### Lab2-1 ###

(base) >>> conda create --name tello_39 python=3.9    	# 建立一個 tello_39 的虛擬環境，並且指定 Python 3.9 的版本

(base) >>> activate tello_39				# 啟動虛擬環境

(tello_39) >>> conda install anaconda			# 為虛擬環境 tello_39 安裝 Anaconda



### Lab2-2 ###

import socket		# 匯入 socket 模組
import threading	# 匯入 threading 模組
import time		# 匯入 time 模組

class Tello(object):Number of seconds to wait for a response to a command.abort_flag
    """
    Wrapper class to interact with the Tello drone.
    """
    def __init__(self, local_ip, local_port, imperial = False,		# __init__: 預設的方法 
                 command_timeout = 0.3, 
                 tello_ip = '192.168.10.1',
                 tello_port = 8889):
        """
        Binds to the local IP/port and puts the Tello into command mode.

        :param local_ip: Local IP address to bind. (控制端 IP)
        :param local_port: Local port to bind. (控制端 Port)
        :param imperial: If True, speed is MPH and distance is feet. (imperial=True: 速度為英里/小時，距離為英呎)
                         If False, speed is KPH and distance is meters. (imperial=True: 速度為公里/小時，距離為公尺)
        :param command_timeout: Number of seconds to wait for a response to a command. (等待指令回應的秒數)
        :param tello_ip: Tello IP. (無人機 IP)
        :param tello_port: Tello port. (無人機 Port)
        """
        self.abort_flag = False				# 中止旗標
        self.command_timeout = command_timeout		# 指令回應時間
        self.imperial = imperial			# 單位模式
        self.response = None				# 無人機回應訊息
        self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)		# 建立 socket，socket.AF_INET: 基地台模式，socket.SOCK_DGRAM: 採用 UDP 協定
        self.tello_address = (tello_ip, tello_port)				# 無人機的網路位址
        self.last_height = 0							# 無人機降落時的高度
        self.socket.bind((local_ip, local_port))				# 控制端的網路位址

        # thread for receiving cmd ack
        self.receive_thread = threading.Thread(target = self._receive_thread)
        self.receive_thread.daemon = True
        self.receive_thread.start()

        self.socket.sendto(b'command', self.tello_address)		# 發送 SDK 'command' 給 tello
        print('sent: command')						# 螢幕顯示 

    def __del__(self):					# __del__: 預設的方法，關閉程式時，自動結束 socket
        """
        Closes the local socket.

        :return: None.
        """
        self.socket.close()

    def _receive_thread(self):				# 接收無人機的回應
        """
        Listen to responses from the Tello.

        Runs as a thread, sets self.response to whatever the Tello last returned.

        :return: None.
        """
        while True:
            try:
                self.response, _ = self.socket.recvfrom(3000)
            except socket.error as exc:
                print(f'Caught exception socket.error : {exc}')

    def send_command(self, command):			# 向無人機發送指令
        """
        Send a command to the Tello and wait for a response.

        :param command: Command to send.
        :return: Response from Tello.
        """
        print(f'>> send cmd: {command}')
        self.abort_flag = False
        timer = threading.Timer(self.command_timeout, self.set_abort_flag)

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

        timer.start()				# 啟動 timer
        while self.response is None:		# self.response = None，等待無人機的回應
            if self.abort_flag is True:			# 若 self.abort_flag = True，代表有發送指令，但沒有收到回應，則離開等待
                break
        timer.cancel()				# 取消 timer
        
        if self.response is None:
            response = 'none_response'
        else:
            response = self.response.decode('utf-8')

        self.response = None			# 下次要重新發送指令，需要初始物件屬性

        return response				# 傳回無人機的回應
    
    def set_abort_flag(self):
        """
        Sets self.abort_flag to True.

        Used by the timer in Tello.send_command() to indicate to that a response        
        timeout has occurred.

        :return: None.
        """
        self.abort_flag = True

    def takeoff(self):
        """
        Initiates take-off.

        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.send_command('takeoff')
    
    def land(self):
        """
        Initiates landing.

        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.send_command('land')



### Lab2-3 ###

>>> drone = Tello(local_ip = '192.168.10.2', local_port = 8889)

>>> drone.takeoff()

>>> drone.land()



### Lab2-4 (2-2/tello.py) ###

import socket
import threading
import time

class Tello(object):
    """
    Wrapper class to interact with the Tello drone.
    """

    def __init__(self, local_ip, local_port, imperial = False, 
                 command_timeout = 0.3, 
                 tello_ip = '192.168.10.1',
                 tello_port = 8889):
        """
        Binds to the local IP/port and puts the Tello into command mode.

        :param local_ip: Local IP address to bind.
        :param local_port: Local port to bind.
        :param imperial: If True, speed is MPH and distance is feet. 
                         If False, speed is KPH and distance is meters.
        :param command_timeout: Number of seconds to wait for a response to a command.
        :param tello_ip: Tello IP.
        :param tello_port: Tello port.
        """
        self.abort_flag = False
        self.command_timeout = command_timeout
        self.imperial = imperial
        self.response = None  
        self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        self.tello_address = (tello_ip, tello_port)
        self.last_height = 0
        self.socket.bind((local_ip, 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.socket.sendto(b'command', self.tello_address)
        print ('sent: command')

    def __del__(self):
        """
        Closes the local socket.

        :return: None.
        """
        self.socket.close()

    def _receive_thread(self):
        """
        Listen to responses from the Tello.

        Runs as a thread, sets self.response to whatever the Tello last returned.

        :return: None.
        """
        while True:
            try:
                self.response, _ = self.socket.recvfrom(3000)
            except socket.error as exc:
                print(f'Caught exception socket.error : {exc}')

    def send_command(self, command):
        """
        Send a command to the Tello and wait for a response.

        :param command: Command to send.
        :return: Response from Tello.
        """
        print(f'>> send cmd: {command}')
        self.abort_flag = False
        timer = threading.Timer(self.command_timeout, self.set_abort_flag)

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

        timer.start()
        while self.response is None:
            if self.abort_flag is True:
                break
        timer.cancel()
        
        if self.response is None:
            response = 'none_response'
        else:
            response = self.response.decode('utf-8')

        self.response = None

        return response
    
    def set_abort_flag(self):
        """
        Sets self.abort_flag to True.

        Used by the timer in Tello.send_command() to indicate to that a response        
        timeout has occurred.

        :return: None.
        """
        self.abort_flag = True

    def takeoff(self):
        """
        Initiates take-off.

        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.send_command('takeoff')

    def set_speed(self, speed):
        """
        Sets speed.

        This method expects KPH or MPH. The Tello API expects speeds from
        1 to 100 centimeters/second.

        Metric: .1 to 3.6 KPH
        Imperial: .1 to 2.2 MPH

        :param speed: Speed.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        speed = float(speed)

        if self.imperial is True:
            speed = int(round(speed * 44.704))
        else:
            speed = int(round(speed * 27.7778))

        return self.send_command(f'speed {speed}')

    def rotate_cw(self, degrees):
        """
        Rotates clockwise.

        :param degrees: Degrees to rotate, 1 to 360.
        :return:Response from Tello, 'OK' or 'FALSE'.
        """
        return self.send_command(f'cw {degrees}')

    def rotate_ccw(self, degrees):
        """
        Rotates counter-clockwise.

        :param degrees: Degrees to rotate, 1 to 360.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.send_command(f'ccw {degrees}')

    def flip(self, direction):
        """
        Flips.

        :param direction: Direction to flip, 'l', 'r', 'f', 'b'.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.send_command(f'flip {direction}')

    def get_response(self):
        """
        Returns response of tello.

        :return: Response of tello.
        """
        response = self.response
        return response

    def get_height(self):
        """
        Returns height(dm) of tello.

        :return: Height(dm) of tello.
        """
        height = self.send_command('height?')
        height = str(height)
        height = filter(str.isdigit, height)
        try:
            height = int(height)
            self.last_height = height
        except:
            height = self.last_height
            pass
        return height

    def get_battery(self):
        """
        Returns percent battery life remaining.

        :return: Percent battery life remaining.
        """
        battery = self.send_command('battery?')

        try:
            battery = int(battery)
        except:
            pass

        return battery

    def get_flight_time(self):
        """
        Returns the number of seconds elapsed during flight.

        :return: Seconds elapsed during flight.
        """
        flight_time = self.send_command('time?')

        try:
            flight_time = int(flight_time)
        except:
            pass

        return flight_time

    def get_speed(self):
        """
        Returns the current speed.

        :return: Current speed in KPH or MPH.
        """
        speed = self.send_command('speed?')

        try:
            speed = float(speed)

            if self.imperial is True:
                speed = round((speed / 44.704), 1)
            else:
                speed = round((speed / 27.7778), 1)
        except:
            pass

        return speed

    def land(self):
        """
        Initiates landing.

        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.send_command('land')

    def move(self, direction, distance):
        """
        Moves in a direction for a distance.

        This method expects meters or feet. The Tello API expects distances
        from 20 to 500 centimeters.

        Metric: .02 to 5 meters
        Imperial: .7 to 16.4 feet

        :param direction: Direction to move, 'forward', 'back', 'right' or 'left'.
        :param distance: Distance to move.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        distance = float(distance)

        if self.imperial is True:
            distance = int(round(distance * 30.48))
        else:
            distance = int(round(distance * 100))

        return self.send_command(f'{direction} {distance}')

    def move_backward(self, distance):
        """
        Moves backward for a distance.

        See comments for Tello.move().

        :param distance: Distance to move.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.move('back', distance)

    def move_down(self, distance):
        """
        Moves down for a distance.

        See comments for Tello.move().

        :param distance: Distance to move.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.move('down', distance)

    def move_forward(self, distance):
        """
        Moves forward for a distance.

        See comments for Tello.move().

        :param distance: Distance to move.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.move('forward', distance)

    def move_left(self, distance):
        """
        Moves left for a distance.

        See comments for Tello.move().

        :param distance: Distance to move.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.move('left', distance)

    def move_right(self, distance):
        """
        Moves right for a distance.

        See comments for Tello.move().

        :param distance: Distance to move.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.move('right', distance)

    def move_up(self, distance):
        """
        Moves up for a distance.

        See comments for Tello.move().

        :param distance: Distance to move.
        :return: Response from Tello, 'OK' or 'FALSE'.
        """
        return self.move('up', distance)



### Lab2-5 (2-2/look4corner.py) ###

import tello
from time import sleep
	
drone = tello.Tello(local_ip = '192.168.10.2', local_port = 8889)
drone.takeoff()
sleep(5)

for i in range(4):
    drone.move_forward(1)
    sleep(5)
    drone.rotate_cw(90)
    sleep(5)

drone.land()



### Lab2-6 (2-3.py) ###

import tkinter		# 匯入 tkinter 模組

root = tkinter.Tk()	# 建立 Tk 視窗物件
root.mainloop()		# 產生視窗，也可以說 mainloop() 為更新 GUI 的驅動程式



### Lab2-7 (2-4.py) ###

import tkinter

root = tkinter.Tk()
root.title('第一個視窗')		# 設定視窗標題
root.geometry('800x600')	# 設定視窗大小
root.mainloop()



### Lab2-8 (2-5.py) ###

import tkinter

root = tkinter.Tk()
root.title('第一個標籤')
root.geometry('800x600')
label = tkinter.Label(root, text = '標籤的字串', font = ('System', 24))		# 建立一個標籤物件，並初始文字與字型
label.place(x = 200, y = 100)							# 配置標籤與位置
root.mainloop()



### Lab2-9 (2-6.py) ###

import tkinter
import tkinter.font			# 匯入 tkinter 模組的 font 類別

root = tkinter.Tk()
print(tkinter.font.families())		# 顯示系統安裝的字體



### Lab2-10 (2-7.py) ###

import tkinter

root = tkinter.Tk()
root.title('第一個按鈕')
root.geometry('800x600')
button = tkinter.Button(root, text = '按鈕的字串', font = ('Times New Roman', 24))	# 建立一個 Button 物件，並初始文字與字型
button.place(x = 200, y = 100)								# 配置 Button 與位置
root.mainloop()



### Lab2-11 (2-8.py) ###

import tkinter

def click_btn():			# 定義點選按鈕的處理
    button['text'] = '點選按鈕了'

root = tkinter.Tk()
root.title('第一個按鈕')
root.geometry('800x600')
button = tkinter.Button(root, text = '請點選按鈕', font = ('Times New Roman', 24), command = click_btn)		# 點選按鈕時候執行該函式 click_btn
button.place(x = 200, y = 100)
root.mainloop()



### Lab2-12 (2-9.py) ###

import tkinter

root = tkinter.Tk()
root.title('第一張畫布')
canvas = tkinter.Canvas(root, width = 400, height = 600, bg = 'skyblue')	# 建立一個畫布物件，並初始大小與背景色
canvas.pack()									# # 配置畫布
root.mainloop()



### Lab2-13 (2-10.py) ###

import tkinter

root = tkinter.Tk()
root.title('第一次顯示圖片')
canvas = tkinter.Canvas(root, width = 400, height = 600)
canvas.pack()
gazou = tkinter.PhotoImage(file = 'images/iroha.png')			# 建立 PhotoImage 的物件，參數為圖片路徑
canvas.create_image(200, 300, image = gazou)				# 配置圖片，X 座標與 Y 座標是的中心點。
root.mainloop()



### Lab2-14 (2-11.py) ###

import tkinter

root = tkinter.Tk()
root.title('抽籤遊戲')
root.resizable(False, False)						# 讓視窗長寬都不可以更動大小
canvas = tkinter.Canvas(root, width = 800, height = 600)
canvas.pack()
gazou = tkinter.PhotoImage(file = 'images/miko.png')
canvas.create_image(400, 300, image = gazou)
root.mainloop()



### Lab2-15 (2-12.py) ###

import tkinter

root = tkinter.Tk()
root.title('抽籤遊戲')
root.resizable(False, False)
canvas = tkinter.Canvas(root, width = 800, height = 600)
canvas.pack()
gazou = tkinter.PhotoImage(file = 'images/miko.png')
canvas.create_image(400, 300, image = gazou)
label = tkinter.Label(root, text = '？？', font = ('Times New Roman', 120), bg = 'white')	# 建立標籤
label.place(x = 380, y = 60)
button = tkinter.Button(root, text = '抽籤', font = ('Times New Roman', 36), fg = 'skyblue')	# 建立 Button
button.place(x = 360, y = 400)
root.mainloop()



### Lab2-16 (2-13.py) ###

import tkinter
import random			# 匯入 random 模組

def click_btn():
    label['text'] = random.choice(['大吉', '中吉', '小吉', ' 凶 '])	# 使用 random.choice() 隨機取 list 的元素
    label.update()							# 手動更新 label

root = tkinter.Tk()
root.title('抽籤遊戲')
root.resizable(False, False)
canvas = tkinter.Canvas(root, width = 800, height = 600)
canvas.pack()
gazou = tkinter.PhotoImage(file = 'images/miko.png')
canvas.create_image(400, 300, image = gazou)
label = tkinter.Label(root, text = '？？', font = ('Times New Roman', 120), bg = 'white')
label.place(x = 380, y = 60)
button = tkinter.Button(root, text = '抽籤', font = ('Times New Roman', 36), command = click_btn, fg = 'skyblue')
button.place(x = 360, y = 400)
root.mainloop()



### Lab2-17 (2-14.py) ###

import tkinter

tmr = 0

def count_up():
    global tmr				# 允許變更全域變數 tmr
    tmr = tmr + 1
    label['text'] = tmr
    root.after(1000, count_up)

root = tkinter.Tk()
label = tkinter.Label(font = ('Times New Roman', 80))
label.pack()
root.after(1000, count_up)
root.mainloop()



### Lab2-18 ###

import tkinter

tmr = 0

def count_up():
    tmr = tmr + 1			# 錯誤，因為函式 count_up() 會先執行，但變數 tmr 並沒有宣告
    label['text'] = tmr
    root.after(1000, count_up)

root = tkinter.Tk()
label = tkinter.Label(font = ('Times New Roman', 80))
label.pack()
root.after(1000, count_up)
root.mainloop()



### Lab2-19 ###

import tkinter

def count_up():
    tmr = 0
    tmr = tmr + 1
    label['text'] = tmr
    root.after(1000, count_up)

root = tkinter.Tk()
label = tkinter.Label(font = ('Times New Roman', 80))
label.pack()
root.after(1000, count_up)
root.mainloop()



### Lab2-20 ###

word1 = 'You'
word2 = 'me'

def get_new_word():
    print(word1 + '&' + word2)

get_new_word()



### Lab2-21 (2-15.py) ###

import tkinter

key = 0

def key_down(e):
    global key
    key = e.keycode
    print('KEY:' + str(key))

root = tkinter.Tk()
root.title('取得鍵碼')
root.bind('<KeyPress>', key_down)	# 綁定按鍵按下的函式
root.mainloop()



### Lab2-22 (2-16.py) ###

import tkinter

key = 0

def key_down(e):
    global key
    key = e.keycode

def main_proc():
    label['text'] = key
    root.after(100, main_proc)

root = tkinter.Tk()
root.title('即時按鍵輸入處理')
root.bind('<KeyPress>', key_down)
label = tkinter.Label(font = ('Times New Roman', 80))
label.pack()
main_proc()
root.mainloop()



### Lab2-23 (2-17.py) ###

import tkinter

key = ''

def key_down(e):
    global key
    key = e.keysym

def main_proc():
    label['text'] = key
    root.after(100, main_proc)

root = tkinter.Tk()
root.title('即時按鍵輸入處理')
root.bind('<KeyPress>', key_down)
label = tkinter.Label(font = ('Times New Roman', 80))
label.pack()
main_proc()
root.mainloop()



### Lab2-24 (2-18.py) ###

import tkinter

key = ''

def key_down(e):
    global key
    key = e.keysym

def key_up(e):
    global key
    key = ""

cx = 400
cy = 300

def main_proc():
    global cx, cy
    if key == 'Up':
        cy = cy - 20
    if key == 'Down':
        cy = cy + 20
    if key == 'Left':
        cx = cx - 20
    if key == 'Right':
        cx = cx + 20
    canvas.coords('MYCHR', cx, cy)
    root.after(100, main_proc)

root = tkinter.Tk()
root.title('移動角色')
root.bind('<KeyPress>', key_down)
root.bind('<KeyRelease>', key_up)
canvas = tkinter.Canvas(width = 800, height = 600, bg = 'lightgreen')
canvas.pack()
img = tkinter.PhotoImage(file = 'images/mimi.png')
canvas.create_image(cx, cy, image = img, tag = 'MYCHR')
main_proc()
root.mainloop()



### Lab2-25 (2-19/ui.py) ###

import tkinter as tki			# 匯入 tkinter 模組
from tkinter import Toplevel		# 匯入 tkinter 模組的 Toplevel 類別
import threading			# 匯入 threading 模組
import time

class TelloUI(object):			# 建立 TelloUI 類別
    def __init__(self, tello):			# 需要傳入 tello 物件當參數
        self.tello = tello			# 建立 tello 物件
        self.thread = None			
        self.stopEvent = None  
        
        self.distance = 0.3			# 預設飛行的單位為 0.3 公尺

        self.quit_waiting_flag = False
        
        self.root = tki.Tk()			# 建立視窗物件
        self.panel = None

        self.btn_openPanel = tki.Button(self.root, text = 'Open Command Panel', relief = 'raised', command = self.openCmdWindow)		# 建立 Open Command Panel 的按鍵 
        self.btn_openPanel.pack(side = 'bottom', fill = 'both', expand = 'yes', padx = 10, pady = 5)						# 配置 Open Command Panel 的按鍵
        
        self.stopEvent = threading.Event()
        
        self.root.wm_title('TELLO Controller')
        self.root.wm_protocol('WM_DELETE_WINDOW', self.on_close)

        self.sending_command_thread = threading.Thread(target = self._sendingCommand)

    def _sendingCommand(self):  
        while True:
            self.tello.send_command('command')        
            time.sleep(5)    

    def openCmdWindow(self):   
        panel = Toplevel(self.root)
        panel.wm_title('Command Panel')
        
        text1 = tki.Label(panel, text =
                  'W - Move Tello Up\t\t\tArrow Up - Move Tello Forward\n'
                  'S - Move Tello Down\t\t\tArrow Down - Move Tello Backward\n'
                  'A - Rotate Tello Counter-Clockwise\tArrow Left - Move Tello Left\n'
                  'D - Rotate Tello Clockwise\t\tArrow Right - Move Tello Right',
                  justify = 'left')
        text1.pack(side = 'top')       

        self.btn_landing = tki.Button(panel, text = 'Land', relief = 'raised', command = self.telloLanding)
        self.btn_landing.pack(side = 'bottom', fill = 'both', expand = 'yes', padx = 10, pady = 5)

        self.btn_takeoff = tki.Button(panel, text = 'Takeoff', relief = 'raised', command = self.telloTakeOff)
        self.btn_takeoff.pack(side = 'bottom', fill = 'both', expand = 'yes', padx = 10, pady = 5)
        
        self.tmp_f = tki.Frame(panel, width = 100, height = 2)
        self.tmp_f.bind('<KeyPress-Up>', self.on_keypress_up)
        self.tmp_f.pack(side = 'bottom')
        self.tmp_f.focus_set()
        
    def telloTakeOff(self):
        return self.tello.takeoff()

    def telloLanding(self):
        return self.tello.land()
    
    def telloMoveForward(self, distance):
        return self.tello.move_forward(distance)

    def on_keypress_up(self, event):
        print(f'forward {self.distance} m')
        self.telloMoveForward(self.distance)

    def on_close(self):
        print('[INFO] closing...')
        self.stopEvent.set()
        del self.tello
        self.root.quit()



### Lab2-26 (2-19/app.py) ###

import tello
from ui import TelloUI

def main():
    drone = tello.Tello('192.168.10.2', 8889)  
    vplayer = TelloUI(drone)			# 建立 UI 物件
    vplayer.root.mainloop() 			# 建立視窗

if __name__ == '__main__':
    main()					# 呼叫 main()