import tkinter as tki from tkinter import Toplevel, Scale import threading import time class TelloUI(object): """ Wrapper class to enable the GUI. """ def __init__(self, tello): """ Initializes all the element of the GUI, supported by Tkinter :param tello: class interacts with the Tello drone. """ self.tello = tello # videostream device self.thread = None # thread of the Tkinter mainloop self.stopEvent = None # control variables self.distance = 0.2 # default distance for 'move' cmd self.degree = 30 # default degree for 'cw' or 'ccw' cmd # if the flag is TRUE,the auto-takeoff thread will stop waiting # for the response from tello self.quit_waiting_flag = False # initialize the root window and image panel self.root = tki.Tk() self.panel = None # create buttons self.btn_openPanel = tki.Button(self.root, text = 'Open Command Panel', relief = 'raised', command = self.openCmdWindow) self.btn_openPanel.pack(side = 'bottom', fill = 'both', expand = 'yes', padx = 10, pady = 5) # start a thread that constantly pools the video sensor for # the most recently read frame self.stopEvent = threading.Event() # set a callback to handle when the window is closed self.root.wm_title('TELLO Controller') self.root.wm_protocol('WM_DELETE_WINDOW', self.on_close) # the sending_command will send command to tello every 5 seconds self.sending_command_thread = threading.Thread(target = self._sendingCommand) def _sendingCommand(self): """ Starts a while loop that sends 'command' to tello every 5 second. :return: None """ while True: self.tello.send_command('command') time.sleep(5) def _setQuitWaitingFlag(self): """ Set the variable as TRUE; it will stop computer waiting for response from tello. :return: None """ self.quit_waiting_flag = True def openCmdWindow(self): """ Open the cmd window and initial all the button and text. :return: None """ panel = Toplevel(self.root) panel.wm_title('Command Panel') # create text input entry text0 = tki.Label(panel, text='This Controller map keyboard inputs to Tello control commands\n' 'Adjust the trackbar to reset distance and degree parameter', font='Helvetica 10 bold' ) text0.pack(side='top') 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.btn_streamon = tki.Button( panel, text='Streamon', relief='raised', command=self.telloStreamOn) self.btn_streamon.pack(side='bottom', fill='both', expand='yes', padx=10, pady=5) self.btn_streamoff = tki.Button( panel, text='Streamoff', relief='raised', command=self.telloStreamOff) self.btn_streamoff.pack(side='bottom', fill='both', expand='yes', padx=10, pady=5) # binding arrow keys to drone control self.tmp_f = tki.Frame(panel, width=100, height=2) self.tmp_f.bind('', self.on_keypress_w) self.tmp_f.bind('', self.on_keypress_s) self.tmp_f.bind('', self.on_keypress_a) self.tmp_f.bind('', self.on_keypress_d) self.tmp_f.bind('', self.on_keypress_up) self.tmp_f.bind('', self.on_keypress_down) self.tmp_f.bind('', self.on_keypress_left) self.tmp_f.bind('', self.on_keypress_right) self.tmp_f.pack(side='bottom') self.tmp_f.focus_set() self.btn_flip = tki.Button( panel, text='Flip', relief='raised', command=self.openFlipWindow) self.btn_flip.pack(side='bottom', fill='both', expand='yes', padx=10, pady=5) self.distance_bar = Scale(panel, from_=0.02, to=5, tickinterval=0.01, digits=3, label='Distance(m)', resolution=0.01) self.distance_bar.set(0.2) self.distance_bar.pack(side='left') self.btn_distance = tki.Button(panel, text='Reset Distance', relief='raised', command=self.updateDistancebar, ) self.btn_distance.pack(side='left', fill='both', expand='yes', padx=10, pady=5) self.degree_bar = Scale(panel, from_=1, to=360, tickinterval=10, label='Degree') self.degree_bar.set(30) self.degree_bar.pack(side='right') self.btn_distance = tki.Button(panel, text='Reset Degree', relief='raised', command=self.updateDegreebar) self.btn_distance.pack(side='right', fill='both', expand='yes', padx=10, pady=5) def openFlipWindow(self): """ Open the flip window and initial all the button and text. :return: None """ panel = Toplevel(self.root) panel.wm_title('Gesture Recognition') self.btn_flipl = tki.Button( panel, text='Flip Left', relief='raised', command=self.telloFlip_l) self.btn_flipl.pack(side='bottom', fill='both', expand='yes', padx=10, pady=5) self.btn_flipr = tki.Button( panel, text='Flip Right', relief='raised', command=self.telloFlip_r) self.btn_flipr.pack(side='bottom', fill='both', expand='yes', padx=10, pady=5) self.btn_flipf = tki.Button( panel, text='Flip Forward', relief='raised', command=self.telloFlip_f) self.btn_flipf.pack(side='bottom', fill='both', expand='yes', padx=10, pady=5) self.btn_flipb = tki.Button( panel, text='Flip Backward', relief='raised', command=self.telloFlip_b) self.btn_flipb.pack(side='bottom', fill='both', expand='yes', padx=10, pady=5) def telloTakeOff(self): return self.tello.takeoff() def telloLanding(self): return self.tello.land() def telloFlip_l(self): return self.tello.flip('l') def telloFlip_r(self): return self.tello.flip('r') def telloFlip_f(self): return self.tello.flip('f') def telloFlip_b(self): return self.tello.flip('b') def telloCW(self, degree): return self.tello.rotate_cw(degree) def telloCCW(self, degree): return self.tello.rotate_ccw(degree) def telloMoveForward(self, distance): return self.tello.move_forward(distance) def telloMoveBackward(self, distance): return self.tello.move_backward(distance) def telloMoveLeft(self, distance): return self.tello.move_left(distance) def telloMoveRight(self, distance): return self.tello.move_right(distance) def telloUp(self, dist): return self.tello.move_up(dist) def telloDown(self, dist): return self.tello.move_down(dist) def updateDistancebar(self): self.distance = self.distance_bar.get() print(f'reset distance to {self.distance:.1f}') def updateDegreebar(self): self.degree = self.degree_bar.get() print(f'reset distance to {self.degree}') def on_keypress_w(self, event): print(f'up {self.distance} m') self.telloUp(self.distance) def on_keypress_s(self, event): print(f'down {self.distance} m') self.telloDown(self.distance) def on_keypress_a(self, event): print(f'ccw {self.degree} degree') self.tello.rotate_ccw(self.degree) def on_keypress_d(self, event): print(f'cw {self.degree} m') self.tello.rotate_cw(self.degree) def on_keypress_up(self, event): print(f'forward {self.distance} m') self.telloMoveForward(self.distance) def on_keypress_down(self, event): print(f'backward {self.distance} m') self.telloMoveBackward(self.distance) def on_keypress_left(self, event): print(f'left {self.distance} m') self.telloMoveLeft(self.distance) def on_keypress_right(self, event): print(f'right {self.distance} m') self.telloMoveRight(self.distance) def telloStreamOn(self): return self.tello.streamon() def telloStreamOff(self): return self.tello.streamoff() def on_close(self): """ Sets the stop event, cleanup the camera, and allow the rest of the quit process to continue. :return: None """ print('[INFO] closing...') self.stopEvent.set() del self.tello self.root.quit()