├── .gitignore ├── LICENSE ├── Readme.md ├── advanced_tello.py ├── cmd_ids ├── codes_crc16 ├── codes_crc8 ├── demo.py ├── dev_utils.py ├── tello.py └── utils.py /.gitignore: -------------------------------------------------------------------------------- 1 | # Project exclude paths 2 | /venv/ 3 | /.idea/ -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /Readme.md: -------------------------------------------------------------------------------- 1 | # TelloPython 2 | *Allows to control your Tello Drone via Python.* 3 | 4 | In addition to the "official" and documented APIs, TelloPython also supports also a number of reverse engineered 5 | function, such as "Flip", which are not in mentioned in the documentation, and only accessible through the App. Have a 6 | look [demo.py](demo.py), a small script to control the drone with your keyboard, which is not possible with the 7 | documented APIs (using reverse engineered Joystick Controls). 8 | 9 | This Readme also goes through the Basics of how the Tello App was reverse engineered and a basic breakdown on how the 10 | app works. 11 | 12 | # Introduction to reverse engineering 13 | 14 | ## Basics 15 | * The Tello App does not send Strings (e. g. "land" or "takeoff" to the Drone). Instead it sends Command Ids to the 16 | drone (shorts). To find the ids: 17 | * The `SocketPacketEntitiy` class contains different fields that you need to figure out before sending any command. To 18 | log the values of the arguments, I used the Xposed Framework (though you can probably figure it out with Wireshark): 19 | * cmdId: int 20 | * data: byte[] 21 | * pactype: int 22 | * seqnum: short 23 | * version: int 24 | 25 | ## How to find these Command Ids etc 26 | * In the Tello App, the raw ids can be found in classes extending `com.ryzerobotics.tello.gcs.core.cmd.e`. (You can run 27 | the scripts in `dev_utils.py` to find Command Ids used in comparisons. These script need a decompiled Tello Folder 28 | (preferably from Jadx). A more complete list (still maybe not all ids) can be found in `cmd_ids` 29 | * You should be able to figure out some Commands by having a look at the class `com.ryzerobotics.tello.gcs.core.cmd.c` 30 | ("ZOCmdStore") 31 | * By setting the Tello Application to `UserDebuggable` you can use the "Android Layout Inspector" and figure out the ids 32 | of the buttons and search for their `onClickListener` (done to find `flip` command) 33 | * With Xposed, you can hook every method of the classes extending `e`. Check what Id gets sent when using different 34 | features. (Takeoff, land etc.). A simpler way (less complete) would be hooking the before mentioned"ZOCmdStore" class. 35 | * Similarly, you can hook the constructor of the class `com.ryzerobotics.tello.gcs.core.c` ("ZOCmdParser") and log 36 | the `cmdId` field of the result of method `com.ryzerobotics.tello.gcs.ui.bean.SocketPacketEntity a(byte[], int)`. 37 | Note that the `byte[]` sometimes contains useful information in form of text. 38 | 39 | 40 | ## Using different commands 41 | 42 | ### The Joystick command 43 | The joystick is handled by `com.ryzerobotics.tello.gcs.core.cmd.d.a(int, int, long, long, long)` 44 | Values are set using Commands in "ZOCmdSendManager". Chinese names for the values are mentioned in log statements with 45 | tag "yaogan" - "Joystick"). You can understand their meaning by Trial and Error or hooking the Tello App and seeing 46 | what values are passed to the method when using the Joystick in app. 47 | 48 | | Chinese names | Directions | Name | 49 | | ------------- |:-----------------------------| :--------| 50 | | zuoYou | right - left | roll | 51 | | qianHou | forward - backward | pitch | 52 | | shangXia | up - down | throttle | 53 | | xuanZhan | clockwise - counterclockwise | yaw | 54 | 55 | The last `long` argument does not have a specific name. This `speed_mode` variable is either 0 (slow mode) or 1 (quick 56 | mode). The values of the other arguments are ints between 364 - 1684 (both included). 57 | 58 | * Min (movement on corresponding axis): 364 59 | * ... 60 | * Normal (no movement on corresponding axis): 1024 61 | * ... 62 | * Max (movement on corresponding axis): 1684 63 | 64 | Speed per axis given by `abs(1024 - x)`. Direction on axis given by `x > 1024` 65 | 66 | ## The Flip command 67 | The Flip command takes an int (0 <= int <= 7) to set the direction. 0, 1, 2, 3 are front-, left-, back-, right-flip 68 | respectively. Values 4, 5, 6, 7 are for diagonal flips. -------------------------------------------------------------------------------- /advanced_tello.py: -------------------------------------------------------------------------------- 1 | import logging 2 | import socket 3 | import threading 4 | from datetime import datetime 5 | 6 | from dev_utils import calc_crc8, calc_crc16 7 | from utils import RepeatedTimer 8 | 9 | 10 | class SocketPacket: 11 | def __init__(self, cmd_id, pac_type, seq_num=0, data=None): 12 | self.cmd_id = cmd_id 13 | self.data = data 14 | self.pac_type = pac_type 15 | self.seq_num = seq_num 16 | 17 | def to_raw_bytes(self, seq=None, data=None): 18 | if seq is not None: 19 | self.seq_num = seq 20 | if data is not None: 21 | self.data = data 22 | cap = 11 + (0 if self.data is None else len(self.data)) 23 | 24 | bb = bytearray(cap) 25 | bb[0] = 204 26 | bb[1:3] = (cap << 3).to_bytes(2, byteorder='little') 27 | bb[3] = calc_crc8(bb, 3) 28 | bb[4] = self.pac_type 29 | bb[5:7] = self.cmd_id.to_bytes(2, byteorder='little') 30 | bb[7:9] = self.seq_num.to_bytes(2, byteorder='little') 31 | if self.data: 32 | bb[9:-2] = self.data 33 | bb[-2:] = (calc_crc16(bb, cap - 2)).to_bytes(2, byteorder='little') 34 | return bb 35 | 36 | @classmethod 37 | def from_raw_bytes(cls, tello, raw): 38 | prefix = raw[0] 39 | if prefix == 204: 40 | size = int.from_bytes(raw[1:3], byteorder='little') >> 3 41 | 42 | # Check CRC8 Values 43 | crc8_check = raw[3] 44 | crc8_actual = calc_crc8(raw, 3) 45 | if crc8_actual != crc8_check: 46 | logging.error(f"Mismatched CRC8 Values: (Expected - Actual) -> ({crc8_check} - {crc8_actual})") 47 | 48 | # Check CRC16 Values 49 | crc16_check = int.from_bytes(raw[-2:], byteorder='little') 50 | crc16_actual = calc_crc16(raw, size - 2) 51 | if crc16_actual != crc16_check: 52 | logging.error(f"Mismatched CRC16 Values: (Expected - Actual) -> ({crc16_check} - {crc16_actual})") 53 | 54 | pac_type = raw[4] 55 | cmd_id = int.from_bytes(raw[5:7], byteorder='little') 56 | seq_num = int.from_bytes(raw[7:9], byteorder='little') 57 | data = raw[9:-2] 58 | 59 | return cls(cmd_id, pac_type, seq_num, data) 60 | 61 | elif prefix == 99: 62 | if raw == bytearray(b'conn_ack:' + tello.PORT_TELLO_VIDEO.to_bytes(2, byteorder='little')): 63 | return cls(tello.CMD_ID_CONN_ACK, 0) 64 | logging.error(f"Mismatched Video Ports (Expected - Actual): {tello.PORT_TELLO_VIDEO} - " 65 | f"{int.from_bytes(raw[-2:], byteorder='little')}") 66 | return SocketPacket(-1, -1, -1, None) 67 | 68 | 69 | class AdvancedTello: 70 | CMD_ID_CONN_REQ = 1 71 | CMD_ID_CONN_ACK = 2 72 | CMD_ID_VIDEO_STUFF = 37 # TODO Figure out what this is 73 | CMD_ID_TIME_REQ = 70 74 | CMD_ID_JOYSTICK = 80 75 | CMD_ID_TAKE_OFF = 84 76 | CMD_ID_LAND = 85 77 | CMD_ID_FLIP = 92 78 | CMD_ID_ALT_LIMIT = 4182 79 | 80 | PORT_TELLO_CMD = 8889 81 | PORT_TELLO_VIDEO = 6037 82 | 83 | def __init__(self, tello_ip='192.168.10.1', tello_port=None): 84 | if tello_port is None: 85 | tello_port = self.PORT_TELLO_CMD 86 | self.tello_address = tello_ip, tello_port 87 | 88 | # SO_REUSEADDR to send "emergency" commands etc while socket is busy 89 | self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) 90 | self.socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) 91 | 92 | self.thread_cmd_receiver = threading.Thread(target=self._receive_cmds) 93 | self.thread_cmd_receiver.daemon = True 94 | self.thread_cmd_receiver.start() 95 | 96 | self.seq_num = 0 97 | self.joystick_data = 0 98 | self.joystick_emitter = RepeatedTimer(0.02, self._emit_joystick_data) 99 | 100 | def __del__(self): 101 | self.socket.close() 102 | self.joystick_emitter.stop() 103 | 104 | def connect(self): 105 | self._send_packet(SocketPacket(self.CMD_ID_CONN_REQ, 0)) 106 | 107 | def take_off(self): 108 | self._send_packet(SocketPacket(self.CMD_ID_TAKE_OFF, 104)) 109 | 110 | def land(self): 111 | self._send_packet(SocketPacket(self.CMD_ID_LAND, 104, data=bytearray(b'\x00'))) 112 | 113 | def flip(self, direction=0): 114 | assert direction in range(8) 115 | self._send_packet(SocketPacket(self.CMD_ID_FLIP, 112, data=bytearray([direction]))) 116 | 117 | def start_joystick(self): 118 | self.joystick_emitter.start() 119 | 120 | def stop_joystick(self): 121 | self.joystick_emitter.stop() 122 | self.update_joystick(1024, 1024, 1024, 1024, 0) 123 | self._emit_joystick_data() 124 | 125 | def update_joystick(self, roll, pitch, throttle, yaw, speed_mode=0): 126 | """Values for roll, pitch, throttle, yaw: 127 | Min (movement on corresponding axis): 364 128 | ... 129 | Normal (no movement on corresponding axis): 1024 130 | ... 131 | Max (movement on corresponding axis): 1684 132 | speed_mode: 0 or 1 (0 is slow, 1 is fast) 133 | """ 134 | self.joystick_data = ((roll & 2047) | ((pitch & 2047) << 11)) | ((2047 & throttle) << 22) \ 135 | | ((2047 & yaw) << 33) | (speed_mode << 44) 136 | 137 | def _receive_cmds(self): 138 | while True: 139 | try: 140 | data, _ = self.socket.recvfrom(1024) 141 | packet = SocketPacket.from_raw_bytes(self, data) 142 | self._handle_received_packet(packet) 143 | except socket.error: 144 | logging.error("Command Socket Failed") 145 | 146 | def _emit_joystick_data(self): 147 | self._send_packet(SocketPacket(self.CMD_ID_JOYSTICK, 96)) 148 | 149 | def _handle_received_packet(self, packet): 150 | if packet.cmd_id == self.CMD_ID_CONN_ACK: 151 | logging.debug("Successfully connected to Tello") 152 | elif packet.cmd_id == self.CMD_ID_TIME_REQ: 153 | self._send_packet(SocketPacket(self.CMD_ID_TIME_REQ, 80)) 154 | # logging.debug(f"Received Command {packet.cmd_id}") 155 | 156 | # Mostly found in com.ryzerobotics.tello.gcs.core.cmd.d (ZOCmdStore) 157 | def _send_packet(self, packet: SocketPacket): 158 | """Sends packets, intercepts Commands that need special treatment (CMD_ID_CONN_REQ) etc.""" 159 | raw = None 160 | data = None 161 | seq = 0 162 | 163 | if packet.cmd_id == self.CMD_ID_CONN_REQ: 164 | raw = bytearray(b'conn_req:' + self.PORT_TELLO_VIDEO.to_bytes(2, byteorder='little')) 165 | self.seq_num += 1 166 | 167 | elif packet.cmd_id == self.CMD_ID_TIME_REQ: 168 | dt = datetime.now() 169 | # First Byte empty (0) 170 | data = bytearray(b'\x00' + 171 | dt.year.to_bytes(2, byteorder='little') + 172 | dt.month.to_bytes(2, byteorder='little') + 173 | dt.day.to_bytes(2, byteorder='little') + 174 | dt.hour.to_bytes(2, byteorder='little') + 175 | dt.minute.to_bytes(2, byteorder='little') + 176 | dt.second.to_bytes(2, byteorder='little') + 177 | (dt.microsecond & 0xffff).to_bytes(2, byteorder='little')) 178 | 179 | seq = self.seq_num 180 | self.seq_num += 1 181 | 182 | elif packet.cmd_id == self.CMD_ID_JOYSTICK: 183 | dt = datetime.now() 184 | data = bytearray(11) 185 | data[:6] = self.joystick_data.to_bytes(6, byteorder='little') 186 | data[6] = dt.hour 187 | data[7] = dt.minute 188 | data[8] = dt.second 189 | data[9:11] = (dt.microsecond & 0xffff).to_bytes(2, byteorder='little') 190 | 191 | elif packet.cmd_id == self.CMD_ID_VIDEO_STUFF: 192 | # seq should be 0 for this packet 193 | seq = 0 194 | else: 195 | seq = self.seq_num 196 | self.seq_num += 1 197 | 198 | if raw is None: 199 | raw = packet.to_raw_bytes(seq, data) 200 | self.socket.sendto(raw, self.tello_address) 201 | 202 | 203 | if __name__ == '__main__': 204 | logging.basicConfig(level=logging.DEBUG) 205 | -------------------------------------------------------------------------------- /cmd_ids: -------------------------------------------------------------------------------- 1 | # GENERATED BY PYTHON SCRIPT (Comparisons of cmdId in cmd package) 2 | 3 | # === 4 | Class: f 5 | Source: ZOHandleDroneLog 6 | 4176 7 | 4177 8 | 4178 9 | 10 | 11 | # === 12 | Class: g 13 | Source: ZOHandleDroneParam 14 | 86 15 | 69 16 | 73 17 | 40 18 | 4182 19 | 4183 20 | 4185 21 | 71 22 | 26 23 | 53 24 | 25 | 26 | # === 27 | Class: h 28 | Source: ZOHandleDroneReadApp 29 | 70 30 | 31 | 32 | # === 33 | Class: i 34 | Source: ZOHandleDroneSetting 35 | 16 36 | 17 37 | 18 38 | 19 39 | 20 40 | 21 41 | 22 42 | 43 | 44 | # === 45 | Class: j 46 | Source: ZOHandleDroneState 47 | 84 48 | 85 49 | 82 50 | 83 51 | 88 52 | 4181 53 | 4184 54 | 89 55 | 92 56 | 93 57 | 94 58 | 59 | 60 | # === 61 | Class: k 62 | Source: ZOHandleErrorTips 63 | 68 64 | 67 65 | 66 | 67 | # === 68 | Class: l 69 | Source: ZOHandleFileNew 70 | 97 71 | 98 72 | 99 73 | 100 74 | 75 | 76 | # === 77 | Class: m 78 | Source: ZOHandleFirmwareUpgrade 79 | 112 80 | 113 81 | 114 82 | 116 83 | 117 84 | 85 | 86 | # === 87 | Class: n 88 | Source: ZOHandleIMUStatus 89 | 90 90 | 91 91 | 92 | 93 | # === 94 | Class: o 95 | Source: ZOHandleMoreSetting 96 | 32 97 | 33 98 | 34 99 | 35 100 | 36 101 | 102 | 103 | # === 104 | Class: p 105 | Source: ZOHandleMultimedia 106 | 37 107 | 48 108 | 49 109 | 50 110 | 51 111 | 52 112 | 113 | 114 | # === 115 | Class: q 116 | Source: ZOHandleSmartVideoMode 117 | 4179 118 | 128 119 | 129 120 | 121 | 122 | # === 123 | Class: s 124 | Source: ZOHandleUpgrade 125 | 65 126 | 127 | # === 128 | Class: com.ryzerobotics.tello.gcs.ui.activity.DjiTestActivity 129 | 8 130 | 27 131 | 49 132 | 68 133 | 69 134 | 81 135 | 90 136 | 92 137 | 96 138 | 139 | # === All found commands: (also by hooking CMD Parser) 140 | 1 141 | 2 142 | 8 143 | 16 144 | 17 145 | 18 146 | 19 147 | 20 148 | 21 149 | 22 150 | 26 151 | 27 152 | 32 153 | 33 154 | 34 155 | 35 156 | 36 157 | 37 158 | 40 159 | 48 160 | 49 161 | 50 162 | 51 163 | 52 164 | 53 165 | 55 166 | 65 167 | 67 168 | 68 169 | 69 170 | 70 171 | 71 172 | 73 173 | 80 174 | 81 175 | 82 176 | 83 177 | 84 178 | 85 179 | 86 180 | 88 181 | 89 182 | 90 183 | 91 184 | 92 185 | 93 186 | 94 187 | 96 188 | 98 189 | 99 190 | 100 191 | 112 192 | 113 193 | 114 194 | 116 195 | 117 196 | 128 197 | 129 198 | 4176 199 | 4177 200 | 4178 201 | 4179 202 | 4180 203 | 4181 204 | 4182 205 | 4183 206 | 4184 207 | 4185 -------------------------------------------------------------------------------- /codes_crc16: -------------------------------------------------------------------------------- 1 | # Smali Format of codes found in Lcom/ryzerobotics/tello/gcs/core/a; (Line 33) 2 | 3 | # :array_e 4 | # .array-data 4 5 | 0x0 6 | 0x1189 7 | 0x2312 8 | 0x329b 9 | 0x4624 10 | 0x57ad 11 | 0x6536 12 | 0x74bf 13 | 0x8c48 14 | 0x9dc1 15 | 0xaf5a 16 | 0xbed3 17 | 0xca6c 18 | 0xdbe5 19 | 0xe97e 20 | 0xf8f7 21 | 0x1081 22 | 0x108 23 | 0x3393 24 | 0x221a 25 | 0x56a5 26 | 0x472c 27 | 0x75b7 28 | 0x643e 29 | 0x9cc9 30 | 0x8d40 31 | 0xbfdb 32 | 0xae52 33 | 0xdaed 34 | 0xcb64 35 | 0xf9ff 36 | 0xe876 37 | 0x2102 38 | 0x308b 39 | 0x210 40 | 0x1399 41 | 0x6726 42 | 0x76af 43 | 0x4434 44 | 0x55bd 45 | 0xad4a 46 | 0xbcc3 47 | 0x8e58 48 | 0x9fd1 49 | 0xeb6e 50 | 0xfae7 # 9.0007E-41f 51 | 0xc87c 52 | 0xd9f5 53 | 0x3183 54 | 0x200a 55 | 0x1291 56 | 0x318 57 | 0x77a7 58 | 0x662e 59 | 0x54b5 60 | 0x453c 61 | 0xbdcb 62 | 0xac42 63 | 0x9ed9 64 | 0x8f50 65 | 0xfbef 66 | 0xea66 67 | 0xd8fd 68 | 0xc974 69 | 0x4204 70 | 0x538d 71 | 0x6116 72 | 0x709f 73 | 0x420 74 | 0x15a9 75 | 0x2732 76 | 0x36bb 77 | 0xce4c 78 | 0xdfc5 79 | 0xed5e 80 | 0xfcd7 81 | 0x8868 82 | 0x99e1 83 | 0xab7a 84 | 0xbaf3 85 | 0x5285 86 | 0x430c 87 | 0x7197 88 | 0x601e 89 | 0x14a1 90 | 0x528 91 | 0x37b3 92 | 0x263a 93 | 0xdecd 94 | 0xcf44 95 | 0xfddf 96 | 0xec56 97 | 0x98e9 98 | 0x8960 99 | 0xbbfb 100 | 0xaa72 101 | 0x6306 102 | 0x728f 103 | 0x4014 104 | 0x519d 105 | 0x2522 106 | 0x34ab 107 | 0x630 108 | 0x17b9 109 | 0xef4e 110 | 0xfec7 111 | 0xcc5c 112 | 0xddd5 113 | 0xa96a 114 | 0xb8e3 115 | 0x8a78 116 | 0x9bf1 117 | 0x7387 118 | 0x620e 119 | 0x5095 120 | 0x411c 121 | 0x35a3 122 | 0x242a 123 | 0x16b1 124 | 0x738 125 | 0xffcf 126 | 0xee46 127 | 0xdcdd 128 | 0xcd54 129 | 0xb9eb 130 | 0xa862 131 | 0x9af9 132 | 0x8b70 133 | 0x8408 134 | 0x9581 135 | 0xa71a 136 | 0xb693 137 | 0xc22c 138 | 0xd3a5 139 | 0xe13e 140 | 0xf0b7 141 | 0x840 142 | 0x19c9 143 | 0x2b52 144 | 0x3adb 145 | 0x4e64 146 | 0x5fed 147 | 0x6d76 148 | 0x7cff 149 | 0x9489 150 | 0x8500 151 | 0xb79b 152 | 0xa612 153 | 0xd2ad 154 | 0xc324 # 7.0003E-41f 155 | 0xf1bf 156 | 0xe036 157 | 0x18c1 158 | 0x948 159 | 0x3bd3 160 | 0x2a5a 161 | 0x5ee5 162 | 0x4f6c 163 | 0x7df7 164 | 0x6c7e 165 | 0xa50a 166 | 0xb483 167 | 0x8618 168 | 0x9791 169 | 0xe32e 170 | 0xf2a7 171 | 0xc03c 172 | 0xd1b5 173 | 0x2942 174 | 0x38cb 175 | 0xa50 176 | 0x1bd9 177 | 0x6f66 178 | 0x7eef 179 | 0x4c74 180 | 0x5dfd 181 | 0xb58b 182 | 0xa402 183 | 0x9699 184 | 0x8710 185 | 0xf3af 186 | 0xe226 187 | 0xd0bd 188 | 0xc134 189 | 0x39c3 190 | 0x284a 191 | 0x1ad1 192 | 0xb58 193 | 0x7fe7 194 | 0x6e6e 195 | 0x5cf5 196 | 0x4d7c 197 | 0xc60c 198 | 0xd785 199 | 0xe51e 200 | 0xf497 201 | 0x8028 202 | 0x91a1 203 | 0xa33a 204 | 0xb2b3 205 | 0x4a44 206 | 0x5bcd 207 | 0x6956 208 | 0x78df 209 | 0xc60 210 | 0x1de9 211 | 0x2f72 212 | 0x3efb 213 | 0xd68d 214 | 0xc704 215 | 0xf59f 216 | 0xe416 217 | 0x90a9 218 | 0x8120 219 | 0xb3bb 220 | 0xa232 221 | 0x5ac5 222 | 0x4b4c 223 | 0x79d7 224 | 0x685e 225 | 0x1ce1 226 | 0xd68 227 | 0x3ff3 228 | 0x2e7a 229 | 0xe70e 230 | 0xf687 231 | 0xc41c 232 | 0xd595 233 | 0xa12a 234 | 0xb0a3 235 | 0x8238 236 | 0x93b1 237 | 0x6b46 238 | 0x7acf 239 | 0x4854 240 | 0x59dd 241 | 0x2d62 242 | 0x3ceb 243 | 0xe70 244 | 0x1ff9 245 | 0xf78f 246 | 0xe606 247 | 0xd49d 248 | 0xc514 249 | 0xb1ab 250 | 0xa022 251 | 0x92b9 252 | 0x8330 253 | 0x7bc7 254 | 0x6a4e 255 | 0x58d5 256 | 0x495c 257 | 0x3de3 258 | 0x2c6a 259 | 0x1ef1 260 | 0xf78 261 | # .end array-data -------------------------------------------------------------------------------- /codes_crc8: -------------------------------------------------------------------------------- 1 | # Smali Format of codes found in Lcom/ryzerobotics/tello/gcs/core/b; 2 | 3 | # :array_a 4 | # .array-data 2 5 | 0x0s 6 | 0x5es 7 | 0xbcs 8 | 0xe2s 9 | 0x61s 10 | 0x3fs 11 | 0xdds 12 | 0x83s 13 | 0xc2s 14 | 0x9cs 15 | 0x7es 16 | 0x20s 17 | 0xa3s 18 | 0xfds 19 | 0x1fs 20 | 0x41s 21 | 0x9ds 22 | 0xc3s 23 | 0x21s 24 | 0x7fs 25 | 0xfcs 26 | 0xa2s 27 | 0x40s 28 | 0x1es 29 | 0x5fs 30 | 0x1s 31 | 0xe3s 32 | 0xbds 33 | 0x3es 34 | 0x60s 35 | 0x82s 36 | 0xdcs 37 | 0x23s 38 | 0x7ds 39 | 0x9fs 40 | 0xc1s 41 | 0x42s 42 | 0x1cs 43 | 0xfes 44 | 0xa0s 45 | 0xe1s 46 | 0xbfs 47 | 0x5ds 48 | 0x3s 49 | 0x80s 50 | 0xdes 51 | 0x3cs 52 | 0x62s 53 | 0xbes 54 | 0xe0s 55 | 0x2s 56 | 0x5cs 57 | 0xdfs 58 | 0x81s 59 | 0x63s 60 | 0x3ds 61 | 0x7cs 62 | 0x22s 63 | 0xc0s 64 | 0x9es 65 | 0x1ds 66 | 0x43s 67 | 0xa1s 68 | 0xffs 69 | 0x46s 70 | 0x18s 71 | 0xfas 72 | 0xa4s 73 | 0x27s 74 | 0x79s 75 | 0x9bs 76 | 0xc5s 77 | 0x84s 78 | 0xdas 79 | 0x38s 80 | 0x66s 81 | 0xe5s 82 | 0xbbs 83 | 0x59s 84 | 0x7s 85 | 0xdbs 86 | 0x85s 87 | 0x67s 88 | 0x39s 89 | 0xbas 90 | 0xe4s 91 | 0x6s 92 | 0x58s 93 | 0x19s 94 | 0x47s 95 | 0xa5s 96 | 0xfbs 97 | 0x78s 98 | 0x26s 99 | 0xc4s 100 | 0x9as 101 | 0x65s 102 | 0x3bs 103 | 0xd9s 104 | 0x87s 105 | 0x4s 106 | 0x5as 107 | 0xb8s 108 | 0xe6s 109 | 0xa7s 110 | 0xf9s 111 | 0x1bs 112 | 0x45s 113 | 0xc6s 114 | 0x98s 115 | 0x7as 116 | 0x24s 117 | 0xf8s 118 | 0xa6s 119 | 0x44s 120 | 0x1as 121 | 0x99s 122 | 0xc7s 123 | 0x25s 124 | 0x7bs 125 | 0x3as 126 | 0x64s 127 | 0x86s 128 | 0xd8s 129 | 0x5bs 130 | 0x5s 131 | 0xe7s 132 | 0xb9s 133 | 0x8cs 134 | 0xd2s 135 | 0x30s 136 | 0x6es 137 | 0xeds 138 | 0xb3s 139 | 0x51s 140 | 0xfs 141 | 0x4es 142 | 0x10s 143 | 0xf2s 144 | 0xacs 145 | 0x2fs 146 | 0x71s 147 | 0x93s 148 | 0xcds 149 | 0x11s 150 | 0x4fs 151 | 0xads 152 | 0xf3s 153 | 0x70s 154 | 0x2es 155 | 0xccs 156 | 0x92s 157 | 0xd3s 158 | 0x8ds 159 | 0x6fs 160 | 0x31s 161 | 0xb2s 162 | 0xecs 163 | 0xes 164 | 0x50s 165 | 0xafs 166 | 0xf1s 167 | 0x13s 168 | 0x4ds 169 | 0xces 170 | 0x90s 171 | 0x72s 172 | 0x2cs 173 | 0x6ds 174 | 0x33s 175 | 0xd1s 176 | 0x8fs 177 | 0xcs 178 | 0x52s 179 | 0xb0s 180 | 0xees 181 | 0x32s 182 | 0x6cs 183 | 0x8es 184 | 0xd0s 185 | 0x53s 186 | 0xds 187 | 0xefs 188 | 0xb1s 189 | 0xf0s 190 | 0xaes 191 | 0x4cs 192 | 0x12s 193 | 0x91s 194 | 0xcfs 195 | 0x2ds 196 | 0x73s 197 | 0xcas 198 | 0x94s 199 | 0x76s 200 | 0x28s 201 | 0xabs 202 | 0xf5s 203 | 0x17s 204 | 0x49s 205 | 0x8s 206 | 0x56s 207 | 0xb4s 208 | 0xeas 209 | 0x69s 210 | 0x37s 211 | 0xd5s 212 | 0x8bs 213 | 0x57s 214 | 0x9s 215 | 0xebs 216 | 0xb5s 217 | 0x36s 218 | 0x68s 219 | 0x8as 220 | 0xd4s 221 | 0x95s 222 | 0xcbs 223 | 0x29s 224 | 0x77s 225 | 0xf4s 226 | 0xaas 227 | 0x48s 228 | 0x16s 229 | 0xe9s 230 | 0xb7s 231 | 0x55s 232 | 0xbs 233 | 0x88s 234 | 0xd6s 235 | 0x34s 236 | 0x6as 237 | 0x2bs 238 | 0x75s 239 | 0x97s 240 | 0xc9s 241 | 0x4as 242 | 0x14s 243 | 0xf6s 244 | 0xa8s 245 | 0x74s 246 | 0x2as 247 | 0xc8s 248 | 0x96s 249 | 0x15s 250 | 0x4bs 251 | 0xa9s 252 | 0xf7s 253 | 0xb6s 254 | 0xe8s 255 | 0xas 256 | 0x54s 257 | 0xd7s 258 | 0x89s 259 | 0x6bs 260 | 0x35s 261 | # .end array-data -------------------------------------------------------------------------------- /demo.py: -------------------------------------------------------------------------------- 1 | import time 2 | 3 | import keyboard 4 | 5 | from advanced_tello import AdvancedTello 6 | 7 | ''' 8 | Troubleshooting Step - In case the drone does not respond to any commands via the 'advanced' API 9 | 10 | Just setting up the sockets and listeners from the initial API should be enough to make it respond to the advanced API 11 | ''' 12 | # If not needed, you can comment the following lines 13 | from tello import Drone1_3 14 | Drone1_3() 15 | 16 | drone = AdvancedTello() 17 | drone.connect() 18 | drone.start_joystick() 19 | drone.update_joystick(1024, 1024, 1024, 1024, 0) 20 | 21 | keys = { 22 | 'd': (0, +1), 23 | 'a': (0, -1), 24 | 'w': (1, +1), 25 | 's': (1, -1), 26 | 'i': (2, +1), 27 | 'k': (2, -1), 28 | 'l': (3, +1), 29 | 'j': (3, -1) 30 | } 31 | 32 | flip_keys = { 33 | 8: 0, 34 | 9: 4, 35 | 6: 3, 36 | 3: 5, 37 | 2: 2, 38 | 1: 6, 39 | 4: 1, 40 | 7: 7 41 | } 42 | 43 | print(''' 44 | Starting demo. Listing Controls 45 | 46 | Using Joystick via keys: 47 | 48 | Takeoff: Space 49 | Land : Q 50 | Close : P 51 | 52 | Directional Movement 53 | * W / S - Forwards / Backwards 54 | * A / D - Left / Right 55 | * I / K - Up / Down 56 | * J / L - Counter-clockwise / Clockwise 57 | 58 | Flip via NumPad keys (or conventional number keys): 59 | ------------------------------------------------------------------------------- 60 | | 7 Diagonal Front-Left | 8 Front | 9 Diagonal Front-Right | 61 | ------------------------------------------------------------------------------- 62 | | 4 Left | 5 | 6 Right | 63 | ------------------------------------------------------------------------------- 64 | | 1 Diagonal Back-Left | 2 Back | 3 Diagonal Front-Left | 65 | ------------------------------------------------------------------------------- 66 | ''') 67 | 68 | while True: 69 | vals = [1024] * 4 70 | for key, (idx, i) in keys.items(): 71 | if keyboard.is_pressed(key): 72 | vals[idx] += 660 * i 73 | for key, i in flip_keys.items(): 74 | if keyboard.is_pressed(str(key)): 75 | drone.flip(i) 76 | drone.update_joystick(*vals, 0) 77 | if keyboard.is_pressed('space'): 78 | drone.take_off() 79 | if (e := keyboard.is_pressed('p')) or keyboard.is_pressed('q'): 80 | drone.stop_joystick() 81 | drone.land() 82 | if e: 83 | break 84 | time.sleep(0.02) 85 | 86 | ############################################### 87 | # Previous Tests 88 | ############################################### 89 | 90 | # from tello import Drone1_3 91 | # 92 | # drone = Drone1_3() 93 | # drone.enter_sdk_mode() 94 | # print(drone.get_battery()) 95 | # drone.start_stream() 96 | # 97 | # 98 | # def record_video(): 99 | # cap = cv2.VideoCapture("udp://@0.0.0.0:11111") 100 | # writer = cv2.VideoWriter("output.avi", cv2.VideoWriter_fourcc(*'MJPG'), 25, (960, 720)) 101 | # while True: 102 | # ret, frame = cap.read() 103 | # try: 104 | # writer.write(frame) 105 | # # frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) 106 | # cv2.imshow('Frame', frame) 107 | # if cv2.waitKey(1) & 0xFF == ord('q'): 108 | # break 109 | # except: 110 | # break 111 | # 112 | # writer.release() 113 | # cap.release() 114 | # cv2.destroyAllWindows() 115 | # 116 | # 117 | # record_video()> 118 | 119 | # counter = 0 120 | # colors = filter(lambda x: x.startswith("COLOR"), dir(cv2)) 121 | # NUMBER_FRAMES = 100 122 | # 123 | # gray = cv2.cvtColor(frame, getattr(cv2, color)) 124 | # # Display the resulting frame 125 | # cv2.imshow('frame', gray) 126 | # if cv2.waitKey(1) & 0xFF == ord('q'): 127 | # break 128 | # if cv2.waitKey(1) & 0xFF == ord('s'): 129 | # print(color) 130 | # except Exception as e: 131 | # continue 132 | # ret, frame = cap.read() 133 | # 134 | # for x in filter(lambda x: x.startswith("CAP_PROP"), dir(cv2)): 135 | # print(x, cap.get(getattr(cv2, x))) 136 | # 137 | # # When everything done, release the capture 138 | # cap.release() 139 | # cv2.destroyAllWindows() 140 | 141 | # from itertools import count 142 | 143 | # 144 | # for i in count(): 145 | # try: 146 | # print(drone.send_command(input(f"Enter Command ({i}): ")), 15) 147 | # except KeyboardInterrupt: 148 | # drone.land() 149 | # break 150 | -------------------------------------------------------------------------------- /dev_utils.py: -------------------------------------------------------------------------------- 1 | import os 2 | import re 3 | 4 | 5 | def read_crc_codes(_file): 6 | codes = [] 7 | with open(_file, "r") as f: 8 | for line in f: 9 | line = line.partition("#")[0].strip() 10 | if line: 11 | # Smali Format: trailing s to indicate short type 12 | if line.endswith("s"): 13 | line = line[:-1] 14 | try: 15 | codes.append(int(line, 0)) 16 | except ValueError as e: 17 | print("File not valid", e) 18 | raise e 19 | return codes 20 | 21 | 22 | def find_cmd_ids(file_path): 23 | dic = {} 24 | match_id_compares = re.compile(r"(\.cmdId == \d*)") 25 | for file in os.listdir(file_path): 26 | with open(os.path.join(file_path, file), "r") as f: 27 | content = f.read() 28 | for match in re.findall(match_id_compares, content): 29 | if file not in dic: 30 | dic[file] = [] 31 | dic[file].append(int(match[10:])) 32 | return dic 33 | 34 | 35 | def write_cmd_ids(jadx_source_path): 36 | package_path = "sources/com/ryzerobotics/tello/gcs/core/cmd/" 37 | with open("cmd_ids", "w") as f: 38 | re_class = re.compile(r"class (.+) extends e {") 39 | re_source = re.compile(r"/\* compiled from: (.+) \*/") 40 | for k, v in sorted(list(find_cmd_ids(os.path.join(jadx_source_path, package_path)).items()), 41 | key=lambda it: it[0]): 42 | f.write("\n# ===\n") 43 | with open(os.path.join(jadx_source_path, package_path, k)) as k_file: 44 | contents = k_file.read() 45 | classname = re.search(re_class, contents).group(1) 46 | source = re.search(re_source, contents).group(1) 47 | f.write("Class: ") 48 | f.write(classname) 49 | f.write("\nSource: ") 50 | f.write(source) 51 | f.write("\n") 52 | f.write("\n".join(v)) 53 | f.write("\n") 54 | 55 | 56 | jadx_source_path = "/home/jaqxues/CodeProjects/Tello_1.1.1_Sources/" 57 | 58 | CODES_CRC8 = read_crc_codes("codes_crc8") 59 | CODES_CRC16 = read_crc_codes("codes_crc16") 60 | 61 | 62 | # Algorithm found in com.ryzerobotics.tello.gcs.core.a 63 | def calc_crc16(buf, size): 64 | i = 0 65 | code = 13970 # public static int a 66 | while size > 0: 67 | code = CODES_CRC16[(code ^ buf[i]) & 0xff] ^ (code >> 8) 68 | i += 1 69 | size -= 1 70 | return code 71 | 72 | 73 | # Algorithm found in com.ryzerobotics.tello.gcs.core.b 74 | def calc_crc8(buf, size): 75 | i = 0 76 | code = 119 77 | while size > 0: 78 | code = CODES_CRC8[(code ^ buf[i]) & 0xff] 79 | i += 1 80 | size -= 1 81 | 82 | return code 83 | -------------------------------------------------------------------------------- /tello.py: -------------------------------------------------------------------------------- 1 | import logging 2 | import queue 3 | import socket 4 | import threading 5 | import time 6 | 7 | from utils import validate_bounds as validate, try_to_int, AtomicInteger 8 | from abc import ABC, abstractmethod 9 | 10 | 11 | class DroneInterface(ABC): 12 | TELLO_COMMAND_PORT = 8889 13 | TELLO_VIDEO_PORT = 11111 14 | TELLO_STATE_PORT = 8890 15 | 16 | def __init__(self, local_ip='', local_port=8889, state_interval=0.2, command_timeout=3.0, move_timeout=15.0, 17 | tello_ip='192.168.10.1'): 18 | 19 | self.state_interval = state_interval 20 | self.command_timeout = command_timeout 21 | self.move_timeout = move_timeout 22 | 23 | self.response_queue = queue.Queue(1) 24 | self.scheduled_responses = AtomicInteger() 25 | self.states = {} 26 | 27 | self.tello_address = (tello_ip, self.TELLO_COMMAND_PORT) 28 | self.local_state_port = self.TELLO_STATE_PORT 29 | self.local_video_port = self.TELLO_VIDEO_PORT 30 | 31 | self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) 32 | self.socket_state = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) 33 | 34 | self.socket.bind((local_ip, local_port)) 35 | self.socket_state.bind((local_ip, self.local_state_port)) 36 | 37 | self.receive_ack_thread = threading.Thread(target=self._receive_ack) 38 | self.receive_ack_thread.daemon = True 39 | self.receive_ack_thread.start() 40 | self.receive_state_thread = threading.Thread(target=self._receive_state) 41 | self.receive_state_thread.daemon = True 42 | self.receive_state_thread.start() 43 | 44 | def __del__(self): 45 | self.socket.close() 46 | self.socket_state.close() 47 | 48 | def _receive_ack(self): 49 | while True: 50 | try: 51 | data, _ = self.socket.recvfrom(1518) 52 | if data: 53 | if self.scheduled_responses.value == 0: 54 | self.response_queue.put(data.decode(encoding='utf-8')) 55 | else: 56 | self.scheduled_responses.dec() 57 | logging.warning('Not Putting Response into Queue. Response probably from other Command that ' 58 | f'timed out (Response Value: {data})') 59 | except socket.error: 60 | logging.error('Ack Socket Failed') 61 | except UnicodeDecodeError: 62 | logging.error('Illegal Answer?') 63 | 64 | def _receive_state(self): 65 | while True: 66 | try: 67 | data, ip = self.socket_state.recvfrom(1024) 68 | if data: 69 | data = data.decode(encoding='utf-8') 70 | if ';' in data: 71 | states = data.replace(';\r\n', '').split(';') 72 | self.states = {s[0]: s[1] for s in map(lambda item: item.split(':'), states)} 73 | 74 | time.sleep(self.state_interval) 75 | except socket.error: 76 | logging.error('State Socket Failed') 77 | except UnicodeDecodeError: 78 | logging.error('Illegal Answer?') 79 | 80 | def send_command(self, command, command_timeout=None, none_response=False): 81 | if command_timeout is None: 82 | command_timeout = self.command_timeout 83 | print('>> Send Command:', command) 84 | 85 | self.socket.sendto(command.encode(encoding='utf-8'), self.tello_address) 86 | 87 | if none_response: 88 | logging.debug(f'Not awaiting response for command {command}') 89 | return 'ok' 90 | try: 91 | command_response = self.response_queue.get(timeout=command_timeout) 92 | except queue.Empty: 93 | logging.error("Empty Response Queue") 94 | self.scheduled_responses.inc() 95 | command_response = "none_response" 96 | 97 | if command.endswith("?"): 98 | command_response = command_response.replace("\r\n", "") 99 | 100 | logging.debug(command_response) 101 | return command_response 102 | 103 | @abstractmethod 104 | def get_sdk_name(self): 105 | pass 106 | 107 | def reset_queue(self): 108 | self.scheduled_responses.value = 0 109 | 110 | 111 | def _validate_move_distance(dist): 112 | return validate(dist, 20, 500) 113 | 114 | 115 | class Drone1_3(DroneInterface): 116 | def get_sdk_name(self): 117 | return "1.3" 118 | 119 | def enter_sdk_mode(self): 120 | return self.send_command('command') 121 | 122 | def start_stream(self): 123 | return self.send_command('streamon') 124 | 125 | def stop_stream(self): 126 | return self.send_command('streamoff') 127 | 128 | def take_off(self): 129 | return self.send_command('takeoff', self.move_timeout) 130 | 131 | def land(self): 132 | return self.send_command('land', self.move_timeout) 133 | 134 | def emergency(self): 135 | return self.send_command('emergency', none_response=True) # For some reason does not send any response 136 | 137 | def _move(self, direction, distance): 138 | return self.send_command(f'{direction} {_validate_move_distance(distance)}', self.move_timeout) 139 | 140 | def move_backward(self, distance): 141 | return self._move('back', distance) 142 | 143 | def move_forward(self, distance): 144 | return self._move('forward', distance) 145 | 146 | def move_left(self, distance): 147 | return self._move('left', distance) 148 | 149 | def move_right(self, distance): 150 | return self._move('right', distance) 151 | 152 | def move_up(self, distance): 153 | return self._move('up', distance) 154 | 155 | def move_down(self, distance): 156 | return self._move('down', distance) 157 | 158 | def _turn(self, direction, degree): 159 | return self.send_command(f'{direction} {self._validate_degree(degree)}', self.move_timeout) 160 | 161 | def clockwise(self, degree): 162 | return self._turn('cw', degree) 163 | 164 | def counter_clockwise(self, degree): 165 | return self._turn('ccw', degree) 166 | 167 | def _flip(self, direction): 168 | return self.send_command(f'flip {direction}') 169 | 170 | def flip_left(self): 171 | return self._flip('l') 172 | 173 | def flip_right(self): 174 | return self._flip('r') 175 | 176 | def flip_forward(self): 177 | return self._flip('f') 178 | 179 | def flip_backward(self): 180 | return self._flip('b') 181 | 182 | def go_location(self, x, y, z, speed): 183 | return self.send_command(self._go_location_command(x, y, z, speed), self.move_timeout) 184 | 185 | def curve(self, x1, y1, z1, x2, y2, z2, speed): 186 | return self.send_command(self._curve_command(x1, y1, z1, x2, y2, z2, speed), self.move_timeout) 187 | 188 | def set_speed(self, speed): 189 | return self.send_command(f'speed {validate(speed, 10, 100)}') 190 | 191 | def set_rc(self, a, b, c, d): 192 | for x in (a, b, c, d): 193 | assert -100 < x < 100 194 | return self.send_command(f'rc {a} {b} {c} {d}') 195 | 196 | def set_wifi_password(self, ssid, passwd): 197 | return self.send_command(f'wifi {ssid} {passwd}') 198 | 199 | def get_speed(self): # Unit: cm/s 200 | return try_to_int(self.send_command('speed?')) 201 | 202 | def get_battery(self): # Unit: % 203 | return try_to_int(self.send_command('battery?')) 204 | 205 | def get_flight_time(self): # Unit: s 206 | return try_to_int(self.send_command('time?')) 207 | 208 | def get_height(self): # Unit: cm 209 | return try_to_int(self.send_command('height?')) 210 | 211 | def get_temp(self): # Unit: °C 212 | return try_to_int(self.send_command('temp?')) 213 | 214 | def get_attitude(self): # IMU Attitude Data 215 | return self.send_command('attitude?') 216 | 217 | def get_barometer(self): # Unit: m 218 | return self.send_command('baro?') 219 | 220 | def get_acceleration(self): # Unit: 0.001g 221 | return self.send_command('acceleration?') 222 | 223 | def get_tof_distance(self): 224 | return self.send_command('tof?') 225 | 226 | def get_wifi_snr(self): 227 | return self.send_command('wifi?') 228 | 229 | def get_last_states(self): 230 | return self.states 231 | 232 | def _validate_distance(self, dist): 233 | return validate(dist, 20, 500) 234 | 235 | def _validate_degree(self, degree): 236 | return validate(degree, 1, 3600) 237 | 238 | def _go_location_command(self, x, y, z, speed): 239 | dist = ' '.join(map(self._validate_distance, (x, y, z))) 240 | 241 | return f'go {dist} {validate(speed, 10, 100)}' 242 | 243 | def _curve_command(self, x1, y1, z1, x2, y2, z2, speed): 244 | dist = ' '.join(map(self._validate_distance, (x1, y1, z1, x2, y2, z2))) 245 | 246 | return f'curve {dist} {validate(speed, 10, 60)}' 247 | 248 | 249 | class Drone2_0(Drone1_3): 250 | def get_sdk_name(self): 251 | return "2.0" 252 | 253 | def _turn(self, direction, degree): 254 | return self.send_command(f'{direction} {validate(degree, 1, 360)}', self.move_timeout) 255 | 256 | def stop(self): 257 | return self.send_command('stop') 258 | 259 | def _validate_distance(self, dist): 260 | return validate(dist, -500, 500) 261 | 262 | def _validate_degree(self, degree): 263 | return validate(degree, 1, 360) 264 | 265 | def go_location(self, x, y, z, speed): 266 | assert not all(map(lambda i: -20 < i < 20, (x, y, z))) 267 | 268 | return super().go_location(x, y, z, speed) 269 | 270 | def start_mpd(self): 271 | return self.send_command("mon") 272 | 273 | def stop_mpd(self): 274 | return self.send_command("moff") 275 | 276 | def mpd_direction(self, x): 277 | assert x in range(3) 278 | return self.send_command(f"mdirection {x}") 279 | 280 | def connect_ap(self, ssid, passwd): 281 | return self.send_command(f"ap {ssid} {passwd}") 282 | 283 | def jump(self, x, y, z, speed, yaw, mid1, mid2): 284 | _assert_mid(mid1, mid2) 285 | dist = ' '.join(map(self._validate_distance, (x, y, z))) 286 | 287 | return self.send_command(f'{dist}, {validate(speed, 10, 100)}, {yaw}, {mid1}, {mid2}') 288 | 289 | def curve_mpd(self, x1, y1, z1, x2, y2, z2, speed, mid): 290 | _assert_mid(mid) 291 | return self.send_command(f'{self._curve_command(x1, y1, z1, x2, y2, z2, speed)} {mid}', self.move_timeout) 292 | 293 | def go_location_mpd(self, x, y, z, speed, mid): 294 | _assert_mid(mid) 295 | return self.send_command(f'{self._go_location_command(x, y, z, speed)} {mid}', self.move_timeout) 296 | 297 | 298 | def _assert_mid(*mids): 299 | pads = map(lambda i: f'm{i}', range(1, 9)) 300 | for mid in mids: 301 | assert mid in pads 302 | 303 | 304 | logging.basicConfig(level=logging.DEBUG) 305 | -------------------------------------------------------------------------------- /utils.py: -------------------------------------------------------------------------------- 1 | from threading import Timer 2 | import threading 3 | 4 | 5 | def validate_bounds(value, lower, upper): 6 | """ 7 | :return: value if lower <= value <= upper 8 | lower if lower > value 9 | upper if upper < value 10 | """ 11 | assert lower < upper 12 | value = min(value, upper) 13 | return max(value, lower) 14 | 15 | 16 | def send_wrapper(f): 17 | def _decorated(self): 18 | return self.send_command(f(self)) 19 | 20 | return _decorated 21 | 22 | 23 | def try_to_int(value): 24 | """Used in combination with :func:`command_wrapper` as result_conversion argument""" 25 | try: 26 | value = int(value) 27 | except ValueError: 28 | pass 29 | return value 30 | 31 | 32 | def command_wrapper(to_validate=(), result_conversion=None, command_timeout=None): 33 | """ 34 | Decorator for sending commands to Tello. Allows 35 | * validating arguments using :func:`validate_bounds`, 36 | * converting the Tello response using the result_conversion function/lambda and 37 | * setting a command_timeout for :func:`send_command` 38 | 39 | :param to_validate: Check if every given argument is between bounds 40 | :type to_validate: tuple (tuple(names of parameters), lower bound, upper bound) 41 | :param result_conversion: Conversion that will be applied to the return value. Must handle exceptions 42 | :type result_conversion: Function to convert return value of send_command 43 | :param command_timeout: Passed to send_command 44 | """ 45 | 46 | def _decorated(f): 47 | def send_command(*args, **kwargs): 48 | code = f.__code__ 49 | modified_args = list(args) 50 | for it in to_validate: 51 | for name in it[0]: 52 | idx = code.co_varnames.index(name) 53 | validated = validate_bounds(args[idx], it[1], it[2]) 54 | if args[idx] != validated: 55 | print(f'Modifying Argument {name} to constrain to boundaries ({args[idx]} -> {validated})') 56 | modified_args[idx] = validated 57 | 58 | rv = args[0].send_command(f(*modified_args, **kwargs), command_timeout=command_timeout) 59 | 60 | if result_conversion: 61 | rv = result_conversion(rv) 62 | return rv 63 | 64 | return send_command 65 | 66 | return _decorated 67 | 68 | 69 | class AtomicInteger: 70 | def __init__(self, value=0): 71 | self._value = value 72 | self._lock = threading.Lock() 73 | 74 | def inc(self): 75 | with self._lock: 76 | self._value += 1 77 | return self._value 78 | 79 | def dec(self): 80 | with self._lock: 81 | self._value -= 1 82 | return self._value 83 | 84 | @property 85 | def value(self): 86 | with self._lock: 87 | return self._value 88 | 89 | @value.setter 90 | def value(self, val): 91 | with self._lock: 92 | self._value = val 93 | 94 | 95 | class RepeatedTimer(object): 96 | def __init__(self, interval, function, *args, **kwargs): 97 | self._timer = None 98 | self.interval = interval 99 | self.function = function 100 | self.args = args 101 | self.kwargs = kwargs 102 | self.is_running = False 103 | 104 | def _run(self): 105 | self.is_running = False 106 | self.start() 107 | self.function(*self.args, **self.kwargs) 108 | 109 | def start(self): 110 | if not self.is_running: 111 | self._timer = Timer(self.interval, self._run) 112 | self._timer.start() 113 | self.is_running = True 114 | 115 | def stop(self): 116 | if self._timer: 117 | self._timer.cancel() 118 | self.is_running = False 119 | --------------------------------------------------------------------------------