Sample code is offered under MIT License (See below).

Copyright 2018 Ryze

Permission is hereby granted, free of charge, to any person obtaining a

copy of this software and associated documentation files (the "Software"),

to deal in the Software without restriction, including without limitation

the rights to use, copy, modify, merge, publish, distribute, sublicense,

and/or sell copies of the Software, and to permit persons to whom the

Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included

in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS

OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF

MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.

IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY

CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,

TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE

SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

##Introduction

This is a collection of python modules that interact with the Ryze Tello drone.

##Project Description

This toolkit contains three sample programs based on tello sdk and python2.7,including Single_Tello_Test, Tello_Video, and Tello_Video (With_Pose_Recognition). There is also a program file named tello_state.py.

- **Single_Tello_Test**

In Single_Tello_Test,You can design a series of command combinations by writing a txt script to let tello execute a series of actions you have designed. This program can also be used as a command set test tool for tello.

- **Tello_Video**

In Tello_Video，You can receive the video stream data from tello, decode the video through the h264 decoding library, and display it on a GUI interface based on Tkinter and PIL. In addition, it also supports a control panel that can operate tello. This sample code provides an example of receiving and processing and getting the correct video data. The source code of the h264 decoding library is also provided in the package, which can be used for your reference.

- **Tello_Video(With_Pose_Recognition)**

Tello_Video(With_Pose_Recognition) is an application version modified from Tello_Video.It uses the decoded video data，and everytime extract a single frame image for pose recognition operation , and binds the specific posture and aircraft control commands to realize the pose control of Tello.This code is mainly used as an application case for utilizing the decoded video data of tello for image processing.

- **Tello_state.py**

Tello_state.py can read the various status data of tello, and can be used as a tool to debug and view the status of tello.

The sample codes above are based on python2.7.There is no need to install additional third-party libraries for running Single_Tello_Test and tello_state.py.For Tello_Video and Tello_Video (With_Pose_Recognition), you need to install a series of third-party libraries. Therefore, in these two folders, a one-click installation script (based on windows32/64, linux and macos) is provided, which can facilitate you with installing all relevant dependencies.

Specific to the content and description of each package, you can refer to the readme file in the related folder.

##Contact Information

If you have any questions about this sample code and the installation, please feel free to contact me. You can communicate with me by sending e-mail to sdk@ryzerobotics.com.

#Single_Tello_Test

Write the command set to be run in command.txt, for example:：

The script will automatically send a command to Tello. After receiving the reply from the previous command, the next command will be sent immediately.

To add a delay, you can use the Delay command and the script will automatically delay. The unit of delay is seconds, which can be given to decimals.

Run the script

The command window will type each instruction and its reply. After the execution is finished, the commands will be stored in the log folder to name the test end time.

command

takeoff

delay 5

land

from datetime import datetime

class Stats:

def __init__(self, command, id):

self.command = command

self.response = None

self.id = id

self.start_time = datetime.now()

self.end_time = None

self.duration = None

def add_response(self, response):

self.response = response

self.end_time = datetime.now()

self.duration = self.get_duration()

# self.print_stats()

def get_duration(self):

diff = self.end_time - self.start_time

return diff.total_seconds()

def print_stats(self):

print '\nid: %s' % self.id

print 'command: %s' % self.command

print 'response: %s' % self.response

print 'start time: %s' % self.start_time

print 'end_time: %s' % self.end_time

print 'duration: %s\n' % self.duration

def got_response(self):

if self.response is None:

return False

else:

return True

def return_stats(self):

str = ''

str += '\nid: %s\n' % self.id

str += 'command: %s\n' % self.command

str += 'response: %s\n' % self.response

str += 'start time: %s\n' % self.start_time

str += 'end_time: %s\n' % self.end_time

str += 'duration: %s\n' % self.duration

return str

import socket

import threading

import time

from stats import Stats

class Tello:

def __init__(self):

self.local_ip = ''

self.local_port = 8889

self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # socket for sending cmd

self.socket.bind((self.local_ip, self.local_port))

# thread for receiving cmd ack

self.receive_thread = threading.Thread(target=self._receive_thread)

self.receive_thread.daemon = True

self.receive_thread.start()

self.tello_ip = '192.168.10.1'

self.tello_port = 8889

self.tello_adderss = (self.tello_ip, self.tello_port)

self.log = []

self.MAX_TIME_OUT = 15.0

def send_command(self, command):

"""

self.log.append(Stats(command, len(self.log)))

self.socket.sendto(command.encode('utf-8'), self.tello_adderss)

print 'sending command: %s to %s' % (command, self.tello_ip)

start = time.time()

while not self.log[-1].got_response():

now = time.time()

diff = now - start

if diff > self.MAX_TIME_OUT:

print 'Max timeout exceeded... command %s' % command

# TODO: is timeout considered failure or next command still get executed

# now, next one got executed

return

print 'Done!!! sent command: %s to %s' % (command, self.tello_ip)

def _receive_thread(self):

"""Listen to responses from the Tello.

while True:

try:

self.response, ip = self.socket.recvfrom(1024)

print('from %s: %s' % (ip, self.response))

self.log[-1].add_response(self.response)

except socket.error, exc:

print "Caught exception socket.error : %s" % exc

def on_close(self):

pass

# for ip in self.tello_ip_list:

# self.socket.sendto('land'.encode('utf-8'), (ip, 8889))

# self.socket.close()

def get_log(self):

return self.log

from tello import Tello

import sys

from datetime import datetime

import time

start_time = str(datetime.now())

file_name = sys.argv[1]

f = open(file_name, "r")

commands = f.readlines()

tello = Tello()

for command in commands:

if command != '' and command != '\n':

command = command.rstrip()

if command.find('delay') != -1:

sec = float(command.partition('delay')[2])

print 'delay %s' % sec

time.sleep(sec)

pass

else:

tello.send_command(command)

log = tello.get_log()

out = open('log/' + start_time + '.txt', 'w')

for stat in log:

stat.print_stats()

str = stat.return_stats()

out.write(str)

Sample code is offered under MIT License (See below).

Copyright 2018 Ryze

Permission is hereby granted, free of charge, to any person obtaining a

copy of this software and associated documentation files (the "Software"),

to deal in the Software without restriction, including without limitation

the rights to use, copy, modify, merge, publish, distribute, sublicense,

and/or sell copies of the Software, and to permit persons to whom the

Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included

in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS

OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF

MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.

IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY

CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,

TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE

SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.