Tello3.py

# -*- coding: utf-8 -*-
"""
Created on Wed Nov  6 10:10:36 2019

@author: ALU
@ref : http://www.ryzerobotics.com/
"""
import threading 
import socket
import platform

class TELLO():
    def __init__(self):
        self.locaddr = ('',9000)   # (host, port)
        self.telloaddr = ('192.168.10.1', 8889) # specified in manual
        # Create a UDP socket
        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        self.sock.bind(self.locaddr)
        print('socket binded')
        #recvThread create
        self.recvThread = threading.Thread(target=self.recv)
        self.recvThread.setDaemon(True)
        self.recvThread.start()
        print('Start receiving')
        
        # Need to send 'command' at first and recieve correct response(ok)
        self.send('command')
        
    def recv(self):
        while True: 
            try:
                data, server = self.sock.recvfrom(1518)
                print(data.decode(encoding="utf-8"))
            except Exception:
                print ('Exit...')
                break
            
    def send(self, command):
        if 'end' in command:
            self.sock.sendto('land'.encode(encoding="utf-8"), self.telloaddr)
            print ('End Tello...')
            self.sock.close()
        else: 
            command = command.encode(encoding="utf-8") 
            try:
                self.sock.sendto(command, self.telloaddr)
                print('Send {}'.format(command))
            except:
                print ('counter except...')
                self.sock.close()
        
    def __del__(self):
        try:
            self.sock.sendto('land'.encode(encoding="utf-8"), self.telloaddr)
        finally:
            self.sock.close()
            print ('close socket')
        
### Testing
if __name__ == '__main__':
    host = ''
    port = 9000
    locaddr = (host,port) 
    
    # Create a UDP socket
    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    
    tello_address = ('192.168.10.1', 8889) # specified in manual
    
    sock.bind(locaddr)
    
    def recv():
        while True: 
            try:
                data, server = sock.recvfrom(1518)
                print(data.decode(encoding="utf-8"))
            except Exception:
                print ('\nExit . . .\n')
                break
    
    
    print ('\r\n\r\nTello Python3 Demo.\r\n')
    
    print ('Tello: command takeoff land flip forward back left right\r\n\
           up down cw ccw speed speed?\r\n')
    
    print ('end -- quit demo.\r\n')
    
    
    #recvThread create
    recvThread = threading.Thread(target=recv)
    recvThread.setDaemon(True)
    recvThread.start()
    
    while True:  
        # Need to send 'command' at first and recieve correct response(ok)
        msg = 'command'.encode(encoding="utf-8") 
        sent = sock.sendto(msg, tello_address)
        try:
            python_version = str(platform.python_version())
            version_init_num = int(python_version.partition('.')[0]) 
    
            if version_init_num == 3:
                msg = input("")
            elif version_init_num == 2:
                msg = raw_input("")
            
            if not msg:
                break  
    
            if 'end' in msg:
                print ('...')
                sock.close()  
                break
    
            # Send data
            msg = msg.encode(encoding="utf-8") 
            sent = sock.sendto(msg, tello_address)
        except KeyboardInterrupt:
            print ('\n . . .\n')
            sock.close()  
            break