Add Tello.get_video_stream() and examples/video_effect.py

Author: hanyazou

tellopy/_internal/protocol.py

@@ -0,0 +1,165 @@
+import datetime
+
+import crc
+from utils import *
+
+START_OF_PACKET = 0xcc
+WIFI_MSG = 0x1a
+VIDEO_RATE_QUERY = 40
+LIGHT_MSG = 53
+FLIGHT_MSG = 0x56
+LOG_MSG = 0x1050
+
+VIDEO_ENCODER_RATE_CMD = 0x20
+VIDEO_START_CMD = 0x25
+EXPOSURE_CMD = 0x34
+TIME_CMD = 70
+STICK_CMD = 80
+TAKEOFF_CMD = 0x0054
+LAND_CMD = 0x0055
+FLIP_CMD = 0x005c
+
+
+class Packet(object):
+    def __init__(self, cmd, pkt_type=0x68):
+        if isinstance(cmd, (bytearray, str)):
+            self.buf = bytearray()
+            self.buf[:] = cmd
+        else:
+            self.buf = bytearray([
+                chr(START_OF_PACKET),
+                0, 0,
+                0,
+                chr(pkt_type),
+                chr(cmd & 0xff), chr((cmd >> 8) & 0xff),
+                0, 0])
+
+    def fixup(self, seq_num=0):
+        buf = self.get_buffer()
+        if buf[0] == START_OF_PACKET:
+            buf[1], buf[2] = le16(len(buf)+2)
+            buf[1] = (buf[1] << 3)
+            buf[3] = crc.crc8(buf[0:3])
+            buf[7], buf[8] = le16(seq_num)
+            self.add_int16(crc.crc16(buf))
+
+    def get_buffer(self):
+        return self.buf
+
+    def get_data(self):
+        return self.buf[9:len(self.buf)-2]
+
+    def add_byte(self, val):
+        self.buf.append(val & 0xff)
+
+    def add_int16(self, val):
+        self.add_byte(val)
+        self.add_byte(val >> 8)
+
+    def add_time(self, time=datetime.datetime.now()):
+        self.add_int16(time.hour)
+        self.add_int16(time.minute)
+        self.add_int16(time.second)
+        self.add_int16((time.microsecond/1000) & 0xff)
+        self.add_int16(((time.microsecond/1000) >> 8) & 0xff)
+
+    def get_time(self, buf=None):
+        if buf is None:
+            buf = self.get_data()[1:]
+        hour = int16(buf[0], buf[1])
+        min = int16(buf[2], buf[3])
+        sec = int16(buf[4], buf[5])
+        millisec = int16(buf[6], buf[8])
+        now = datetime.datetime.now()
+        return datetime.datetime(now.year, now.month, now.day, hour, min, sec, millisec)
+
+
+class FlightData(object):
+    def __init__(self, data):
+        self.battery_low = 0
+        self.battery_lower = 0
+        self.battery_percentage = 0
+        self.battery_state = 0
+        self.camera_state = 0
+        self.down_visual_state = 0
+        self.drone_battery_left = 0
+        self.drone_fly_time_left = 0
+        self.drone_hover = 0
+        self.em_open = 0
+        self.em_sky = 0
+        self.em_ground = 0
+        self.east_speed = 0
+        self.electrical_machinery_state = 0
+        self.factory_mode = 0
+        self.fly_mode = 0
+        self.fly_speed = 0
+        self.fly_time = 0
+        self.front_in = 0
+        self.front_lsc = 0
+        self.front_out = 0
+        self.gravity_state = 0
+        self.ground_speed = 0
+        self.height = 0
+        self.imu_calibration_state = 0
+        self.imu_state = 0
+        self.light_strength = 0
+        self.north_speed = 0
+        self.outage_recording = 0
+        self.power_state = 0
+        self.pressure_state = 0
+        self.smart_video_exit_mode = 0
+        self.temperature_height = 0
+        self.throw_fly_timer = 0
+        self.wifi_disturb = 0
+        self.wifi_strength = 0
+        self.wind_state = 0
+
+        if len(data) < 24:
+            return
+
+        self.height = int16(data[0], data[1])
+        self.north_speed = int16(data[2], data[3])
+        self.east_speed = int16(data[4], data[5])
+        self.ground_speed = int16(data[6], data[7])
+        self.fly_time = int16(data[8], data[9])
+
+        self.imu_state = ((data[10] >> 0) & 0x1)
+        self.pressure_state = ((data[10] >> 1) & 0x1)
+        self.down_visual_state = ((data[10] >> 2) & 0x1)
+        self.power_state = ((data[10] >> 3) & 0x1)
+        self.battery_state = ((data[10] >> 4) & 0x1)
+        self.gravity_state = ((data[10] >> 5) & 0x1)
+        self.wind_state = ((data[10] >> 7) & 0x1)
+
+        self.imu_calibration_state = data[11]
+        self.battery_percentage = data[12]
+        self.drone_battery_left = int16(data[13], data[14])
+        self.drone_fly_time_left = int16(data[15], data[16])
+
+        self.em_sky = ((data[17] >> 0) & 0x1)
+        self.em_ground = ((data[17] >> 1) & 0x1)
+        self.em_open = ((data[17] >> 2) & 0x1)
+        self.drone_hover = ((data[17] >> 3) & 0x1)
+        self.outage_recording = ((data[17] >> 4) & 0x1)
+        self.battery_low = ((data[17] >> 5) & 0x1)
+        self.battery_lower = ((data[17] >> 6) & 0x1)
+        self.factory_mode = ((data[17] >> 7) & 0x1)
+
+        self.fly_mode = data[18]
+        self.throw_fly_timer = data[19]
+        self.camera_state = data[20]
+        self.electrical_machinery_state = data[21]
+
+        self.front_in = ((data[22] >> 0) & 0x1)
+        self.front_out = ((data[22] >> 1) & 0x1)
+        self.front_lsc = ((data[22] >> 2) & 0x1)
+
+        self.temperature_height = ((data[23] >> 0) & 0x1)
+
+    def __str__(self):
+        return (
+            ("height=%2d" % self.height) +
+            (", fly_mode=0x%02x" % self.fly_mode) +
+            (", battery_percentage=%2d" % self.battery_percentage) +
+            (", drone_battery_left=0x%04x" % self.drone_battery_left) +
+            "")