Update test flight script to final version!

main_app.py

@@ -1,158 +1,55 @@
 ###################################################
 #        Autonomous Drone Main Control Hub        #
 #                                                 #
-#   Co-Authors: Jake Richardson, Alex Passin,     #
-#               and Alex Longo.                   #
+#       Author: Alex Longo                        #
 #                                                 #
-#         Date: 3/6/2024                          #
+#         Date: 9/4/2024                          #
 #                                                 #
-#  Description: TBD                               #
+#  Description: Main script used for conducting   #
+#               payload testing. Script uses my   #
+#               DroneFlightController class to    #
+#               establish a connection and        #
+#               interface with the drone. Then it #
+#               tells the drone to takeoff, fly   #
+#               five feet forward, turn 90 deg.   #
+#               to the right, fly three feet      #
+#               forward, and land.                #
 ###################################################
 
-# Old Imports:
-#from djitellopy import tello
-#from easytello import tello
-#import DroneFlightController
 
-# New Imports:
-import time
-import cv2
+# Imports:
+import DroneFlightController
 import threading
-from djitellopy import tello
-from tkinter import *
-from PIL import Image, ImageTk
+import keyboard
 
-class MainApp:
-    def __init__(self):
-        # Prepare our GUI window
-        self.root = Tk()  # Initialize the Tkinter window
-        self.root.title("Tello Drone Control GUI with Video Stream")  # Add a title to the window
-        self.root.minsize(800, 600)  # Set the minimum gui size
+# Create a Key Listener for Emergency Drone Shutoff
+def key_listener():
+    while True:
+        keyboard.wait("e")  # Wait for the "E" Key Press
+        drone.emergency()  # Activate Emergency shutoff for Drone
 
-        # Initialize the video stream capture label
-        self.cap_lbl = Label(self.root)
+# Main Script For Payload Transport Test Flight
+if __name__ == "__main__": 
+
+    # Setup a new drone object and establish a connection to the drone
+    drone = DroneFlightController.DroneFlightController()
 
-        # Prepare our drone object
-        self.drone = tello.Tello()  # Initialize the drone
-        self.drone.connect()  # Connect to the drone
-        self.drone.streamon()  # Turn on the drones video stream
+    # Create a thread to listen for keyboard input continuously
+    key_thread = threading.Thread(target=key_listener, daemon=True)
+    key_thread.start()
 
-        # Initialize variables involving drone functionalities
-        self.frame = self.drone.get_frame_read()  # variable to get the video frames from the drone
+    # Send Takeoff Command
+    drone.takeoff()
 
-        ### **** NEW **** ###
-        # this is to store the joystick rc values as they are updated in realtime.
-        self.rc_controls = [0, 0, 0, 0]  # the initial movement velocity values for lr, fb, ud, and yaw motions
-        ### ************* ###
+    # Send Command to Fly 5ft (152 cm) forward
+    drone.forward(152)
 
-    def takeoff_land(self):
-        """Set the command for the takeoff/land button depending on the drones flying state"""
-        if self.drone.is_flying:
-            threading.Thread(target=lambda: self.drone.land()).start()
-        else:
-            threading.Thread(target=lambda: self.drone.takeoff()).start()
+    # Send Command to Turn 90 deg. to the right
+    drone.cw(90)
 
-    ### **** NEW METHOD **** ###
-    def update_joystick(self):
-        """Method to update joystick values."""
-        try:
-
-            # Map joystick values to specific RC control channels
-            self.rc_controls[0] = right_joystick_x  # lr RC value
-            self.rc_controls[1] = right_joystick_y  # fb RC value
-            self.rc_controls[2] = left_joystick_y  # ud RC value
-            self.rc_controls[3] = left_joystick_x  # yaw RC value
-
-            # If rc control values aren't zero then send them to the drone using the send_rc_control(lr, fb, ud, yv) command.
-            if self.rc_controls != [0, 0, 0, 0]:
-                self.drone.send_rc_control(self.rc_controls[0], self.rc_controls[1], self.rc_controls[2], self.rc_controls[3])
-
-            # and if not zero then send the equivalent command for the drone to hover in place
-            else:
-                self.drone.send_rc_control(0, 0, 0, 0)
-            # Call the update_joystick method again after a delay (50 milliseconds)
-            self.root.after(50, self.update_joystick)
-
-        # Handle exceptions that may occur during joystick update
-        except Exception as joystickUpdateException:
-            print(f"Exception occurred when updating joystick values.\nJoystickUpdateException: {joystickUpdateException}")
-    ### ************* ###
-
-    def run_app(self):
-        """Method to run the application."""
-        try:
-            # Pack the video stream label to the GUI window
-            self.cap_lbl.pack(anchor="center")
-
-            # Call the video_stream method to start displaying video
-            self.video_stream()
-
-            ### **** NEW **** ###
-            # Call the update_joystick method to start the joystick control
-            self.update_joystick()
-            ### ************* ###
-
-            # Start the tkinter main loop
-            self.root.mainloop()
-        except Exception as runAppException:
-            print(f"Exception occurred when running the application.\nrunAppException: {runAppException}")
-        finally:
-            # When the root window is exited out of ensure to clean up any resources.
-            self.cleanup()
-
-    def video_stream(self):
-        """Method to display video stream."""
-        try:
-            # Define the height and width to resize the current frame to
-            h = 480
-            w = 720
-
-            # Read a frame from our drone
-            frame = self.frame.frame
-
-            frame = cv2.resize(frame, (w, h))
-
-            # Convert the current frame to the rgb colorspace
-            cv2image = cv2.cvtColor(frame, cv2.COLOR_BGR2RGBA)
-
-            # Convert this to a Pillow Image object
-            img = Image.fromarray(cv2image)
-
-            # Convert this then to a Tkinter compatible PhotoImage object
-            imgtk = ImageTk.PhotoImage(image=img)
-
-            # Place the image label at the center of the window
-            self.cap_lbl.pack(anchor="center", pady=15)
-
-            # Set it to the photo image
-            self.cap_lbl.imgtk = imgtk
-
-            # Configure the photo image as the displayed image
-            self.cap_lbl.configure(image=imgtk)
-
-            # Update the video stream label with the current frame
-            # by recursively calling the method itself with a delay.
-            self.cap_lbl.after(5, self.video_stream)
-        except Exception as videoStreamException:
-            print(f"Exception occurred when updating the video stream.\nvideoStreamException: {videoStreamException}")
-
-    def cleanup(self) -> None:
-        """Method for cleaning up resources."""
-        try:
-            # Release any resources
-            print("Cleaning up resources...")
-            self.drone.end()
-            self.root.quit()  # Quit the Tkinter main loop
-            exit()
-        except Exception as e:
-            print(f"Error performing cleanup: {e}")
-
-
-if __name__ == "__main__":
-    # Initialize the GUI
-    gui = MainApp()
-
-    # Call the run_app method to run tkinter mainloop
-    gui.run_app()
+    # Send Command to Fly 3ft (91 cm) forward
+    drone.forward(91)
 
+    # Send Land Command
+    drone.land()