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Tello.py
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Tello.py
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"""
# Author: Adrian Saul Reiban
# Date: 23/08/2019
"""
import socket
import threading
import logging
class Tello:
# Configure a logging level
logging.basicConfig(format='%(levelname)s:%(message)s', level=logging.DEBUG)
# Tello class constructor
def __init__(self, name_drone, drone_address, computer_port):
# Set the name of the Tello drone
self.name_drone = name_drone
# Set the Tello ip address and set your comunication port
self.tello_address = (drone_address, 8889)
# Set the address and port of your local computer
self.local_address = ('', computer_port)
# UDP Connection
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# Bind to local direction and port
self.sock.bind(self.local_address)
# Save Tello's response based on the command sent
self.response = None
# Create an execution thread that calls the receive function, so that it runs in the background
self.receive_thread = threading.Thread(target=self.receive)
self.receive_thread.daemon = True
self.receive_thread.start()
# This function is responsible for sending data to Tello EDU
def send(self, command):
# Try to send the message, otherwise the exception is printed
try:
self.sock.sendto(command.encode(), self.tello_address)
logging.info("Sending message to %s: " % self.name_drone + command)
except Exception as e:
logging.error("Error sending message to %s: " % self.name_drone + str(e), exc_info=True)
# This function is responsible for receiving data from Tello EDU
def receive(self):
while True:
# Try to send the message, otherwise the exception is printed
try:
response, drone_address = self.sock.recvfrom(128)
self.response = response.decode(encoding='utf-8')
logging.debug("Message received from %s: " % self.name_drone + self.response)
except Exception as e:
# If there is an error, the socket is closed
self.sock.close()
logging.error("Error in receiving the %s message: " % self.name_drone + str(e), exc_info=True)
# This function close the communication socket
def close_sockets(self):
self.sock.close()
logging.info("Communication with %s closed" % self.name_drone)
def __str__(self):
return ("\n\rThe drone data are: " +
"\n\t* Name of drone: %s" % self.name_drone +
"\n\t* IP address and port: IP: %s Port: %s " % self.tello_address + "\n")