data.decode(encoding='utf-8')
except Exception as ex:
monad.log(cmd + ' recvfrom failed:' + str(ex))
monad.cortex.command('kill')
else:
monad.log(cmd + ' : ' + rmsg)
return rmsg
def teleLoop(self):
global monad
count = 0
while True:
if monad.state == 'shutdown':
break
# thread stops on exit from this function
try:
data, server = self.tele_sock.recvfrom(self.tele_maxlen)
except Exception as ex:
monad.log('Telemetry recvfrom failed: ' + str(ex))
monad.cortex.command('kill')
continue
count += 1
self.storeTele(data)
if count % 10 == 0:
monad.log(data.decode(encoding="utf-8"))
def connect(self): # not used
monad.log('eyes connecting')
ret = True
cmd = 'nmcli dev wifi list --rescan yes'
try:
s = subprocess.check_output(cmd, shell=True)
except:
pass
cmd = 'nmcli dev wifi connect TELLO-591FFC'
try:
s = subprocess.check_output(cmd, shell=True)
except:
ret = False
monad.log(f'connect to Tello: {ret}')
return ret
def loop(self):
while True:
time.sleep(self.interval)
monad.log('thinking')
self.ctrAlive += 1
if self.state == 'shutdown':
break # end loop, stop thread
if self.state == 'awake':
self.ctrAwake += 1
viable = self.checkVitals()
if not viable:
self.command('kill')
break
if self.wakestate == 'waking':
connected = monad.eyes.checkConnection()
if connected:
self.wakestate = 'connected'
else:
if self.ctrAlive < self.connectTimeout:
if self.ctrConnectWarning <= 0:
monad.log('not connected. Please connect now...')
self.ctrConnectWarning += 1
else:
monad.log('not connected timeout.')
self.command('kill')
if self.wakestate == 'connected':
eyesopen = monad.eyes.open()
if eyesopen:
self.wakestate = 'ready'
else:
monad.log('eyes open failed')
self.command('kill')
#monad.wheels.wake()
monad.log('exit cortex thread')
def open(self):
# open command socket
self.startCmd()
# start tello command processing
rc = self.sendCommand('command', wait=True)
if rc != 'ok':
monad.log('tello command command failed')
return False
# start tello streaming, video and telemetry
rc = self.sendCommand('streamon', wait=True)
if rc != 'ok':
monad.log('tello streamon command failed')
return False
# open sockets and start threads, to receive video and telemetry
self.startTele()
self.startVideo()
monad.log('eyes connected')
return True
def __init__(self):
monad.log('wheels object created')
def checkVitals(self):
rc = True
if self.ctrAlive > self.maxAlive:
monad.log('maxAlive exceeded')
rc = False
if self.state == 'ready' and self.ctrAlive > self.startTimeout:
monad.log('bored')
rc = False
if self.ctrAwake > self.maxAwake:
monad.log('maxAwake exceeded')
rc = False
if monad.eyes.checkBattery() == False:
monad.log('low battery')
rc = False
if monad.eyes.checkTemperature() == False:
monad.log(f'temp: {monad.telem["temph"]}')
monad.log('high temperature')
rc = False
return rc
def __init__(self):
monad.log('eyes object created')
self.tele_thread = None
self.video_thread = None
def startCmd(self):
# UDP client socket to send and receive commands
self.cmd_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.cmd_sock.settimeout(self.cmd_timeout)
monad.log('cmd socket open')
def startVideo(self):
self.video_thread = threading.Thread(target=self.videoLoop)
self.video_thread.start()
monad.log('video thread started')