two simple files

djitello5.py

@@ -0,0 +1,148 @@
+import signal
+import pygame
+import time
+import socket
+import cv2
+import subprocess
+import os
+import keyboard
+
+tello_address = ("192.168.10.1", 8889)
+pc_address = ("", 8080)
+pc_server_address = ("", 11111)
+
+def setupserver(address):
+	try:
+		sname = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+		sname.bind(address)
+	except socket.error as msg:
+		print("Failed to bind: " + str(msg))
+	return sname
+
+def setupfile(filename, mode):
+	try:
+		file = open(filename, mode)
+	except IOError:
+		print("Could not open file.")
+	return file
+
+
+def setupsocket(address):
+	sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+	try:
+		sock.bind(address)
+	except socket.error as msg:
+		print("Binding error: " + str(msg))
+	return sock
+
+def sendcommand(command, s, addr):
+	try:
+		command = command.encode()
+		sent = s.sendto(command, addr)
+	except socket.error as msg:
+		print("Error sending message: " + str(msg))
+		print(str(sent))
+
+def recieve(s):
+	bytes, address = s.recvfrom(1024)
+	bytes = bytes.decode('utf-8')
+	if address == tello_address:
+		print("Recieved message from tello: " + bytes)
+	else:
+		print("Message from: " + str(address) + bytes)
+
+def recieve_video():
+	try:
+		video = cv2.VideoCapture("udp://0.0.0.0:11111")
+	except Exception as err:
+		pass
+	while True:
+		try:
+			ret, frame = video.read()
+			if ret:
+				cv2.imshow("stream", frame)
+				cv2.waitKey(1)
+		except Exception as err:
+			cv2.destroyAllWindows()
+			video.release()
+			break
+
+def thread_test():
+	while True:
+		print("Hi, my name is therad")
+		time.sleep(5)
+
+s = setupsocket(pc_address)
+
+sendcommand("command", s, tello_address)
+print("sent command")
+recieve(s)
+#sendcommand("streamon", s, tello_address)
+#print("sent streamon")
+#recieve(s)
+#sendcommand("takeoff", s, tello_address)
+
+
+
+while True:
+	message = input()
+	if message == "quit":
+		os.killpg(os.getpgid(child.pid), signal.SIGTERM)
+		break
+	elif message == "streamon":
+		#open djitello6.py
+		sendcommand(message, s, tello_address)
+		recieve(s)
+		child = subprocess.Popen("python3 djitello6.py",stdout = subprocess.PIPE, shell = True, preexec_fn=os.setsid)
+
+	if message == "rcgo":
+		break
+	sendcommand(message, s, tello_address)
+	recieve(s)
+
+#command_thread()
+
+i = False
+
+while True:
+	in1 = input()
+	keyboard.press("enter")
+	if in1 == "a":
+		sendcommand("rc -100 0 0 0", s, tello_address)
+		i = True
+	elif in1 == "s":
+		sendcommand("rc 0 -100 0 0", s, tello_address)
+		i = True
+	elif in1 == "d":
+		sendcommand("rc 100 0 0 0", s, tello_address)
+		i = True
+	elif in1 == "w":
+		sendcommand("rc 0 100 0 0", s, tello_address)
+		i = True				
+	elif in1 == "e":
+		sendcommand("emergency", s, tello_address)
+	elif in1 == "q":
+		break
+	elif in1 == ";":
+		sendcommand("rc 0 0 50 0", s, tello_address)
+		i = True
+	elif in1 == ".":
+		sendcommand("rc 0 0 -50 0", s, tello_address)
+		i = True
+	elif in1 == "]":
+		sendcommand("rc 0 0 0 100", s, tello_address)
+		i = True
+	elif in1 == "[":
+		sendcommand("rc 0 0 0 -100", s, tello_address)
+		i = True					
+	elif in1 == "l":
+		sendcommand("land", s, tello_address)
+	elif in1 == "t":
+		sendcommand("takeoff", s, tello_address)
+	else:
+		if i == True:
+			sendcommand("rc 0 0 0 0", s, tello_address)
+			i = False
+		else:
+			pass
+	time.sleep(0.075)

djitello6.py

@@ -0,0 +1,33 @@
+import cv2
+import socket
+
+tello_address = ("", 8890)
+
+sock1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+sock1.bind(tello_address)
+
+def recieve():
+	bytes, address = sock1.recvfrom(1024)
+	bytes = bytes.decode("utf-8")
+	if address == tello_address:
+		print("message from tello:" + bytes)
+	else:
+		print("msg from" + address + ":" + bytes)	
+
+
+try:
+	video = cv2.VideoCapture("udp://0.0.0.0:11111")
+except Exception as err:
+	print(err)
+while True:
+	try:
+		ret, frame = video.read()
+		if ret:
+			cv2.imshow("stream", frame)
+			cv2.waitKey(1)
+	except Exception as err:
+		cv2.destroyAllWindows()
+		video.release()
+		print(err)
+		break
+