First commit

Author: Sd Raspi

.gitignore

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+Tello-Python/
+tello_video/
+tello_gem/
+/log/*
+/tmp/*
+*.pdf
+/videos/*.mp4

capture_vdo.sh

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+#!/bin/bash +x
+
+now=`date +%T`
+raspivid -t $1 -o "videos/tello-$now.mp4" &
+
+echo "capturing video for $1 milliseconds at $now"

hello_edu.rb

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+
+## Adapted from Python:
+#   https://raw.githubusercontent.com/dbaldwin/DroneBlocks-TelloEDU-Python/master/swarm-box-mission.py
+#
+## Ruby script to connect to two EDU drones and control them simultaneously
+
+require 'socket'
+require 'time'
+
+SEND_PORT = 8889 # Defined by Tello
+SEND_IP   = '192.168.0.' # Defined by TP-LINK
+
+IP_1 = SEND_IP + (ARGV[0] || '101')
+IP_2 = SEND_IP + (ARGV[1] || '102')
+
+# Create a Sockets that we'll send the command to
+$sock_1 = Socket.pack_sockaddr_in(SEND_PORT, IP_1)
+$sock_2 = Socket.pack_sockaddr_in(SEND_PORT, IP_2)
+
+# Create UDP sockets which will recieve the response
+$udps_1 = UDPSocket.new; $udps_1.bind('0.0.0.0', 9001)
+$udps_2 = UDPSocket.new; $udps_2.bind('0.0.0.0', 9003)
+
+# set error
+$error = false
+
+# Send the message to Tello and allow for a delay in seconds
+def send(commands, delay)
+  begin
+    if commands.size == 2
+      cmd_1, cmd_2 = commands
+    else
+      cmd_1 = cmd_2 = commands.first
+    end
+    $udps_1.send(cmd_1, 0, $sock_1)
+    $udps_2.send(cmd_2, 0, $sock_2)
+    puts("Sent commands: #{[cmd_1, cmd_2]} at #{Time.now.to_s}")
+  rescue Exception => e
+    puts("Error sending commands #{[cmd_1, cmd_2]}: #{e.to_s}")
+  end
+
+  # Delay for a user-defined period
+  sleep(delay)
+end
+
+# Receive the message from Tello
+def receive
+  # Continuously loop and listen for incoming messages
+  while true
+    begin
+      resp_1 = $udps_1.recv(512).to_s ## Buffer length must be longer than the message
+      resp_2 = $udps_2.recv(512).to_s
+
+      puts("Received message from Tello EDU #1: #{resp_1}")
+      puts("Received message from Tello EDU #2: #{resp_2}")
+      $error = ((resp_1 =~ /error/i) || (resp_2 =~ /error/i)) if ($error == false)
+    rescue Exception => e
+      # If there's an error close the socket and break out of the loop
+      $udps_1.close
+      $udps_2.close
+      puts("Error receiving: #{e.to_s}") if $DEBUG
+      $error = true
+      break
+    end
+  end
+end
+
+def capture_video
+  return if ($error || (RUBY_PLATFORM != 'arm-linux-gnueabihf'))
+
+  get_camera_status = `vcgencmd get_camera`.strip
+  return if (get_camera_status != 'supported=1 detected=1')
+
+  Thread.new do
+    cmd = 'capture_vdo.sh 25000'
+    sleep(0.1) ## so that the main thread gets scheduled
+    puts `#{cmd}`
+  end
+end
+
+# Create and start a listening thread that runs in the background
+# This utilizes our receive functions and will continuously monitor for incoming messages
+th = Thread.new { receive }
+
+# Put Tello into command mode
+send(['command'], 2)
+
+# Get battery levels
+send(['battery?'], 2)
+
+# start video capture if possible
+capture_video
+
+# Send the takeoff command
+send(['takeoff'], 7)
+
+# Flip
+send(['cw 90','ccw 90'], 7)
+
+# Flip again
+send(['ccw 90','cw 90'], 7)
+
+# Land
+send(['land'], 2)
+
+puts("Mission completed with #{$error ? 'error' : 'success'}!")
+
+# Close the sockets
+$udps_1.close
+$udps_2.close
+

hello_tello.rb

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+# Ruby script to connect to 2 EDU drones and control them simultaneously: basic takeoff and land
+
+# Adapted from Python: https://raw.githubusercontent.com/dbaldwin/DroneBlocks-TelloEDU-Python/master/swarm-box-mission.py
+
+require 'socket'
+require 'time'
+
+## Constants defined by Tello
+HOST = '192.168.10.1'
+PORT = 8889
+BUFF_LEN = 1518
+
+# Create UDP sockets which will recieve the response on any other port
+$udps = UDPSocket.new; $udps.bind('0.0.0.0', 9001)
+
+# Send the message to Tello and allow for a delay in seconds
+def send(message, delay)
+
+  bytes = 0
+
+  # Try to send the message otherwise print the exception
+  begin
+    bytes = $udps.send(message, 0, HOST, PORT)
+    puts("Sent message: '#{message}' of #{bytes} bytes")
+  rescue Exception => e
+    puts("Error sending message '#{message}': " + e.to_s)
+  end
+
+  # Delay for a user-defined period
+  sleep(delay)
+
+  bytes
+end
+
+# Receive the message from Tello
+def receive
+  # Continuously loop and listen for incoming messages
+  while true
+    # Try to receive the message otherwise print the exception
+    begin
+      resp, sender = $udps.recvfrom(BUFF_LEN)
+      puts("Received message: '#{resp.to_s.chomp}' from #{sender}")
+    rescue Exception => e
+      # If there's an error close the socket and break out of the loop
+      $udps.close
+      # puts("Error receiving message: " + e.to_s)
+      break
+    end
+  end
+end
+
+# Create and start a listening thread that runs in the background
+# This utilizes our receive functions and will continuously monitor
+# for incoming messages
+th = Thread.new { receive }
+
+# Put Tello into command mode
+send("command", 2)
+
+# Check battery status
+send("battery?", 2)
+
+# Check battery status
+send("time?", 2)
+
+# Takeoff
+send("takeoff", 8)
+
+# Flip
+send("flip l", 8)
+send("flip r", 8)
+
+# Land
+send("land", 4)
+
+# Close the socket
+#$udps.close
+
+puts 'Mission Accomplished'