def run(CommandsQueue):
move_distance = 30
idle_sleep = 2 #sec
video_ready_sleep = 7 #sec
is_airborn = False
global is_active
tello = Tello()
tello.connect()
tello.set_speed(10)
droneVid = threading.Thread(target=drone_video, args=(tello, ))
droneVid.start()
time.sleep(video_ready_sleep)
while is_active:
#execute next command from the que
if not CommandsQueue.empty():
command = CommandsQueue.get()
timeStamp = str(datetime.datetime.now())
print('Command for Drone: ' + str(command[0]) + ' at time ' +
timeStamp)
if command[0] == Commands.up:
if is_airborn:
tello.move_up(move_distance)
else:
tello.takeoff()
is_airborn = True
# elif command[0] == Commands.idle:
# time.sleep(idle_sleep)
elif command[0] == Commands.up and is_airborn == True:
tello.move_up(move_distance)
elif command[0] == Commands.down and is_airborn == True:
tello.move_down(move_distance)
elif command[0] == Commands.forward and is_airborn == True:
tello.move_forward(move_distance)
elif command[0] == Commands.back and is_airborn == True:
tello.move_back(move_distance)
elif command[0] == Commands.left and is_airborn == True:
tello.move_left(move_distance)
elif command[0] == Commands.right and is_airborn == True:
tello.move_right(move_distance)
elif command[0] == Commands.flip and is_airborn == True:
tello.flip_back()
elif command[0] == Commands.stop:
is_active = False
break
# else:
# time.sleep(idle_sleep)
tello.land()
is_airborn = False
droneVid.join()
tello.end()
class TelloCV(object):
"""
TelloTracker builds keyboard controls on top of TelloPy as well
as generating images from the video stream and enabling opencv support
"""
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.go_speed = 80
self.drone = Tello()
self.init_drone()
self.init_controls()
self.battery = self.drone.get_battery()
self.frame_read = self.drone.get_frame_read()
self.forward_time = 0
self.forward_flag = True
self.takeoff_time = 0
self.command_time = 0
self.command_flag = False
# trackingimport libh264decoder a color
# green_lower = (30, 50, 50)
# green_upper = (80, 255, 255)
# red_lower = (0, 50, 50)
# red_upper = (20, 255, 255)
blue_lower = np.array([0, 0, 0])
upper_blue = np.array([255, 255, 180])
bh_lower = (180, 30, 100)
bh_upper = (275, 50, 100)
self.track_cmd = ""
self.tracker = Tracker(960,
720,
blue_lower, upper_blue)
self.speed_list = [5, 10, 15, 20, 25]
self.frame_center = 480, 360
self.error = 60
def init_drone(self):
"""Connect, uneable streaming and subscribe to events"""
# self.drone.log.set_level(2)
self.drone.connect()
self.drone.streamon()
def on_press(self, keyname):
"""handler for keyboard listener"""
if self.keydown:
return
try:
self.keydown = True
keyname = str(keyname).strip('\'')
print('+' + keyname)
if keyname == 'Key.esc':
self.drone.quit()
exit(0)
if keyname in self.controls:
key_handler = self.controls[keyname]
if isinstance(key_handler, str):
getattr(self.drone, key_handler)(self.speed)
else:
key_handler(self.speed)
except AttributeError:
print('special key {0} pressed'.format(keyname))
def on_release(self, keyname):
"""Reset on key up from keyboard listener"""
self.keydown = False
keyname = str(keyname).strip('\'')
print('-' + keyname)
if keyname in self.controls:
key_handler = self.controls[keyname]
if isinstance(key_handler, str):
getattr(self.drone, key_handler)(0)
else:
key_handler(0)
def init_controls(self):
"""Define keys and add listener"""
self.controls = {
'w': lambda speed: self.drone.move_forward(speed),
's': lambda speed: self.drone.move_back(speed),
'a': lambda speed: self.drone.move_left(speed),
'd': lambda speed: self.drone.move_right(speed),
'Key.space': 'up',
'Key.shift': 'down',
'Key.shift_r': 'down',
'q': 'counter_clockwise',
'e': 'clockwise',
'i': lambda speed: self.drone.flip_forward(),
'k': lambda speed: self.drone.flip_back(),
'j': lambda speed: self.drone.flip_left(),
'l': lambda speed: self.drone.flip_right(),
# arrow keys for fast turns and altitude adjustments
'Key.left': lambda speed: self.drone.rotate_counter_clockwise(speed),
'Key.right': lambda speed: self.drone.rotate_clockwise(speed),
'Key.up': lambda speed: self.drone.move_up(speed),
'Key.down': lambda speed: self.drone.move_down(speed),
'Key.tab': lambda speed: self.drone.takeoff(),
# 'Key.tab': self.drone.takeoff(60),
'Key.backspace': lambda speed: self.drone.land(),
'p': lambda speed: self.palm_land(speed),
't': lambda speed: self.toggle_tracking(speed),
'r': lambda speed: self.toggle_recording(speed),
'z': lambda speed: self.toggle_zoom(speed),
'Key.enter': lambda speed: self.take_picture(speed)
}
self.key_listener = keyboard.Listener(on_press=self.on_press,
on_release=self.on_release)
self.key_listener.start()
# self.key_listener.join()
def process_frame(self):
"""convert frame to cv2 image and show"""
# print("TRACKING START")
frame = self.frame_read.frame
# self.drone.move_up(self.speed)
# image = self.write_hud(image)
# if self.record:
# self.record_vid(frame)
return frame
def move_up(self):
self.drone.move_up(self.speed)
def take_off(self):
self.drone.takeoff()
def go(self):
self.drone.move_forward(self.go_speed)
def move_left(self):
self.drone.move_left(270) # speed 테스트해서 조절하기
def go_window9(self):
self.drone.move_forward()
def rotate_right(self):
self.drone.rotate_clockwise()
def rotate_left(self):
self.drone.rotate_counter_clockwise()
def landing(self):
self.drone.land()
def write_hud(self, frame):
"""Draw drone info, tracking and record on frame"""
stats = self.prev_flight_data.split('|')
stats.append("Tracking:" + str(self.tracking))
if self.drone.zoom:
stats.append("VID")
else:
stats.append("PIC")
if self.record:
diff = int(time.time() - self.start_time)
mins, secs = divmod(diff, 60)
stats.append("REC {:02d}:{:02d}".format(mins, secs))
for idx, stat in enumerate(stats):
text = stat.lstrip()
cv2.putText(frame, text, (0, 30 + (idx * 30)),
cv2.FONT_HERSHEY_SIMPLEX,
1.0, (255, 0, 0), lineType=30)
return frame
def toggle_recording(self, speed):
"""Handle recording keypress, creates output stream and file"""
if speed == 0:
return
self.record = not self.record
if self.record:
datename = [os.getenv('HOME'), datetime.datetime.now().strftime(self.date_fmt)]
self.out_name = '{}/Pictures/tello-{}.mp4'.format(*datename)
print("Outputting video to:", self.out_name)
self.out_file = av.open(self.out_name, 'w')
self.start_time = time.time()
self.out_stream = self.out_file.add_stream(
'mpeg4', self.vid_stream.rate)
self.out_stream.pix_fmt = 'yuv420p'
self.out_stream.width = self.vid_stream.width
self.out_stream.height = self.vid_stream.height
if not self.record:
print("Video saved to ", self.out_name)
self.out_file.close()
self.out_stream = None
def record_vid(self, frame):
"""
convert frames to packets and write to file
"""
new_frame = av.VideoFrame(
width=frame.width, height=frame.height, format=frame.format.name)
for i in range(len(frame.planes)):
new_frame.planes[i].update(frame.planes[i])
pkt = None
try:
pkt = self.out_stream.encode(new_frame)
except IOError as err:
print("encoding failed: {0}".format(err))
if pkt is not None:
try:
self.out_file.mux(pkt)
except IOError:
print('mux failed: ' + str(pkt))
def take_picture(self, speed):
"""Tell drone to take picture, image sent to file handler"""
if speed == 0:
return
self.drone.take_picture()
def palm_land(self, speed):
"""Tell drone to land"""
if speed == 0:
return
self.drone.palm_land()
def toggle_tracking(self, speed):
""" Handle tracking keypress"""
if speed == 0: # handle key up event
return
self.tracking = not self.tracking
print("tracking:", self.tracking)
return
def toggle_zoom(self, speed):
"""
In "video" mode the self.drone sends 1280x720 frames.
In "photo" mode it sends 2592x1936 (952x720) frames.
The video will always be centered in the window.
In photo mode, if we keep the window at 1280x720 that gives us ~160px on
each side for status information, which is ample.
Video mode is harder because then we need to abandon the 16:9 display size
if we want to put the HUD next to the video.
"""
if speed == 0:
return
self.drone.set_video_mode(not self.drone.zoom)
def flight_data_handler(self, event, sender, data):
"""Listener to flight data from the drone."""
text = str(data)
if self.prev_flight_data != text:
self.prev_flight_data = text
def handle_flight_received(self, event, sender, data):
"""Create a file in ~/Pictures/ to receive image from the drone"""
path = '%s/Pictures/tello-%s.jpeg' % (
os.getenv('HOME'),
datetime.datetime.now().strftime(self.date_fmt))
with open(path, 'wb') as out_file:
out_file.write(data)
print('Saved photo to %s' % path)
def enable_mission_pads(self):
self.drone.enable_mission_pads()
def disable_mission_pads(self):
self.drone.disable_mission_pads()
def go_xyz_speed_mid(self, x, y, z, speed, mid):
self.drone.go_xyz_speed_mid(x, y, z, speed, mid)
# if function return True, set drone center to object's center
def track_mid(self, x, y):
midx, midy = 480, 360
distance_x = abs(midx - x)
distance_y = abs(midy - y)
print(x, y, distance_x, distance_y)
move_done = True
if y > midy + self.error + 15:
self.drone.move_down(20)
move_done = False
elif y < midy - self.error + 5:
self.drone.move_up(20)
move_done = False
elif x < midx - self.error:
self.drone.move_left(20)
move_done = False
elif x > midx + self.error:
self.drone.move_right(20)
move_done = False
return move_done
def track_x(self, x, left_count, right_count):
midx = 480
move_done = True
if x < midx - 100:
self.drone.move_left(20)
left_count += 1
move_done = False
elif x > midx + 100:
self.drone.move_right(20)
right_count += 1
move_done = False
return move_done
def go_slow(self):
self.drone.move_forward(30)
def go_fast(self):
self.drone.move_forward(200)
class hand_tello_control:
def __init__(self):
self.action = " "
self.mp_drawing = mp.solutions.drawing_utils
self.mp_drawing_styles = mp.solutions.drawing_styles
self.mp_hands = mp.solutions.hands
self.action_done = True
self.ffoward = 1
self.fback = 1
self.fright = 1
self.fleft = 1
self.fsquare = 1
self.fmiddle = 1
self.fno = 1
self.fland = 1
def tello_startup(self):
# For Tello input:
self.tello = Tello() # Starts the tello object
self.tello.connect() # Connects to the drone
def define_orientation(self, results):
if results.multi_hand_landmarks[0].landmark[
4].x < results.multi_hand_landmarks[0].landmark[17].x:
orientation = "right hand"
else:
orientation = "left hand"
return orientation
def follow_hand(self, results):
normalizedLandmark = results.multi_hand_landmarks[0].landmark[
9] # Normalizes the lowest middle-finger coordinate for hand tracking
pixelCoordinatesLandmark = self.mp_drawing._normalized_to_pixel_coordinates(
normalizedLandmark.x, normalizedLandmark.y, 255, 255
) #Tracks the coordinates of the same landmark in a 255x255 grid
print(pixelCoordinatesLandmark)
if pixelCoordinatesLandmark == None: # If hand goes out of frame, stop following
self.tello.send_rc_control(0, 0, 0, 0)
return
centerRange = [12,
12] #Range for detecting commands in the x and y axis.
centerPoint = [128, 128] #Theoretical center of the image
xCorrection = pixelCoordinatesLandmark[0] - centerPoint[0]
yCorrection = pixelCoordinatesLandmark[1] - centerPoint[1]
xSpeed = 0
ySpeed = 0
if xCorrection > centerRange[0] or xCorrection < -centerRange[
0]: #If the hand is outside the acceptable range, changes the current speed to compensate.
xSpeed = xCorrection // 3
if yCorrection > centerRange[1] or yCorrection < -centerRange[1]:
ySpeed = -yCorrection // 3
self.tello.send_rc_control(xSpeed, 0, ySpeed, 0)
time.sleep(0.5)
self.tello.send_rc_control(0, 0, 0, 0)
def action_to_do(
self, fingers, orientation,
results): #use the variable results for the hand tracking control
if self.action_done == True:
self.ffoward = 1
self.fback = 1
self.fright = 1
self.fleft = 1
self.fsquare = 1
self.fmiddle = 1
self.fno = 1
self.fland = 1
self.action_done = False
#Left hand controls tricks, right hand controls movement
if orientation == "left hand": #Thumb on the left = left hand!
if fingers == [0, 1, 0, 0, 0]:
if self.ffoward >= 15:
self.action = "flip forward"
self.tello.flip_forward()
self.action_done = True
self.ffoward = self.ffoward + 1
elif fingers == [0, 1, 1, 0, 0] and self.battery == True:
if self.fback >= 15:
self.action = "flip back"
self.tello.flip_back()
self.action_done = True
self.fback = self.fback + 1
elif fingers == [1, 0, 0, 0, 0] and self.battery == True:
if self.fright >= 15:
self.action = "flip right"
self.tello.flip_right()
self.action_done = True
self.fright = self.fright + 1
elif fingers == [0, 0, 0, 0, 1] and self.battery == True:
if self.fleft >= 15:
self.action = "flip left"
self.tello.flip_left()
self.action_done = True
self.fleft = self.fleft + 1
elif fingers == [0, 1, 1, 1, 0]:
if self.fsquare >= 15:
self.action = "Square"
self.tello.move_left(20)
self.tello.move_up(40)
self.tello.move_right(40)
self.tello.move_down(40)
self.tello.move_left(20)
self.action_done = True
self.fsquare = self.fsquare + 1
elif fingers == [0, 0, 1, 0, 0]:
if self.fmiddle >= 15:
self.action = " :( "
self.tello.land()
self.action_done = True
self.fmiddle = self.fmiddle + 1
elif ((self.battery == False) and
(fingers == [1, 0, 0, 0, 0] or fingers == [0, 1, 0, 0, 0]
or fingers == [0, 0, 0, 0, 1])): #not avaiable to do tricks
if self.fno >= 15:
self.tello.rotate_clockwise(45)
self.tello.rotate_counter_clockwise(90)
self.tello.rotate_clockwise(45)
self.action_done = True
self.fno = self.fno + 1
else:
self.action = " "
elif orientation == "right hand": #Thumb on the right = right hand!
if fingers == [1, 1, 1, 1, 1]:
self.action = "Follow"
self.follow_hand(results)
elif fingers == [1, 0, 0, 0, 0]:
if self.fland >= 15:
self.action = "Land"
self.tello.land()
self.action_done = True
self.fland = self.fland + 1
else:
self.action = " "
def fingers_position(self, results, orientation):
# [thumb, index, middle finger, ring finger, pinky]
# 0 for closed, 1 for open
fingers = [0, 0, 0, 0, 0]
if (results.multi_hand_landmarks[0].landmark[4].x >
results.multi_hand_landmarks[0].landmark[3].x
) and orientation == "right hand":
fingers[0] = 0
if (results.multi_hand_landmarks[0].landmark[4].x <
results.multi_hand_landmarks[0].landmark[3].x
) and orientation == "right hand":
fingers[0] = 1
if (results.multi_hand_landmarks[0].landmark[4].x >
results.multi_hand_landmarks[0].landmark[3].x
) and orientation == "left hand":
fingers[0] = 1
if (results.multi_hand_landmarks[0].landmark[4].x <
results.multi_hand_landmarks[0].landmark[3].x
) and orientation == "left hand":
fingers[0] = 0
fingermarkList = [8, 12, 16, 20]
i = 1
for k in fingermarkList:
if results.multi_hand_landmarks[0].landmark[
k].y > results.multi_hand_landmarks[0].landmark[k - 2].y:
fingers[i] = 0
else:
fingers[i] = 1
i = i + 1
return fingers
def detection_loop(self):
with self.mp_hands.Hands(model_complexity=0,
min_detection_confidence=0.75,
min_tracking_confidence=0.5) as hands:
self.tello.streamoff(
) # Ends the current stream, in case it's still opened
self.tello.streamon() # Starts a new stream
while True:
frame_read = self.tello.get_frame_read(
) # Stores the current streamed frame
image = frame_read.frame
self.battery = self.tello.get_battery()
# To improve performance, optionally mark the image as not writeable to
# pass by reference.
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
results = hands.process(image)
# Draw the hand annotations on the image.
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
if results.multi_hand_landmarks:
action = " "
for hand_landmarks in results.multi_hand_landmarks:
self.mp_drawing.draw_landmarks(
image, hand_landmarks,
self.mp_hands.HAND_CONNECTIONS,
self.mp_drawing_styles.
get_default_hand_landmarks_style(),
self.mp_drawing_styles.
get_default_hand_connections_style())
orientation = self.define_orientation(results)
fingers = self.fingers_position(results, orientation)
#print(fingers)
self.action_to_do(fingers, orientation, results)
for event in pg.event.get():
if event.type == pg.KEYDOWN:
if event.key == pg.K_l:
self.tello.land()
if event.key == pg.K_t:
self.tello.takeoff()
if event.key == pg.K_b:
print("A bateria esta em ",
self.tello.get_battery(), "%")
if event.key == pg.K_m:
return 0
cv2.imshow("image", image)
if cv2.waitKey(5) & 0xFF == 27:
break
def key_control(self):
self.tello.streamoff(
) # Ends the current stream, in case it's still opened
self.tello.streamon() # Starts a new stream
while True:
frame_read = self.tello.get_frame_read(
) # Stores the current streamed frame
image = frame_read.frame
# To improve performance, optionally mark the image as not writeable to
# pass by reference.
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
# Draw the hand annotations on the image.
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
for event in pg.event.get():
if event.type == pg.KEYDOWN:
if event.key == pg.K_w:
self.tello.move_forward(20)
if event.key == pg.K_a:
self.tello.move_left(20)
if event.key == pg.K_s:
self.tello.move_back(20)
if event.key == pg.K_d:
self.tello.move_right(20)
if event.key == pg.K_q:
self.tello.rotate_counter_clockwise(20)
if event.key == pg.K_e:
self.tello.rotate_clockwise(20)
if event.key == pg.K_SPACE:
self.tello.move_up(20)
if event.key == pg.K_LCTRL:
self.tello.move_down(20)
if event.key == pg.K_b:
print("A bateria esta em ", self.tello.get_battery(),
"%")
if event.key == pg.K_m:
return 0
cv2.imshow("image", image)
if cv2.waitKey(5) & 0xFF == 27:
break
def main_interface(self):
telloMode = -1
self.tello_startup()
pg.init()
win = pg.display.set_mode((500, 500))
pg.display.set_caption("Test")
#self.tello.takeoff()
print("Para controlar pelo teclado, digite 1")
print("Para controlar com a mao, digite 2")
print("Para sair, digite 0")
self.tello.streamoff(
) # Ends the current stream, in case it's still opened
self.tello.streamon() # Starts a new stream
while telloMode != 0:
frame_read = self.tello.get_frame_read(
) # Stores the current streamed frame
image = frame_read.frame
# To improve performance, optionally mark the image as not writeable to
# pass by reference.
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
# Draw the hand annotations on the image.
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
cv2.imshow("image", image)
if cv2.waitKey(5) & 0xFF == 27:
break
if telloMode == 1:
self.key_control()
telloMode = -1
print("Para controlar pelo teclado, digite 1")
print("Para controlar com a mao, digite 2")
print("Para sair, digite 0")
elif telloMode == 2:
self.detection_loop()
telloMode = -1
print("Para controlar pelo teclado, digite 1")
print("Para controlar com a mao, digite 2")
print("Para sair, digite 0")
elif telloMode == 0:
self.tello.land()
telloMode = -1
print("Obrigado por voar hoje")
elif telloMode != -1 and telloMode != 1 and telloMode != 2:
print("valor invalido!")
for event in pg.event.get():
if event.type == pg.KEYDOWN:
if event.key == pg.K_1:
telloMode = 1
if event.key == pg.K_2:
telloMode = 2
if event.key == pg.K_0:
telloMode = 0
if event.key == pg.K_l:
self.tello.land()
if event.key == pg.K_t:
self.tello.takeoff()
if event.key == pg.K_b:
print("A bateria esta em ", self.tello.get_battery(),
"%")
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 (yaw)
- W and S: Up and down.
"""
def __init__(self):
x = 10
y = 60
os.environ['SDL_VIDEO_WINDOW_POS'] = "%d,%d" % (x, y)
# Init pygame
pygame.init()
# Creat pygame window
pygame.display.set_caption("Tello video stream")
self.screen = pygame.display.set_mode([960,
720]) # , pygame.FULLSCREEN)
# 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.rc_control_flg = False
# create update timer
# pygame.time.set_timer(pygame.USEREVENT + 1, 1000 // FPS) # Change 1000 to 0.
def run(self, table):
countFrame = 0
self.tello.connect()
self.tello.set_speed(self.speed)
# In case streaming is on. This happens when we quit this program without the escape key.
self.tello.streamoff()
self.tello.streamon()
frame_read = self.tello.get_frame_read()
flight_flag = False
should_stop = False
while not should_stop:
command = table.get()
self.tello.commandDone = False
while self.tello.commandDone == False:
timeStamp = str(datetime.datetime.now())
print('Command for Drone: ' + str(command[0]) + ' at time ' +
timeStamp)
# Up
if command[0] == Commands.up:
if flight_flag:
# self.tello.move_up(50)
self.tello.send_rc_control(0, 0, 30, 0)
time.sleep(1)
self.tello.send_rc_control(0, 0, 0, 0)
else:
self.tello.takeoff()
flight_flag = True
time.sleep(1.95)
# Down
elif command[0] == Commands.down:
# self.tello.move_down(50)
self.tello.send_rc_control(0, 0, -30, 0)
time.sleep(1)
self.tello.send_rc_control(0, 0, 0, 0)
# Flip
elif command[0] == Commands.flip:
self.tello.flip_back()
time.sleep(1.95)
elif command[0] == Commands.stop:
should_stop = True
if frame_read.stopped:
break
self.screen.fill([0, 0, 0])
# Display next frame
frame = frame_read.frame
text = "Battery: {}%".format(self.tello.get_battery())
cv2.putText(frame, text, (5, 720 - 5), cv2.FONT_HERSHEY_SIMPLEX, 1,
(0, 0, 255), 2)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
frame = np.rot90(frame)
frame = np.flipud(frame)
frame = pygame.surfarray.make_surface(frame)
self.screen.blit(frame, (0, 0))
pygame.display.update()
countFrame += 1
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
"""
print(key)
if key == pygame.K_UP: # set forward velocity value = 1073741906
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.rc_control_flg = True
elif key == pygame.K_l: # land
not self.tello.land()
self.rc_control_flg = False
def update(self):
""" Update routine. Send velocities to Tello."""
if self.rc_control_flg:
self.tello.send_rc_control(self.left_right_velocity,
self.for_back_velocity,
self.up_down_velocity,
self.yaw_velocity)
class DroneControl():
def __init__(self):
self.drone = Tello() # Instantiate a Tello Object
self.drone.connect() # Connect to the drone
self.drone.streamoff() # In case stream never exited before
self.drone.streamon() # Turn on drone camera stream
self.timer = 0 # Timing for printing statements
self.flying = False # Keep track of flying state
# How many video frames have been requested
self.frame_count = 0
self.init_frames = 50 # Begin flying only after init_frames
self.myThread = threading.Thread(target=self.fly)
def __del__(self):
self.drone.streamoff()
def get_state(self):
self.drone.get_battery()
self.drone.get_speed_x
self.drone.get_speed_y
self.drone.get_speed_z
self.drone.get_height
self.drone.get_flight_time
self.drone.get_temperature
self.drone.get_yaw
self.drone.get_roll
self.drone.get_pitch
self.drone.get_barometer
self.drone.get_acceleration_x
self.drone.get_acceleration_y
self.drone.get_acceleration_z
self.drone.get_distance_tof
self.drone.query_wifi_signal_noise_ratio
####################################################
############## ADD YOUR CODE HERE ##################
####################################################
def fly(self):
#time.sleep(5)
#self.get_state()
#time.sleep(5)
#self.drone.takeoff()
#time.sleep(5)
#self.drone.move_left(50)
#time.sleep(5)
#self.drone.rotate_clockwise(90)
#time.sleep(5)
#self.drone.rotate_clockwise(180)
#time.sleep(5)
#self.drone.land()
#################################################
##################Challenge 1####################
#################################################
time.sleep(5)
self.get_state()
time.sleep(5)
self.drone.takeoff()
time.sleep(5)
self.drone.move_left(50)
time.sleep(5)
self.drone.move_back(50)
time.sleep(5)
self.drone.move_right(50)
time.sleep(5)
self.drone.move_forward(50)
time.sleep(5)
self.drone.land()
#################################################
###################Challenge 2###################
#################################################
time.sleep(5)
self.drone.takeoff()
time.sleep(10)
self.drone.move_up(40)
time.sleep(5)
self.drone.move_forward(50)
time.sleep(5)
self.drone.rotate_counter_clockwise(45)
time.sleep(5)
self.drone.move_forward(50)
time.sleep(5)
self.drone.rotate_counter_clockwise(70)
time.sleep(5)
self.drone.flip_left()
time.sleep(5)
self.drone.move_down(25)
time.sleep(5)
self.drone.flip_right()
time.sleep(5)
self.drone.flip_right()
time.sleep(5)
self.drone.move_back(35)
time.sleep(5)
self.drone.flip_back()
time.sleep(5)
self.get_state()
time.sleep(5)
curve_xyz_speed(-50, -50, 0, -200, -200, 0, 10)
time.sleep(5)
self.rotate_clockwise(115)
time.sleep(5)
self.drone.land()
####################################################
############## ADD YOUR CODE HERE ##################
####################################################
def get_frame(self):
# only begin flying once a video feed is established
self.frame_count += 1
if self.flying == False and self.frame_count > self.init_frames:
self.flying = True
# self.fly()
self.myThread.start()
# Grab a frame and resize it
frame_read = self.drone.get_frame_read()
if frame_read.stopped:
return
frame = cv2.resize(frame_read.frame, (360, 240))
# encode OpenCV raw frame to jpeg
ret, jpeg = cv2.imencode('.jpg', frame)
return jpeg.tobytes()
if startCounter == 0:
me.takeoff()
time.sleep(5)
me.move_back(160)
time.sleep(5)
me.rotate_counter_clockwise(90)
time.sleep(5)
me.flip_forward()
time.sleep(5)
me.flip_forward()
time.sleep(5)
me.flip_right()
time.sleep(5)
me.flip_left()
time.sleep(5)
me.flip_back()
time.sleep(5)
me.flip_back()
#me.move_forward(195)
#time.sleep(5)
#me.rotate_clockwise(90)
#time.sleep(5)
#me.move_forward(100)
#time.sleep(5)
#me.rotate_counter_clockwise(90)
#time.sleep(5)
#me.move_forward(100)
#
#time.sleep(5)
#me.flip_forward()
#me.rotate_clockwise(90)
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(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()
self.state = 'waiting'
should_stop = False
while not should_stop:
for event in pygame.event.get():
if event.type == USEREVENT + 1:
self.update()
elif event.type == QUIT:
should_stop = True
elif event.type == KEYDOWN:
if event.key == K_ESCAPE:
should_stop = True
else:
self.keydown(event.key)
elif event.type == KEYUP:
self.keyup(event.key)
elif event.type == GameEvents.VIDEO_EVENT.value:
# here you can update the status using the uav command
# or send an advanced command like flip: tello.flip_left
self.tello.LOGGER.info(f'got video event: {event.detected}')
if self.state == 'waiting':
self.state = 'flipping'
self.tello.flip_back()
time.sleep(2)
self.state = 'waiting'
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)
self.screen.blit(frame, (0, 0))
pygame.display.update()
time.sleep(1 / FPS)
# Call it always before finishing. I 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 clockwise velocity
self.yaw_velocity = -S
elif key == pygame.K_d: # set yaw counter 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
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 hand_tello_control:
def __init__(self):
self.action = " "
self.mp_drawing = mp.solutions.drawing_utils
self.mp_drawing_styles = mp.solutions.drawing_styles
self.mp_hands = mp.solutions.hands
def tello_startup(self):
# For Tello input:
self.tello = Tello() # Starts the tello object
self.tello.connect() # Connects to the drone
def define_orientation(self, results):
if results.multi_hand_landmarks[0].landmark[
4].x < results.multi_hand_landmarks[0].landmark[17].x:
orientation = "right hand"
else:
orientation = "left hand"
return orientation
def action_to_do(
self, fingers, orientation,
results): #use the variable results for the hand tracking control
#Left hand controls tricks, right hand controls movement
if orientation == "left hand": #Thumb on the left = left hand!
if fingers == [0, 1, 0, 0, 0]:
self.action = "flip forward"
self.tello.flip_forward()
elif fingers == [0, 1, 1, 0, 0]:
self.action = "flip back"
self.tello.flip_back()
elif fingers == [1, 0, 0, 0, 0]:
self.action = "flip right"
self.tello.flip_right()
elif fingers == [0, 0, 0, 0, 1]:
self.action = "flip left"
self.tello.flip_left()
elif fingers == [0, 1, 1, 1, 0]:
self.action = "Square"
self.tello.move_left(20)
self.tello.move_up(40)
self.tello.move_right(40)
self.tello.move_down(40)
self.tello.move_left(20)
elif fingers == [0, 0, 1, 0, 0]:
self.action = " :( "
self.tello.land()
else:
self.action = " "
elif orientation == "right hand": #Thumb on the right = right hand!
if fingers == [0, 1, 0, 0, 0]:
self.action = "Move up"
self.tello.move_up(20)
elif fingers == [1, 0, 0, 0, 0]:
self.action = "Move left"
self.tello.move_left(20)
elif fingers == [0, 0, 0, 0, 1]:
self.action = "Move right"
self.tello.move_right(20)
elif fingers == [0, 1, 1, 0, 0]:
self.action = "Move down"
self.tello.move_down(20)
else:
self.action = " "
def fingers_position(self, results, orientation):
# [thumb, index, middle finger, ring finger, pinky]
# 0 for closed, 1 for open
fingers = [0, 0, 0, 0, 0]
if (results.multi_hand_landmarks[0].landmark[4].x >
results.multi_hand_landmarks[0].landmark[3].x
) and orientation == "right hand":
fingers[0] = 0
if (results.multi_hand_landmarks[0].landmark[4].x <
results.multi_hand_landmarks[0].landmark[3].x
) and orientation == "right hand":
fingers[0] = 1
if (results.multi_hand_landmarks[0].landmark[4].x >
results.multi_hand_landmarks[0].landmark[3].x
) and orientation == "left hand":
fingers[0] = 1
if (results.multi_hand_landmarks[0].landmark[4].x <
results.multi_hand_landmarks[0].landmark[3].x
) and orientation == "left hand":
fingers[0] = 0
fingermarkList = [8, 12, 16, 20]
i = 1
for k in fingermarkList:
if results.multi_hand_landmarks[0].landmark[
k].y > results.multi_hand_landmarks[0].landmark[k - 2].y:
fingers[i] = 0
else:
fingers[i] = 1
i = i + 1
return fingers
def detection_loop(self):
with self.mp_hands.Hands(model_complexity=0,
min_detection_confidence=0.75,
min_tracking_confidence=0.5) as hands:
self.tello.streamoff(
) # Ends the current stream, in case it's still opened
self.tello.streamon() # Starts a new stream
while True:
frame_read = self.tello.get_frame_read(
) # Stores the current streamed frame
image = frame_read.frame
# To improve performance, optionally mark the image as not writeable to
# pass by reference.
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
results = hands.process(image)
# Draw the hand annotations on the image.
image.flags.writeable = True
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
#self.battery = self.tello.query_battery()
#if 75 <= self.battery <= 100:
#color = (0, 150, 0) # Green (BGR)
#elif 50 <= self.battery < 75:
#color = (0, 255, 255) # Yellow
#elif 0 <= self.battery < 50:
#color = (0, 0, 255) # Red
if results.multi_hand_landmarks:
action = " "
for hand_landmarks in results.multi_hand_landmarks:
self.mp_drawing.draw_landmarks(
image, hand_landmarks,
self.mp_hands.HAND_CONNECTIONS,
self.mp_drawing_styles.
get_default_hand_landmarks_style(),
self.mp_drawing_styles.
get_default_hand_connections_style())
orientation = self.define_orientation(results)
fingers = self.fingers_position(results, orientation)
#print(fingers)
self.action_to_do(fingers, orientation, results)
cv2.putText(
image,
f'Action: {str(self.action)}',
(10, 70),
cv2.FONT_HERSHEY_PLAIN,
3,
(100, 100, 255),
3,
)
#cv2.putText(image, f'Battery: {str(self.battery)}%', (10, 450), cv2.FONT_HERSHEY_PLAIN, 3, color, 3, )
cv2.imshow("image", image)
if cv2.waitKey(5) & 0xFF == 27:
break
def main_interface(self):
self.tello_startup()
self.tello.takeoff()
self.detection_loop()