tello 0.1.0 → 0.2.0

checksums.yaml

@@ -1,7 +1,7 @@
 ---
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data/bin/telloedu

@@ -0,0 +1,28 @@
+#!/usr/bin/env ruby
+require 'tello/colorize'
+require 'tello/version'
+
+# Check Command-line Arguments #################################################
+$edu = 'EDU'
+usage = "Fly the Tello#{$edu} drone with Ruby!".bold + "\n
+Usage: tello#{$edu.to_s.downcase} <command> <options>
+             [-v|--version]
+
+Summary of commands and options:
+  console       Open an interactive Tello console
+    --test        Start the console in test mode
+  server        Start the test server
+  -v|--version  Prints the installed version\n\n"
+
+if ARGV.delete '--test' then $tello_testing = true end
+
+case ARGV[0]
+when 'console'
+  require 'tello/cli/console'
+when 'server'
+  require 'tello/cli/server'
+when '-v', '--version'
+  puts Tello::VERSION
+else
+  puts usage
+end

data/lib/tello/cli/console.rb

@@ -7,7 +7,7 @@ else
   r_module = 'tello'
 end
 
-puts "Ready to receive Tello commands. Type \"exit\" to quit."
+puts %Q(Ready to receive Tello#{$edu} commands. Type "exit" to quit.)
 
 if system('pry -v &>/dev/null')
   system("pry -r #{r_module}")

data/lib/tello/cli/server.rb

@@ -9,7 +9,8 @@ server.bind('localhost', PORT)
 
 puts "Starting Tello test server...".bold, "Listening on udp://localhost:#{PORT}"
 
-loop do
+bye = false
+while (not bye) do
   msg, addr = server.recvfrom(100)
   puts "#{"==>".green} Received: \"#{msg}\", from #{addr[3]}:#{addr[1]}"
 
@@ -44,8 +45,9 @@ loop do
   when 'wifi?'
     #=> snr
     res = "90\r\n"
-  when 'whatever'
-    res = "unknown command: whatever"
+  when 'bye!'
+    res = 'good bye!'
+    bye = true
   else
     #=> 'ok' or 'error'
     res = 'ok'

data/lib/tello/client.rb

@@ -8,13 +8,21 @@ module Tello
 
     class << self
 
-      # Create a Tello UDP connection
-      def connect(ssid = nil)
+      # Create a UDP connection
+      def connect(ssid = nil, ip = nil, bind_port=8890)
 
         # Connect to Tello wifi
-        unless Tello::Wifi.connect(ssid)
-          puts "#{'Error:'.error} Could not connect to Tello 😢"
-          return false
+        if ssid.to_s.upcase == 'AP'
+          unless valid_ipv4?(ip)
+            puts "Error: Cannot connect to Tello#{$edu} in AP mode due to invalid IPv4: '#{ip}'"
+            return false
+          end
+        else
+          if !Tello::Wifi.connect(ssid)
+            puts "Error: Could not connect to Tello#{$edu} 😢"
+            return false
+          end
+          ip = '192.168.10.1'
         end
 
         # If already connected, disconnect
@@ -23,13 +31,16 @@ module Tello
           disconnect
         end
 
+        p({ssid: ssid, ip: ip})
+
         # Set IP and port numbers
-        @ip = Tello.testing ? 'localhost' : '192.168.10.1'
+        @ip = (Tello.testing ? 'localhost' : ip)
         @port = 8889
 
         # Create UDP client, bind to a previous source IP and port if availble
         @client = UDPSocket.new unless @client
         if @source_ip && @source_port
+          p({source_ip: @source_ip, source_port: @source_port})
           @client.bind(@source_ip, @source_port)
         end
 
@@ -41,7 +52,7 @@ module Tello
         # Create server to get Tello state
         unless @state_server
           @state_server = UDPSocket.new
-          @state_server.bind('0.0.0.0', 8890)
+          @state_server.bind('0.0.0.0', bind_port)
         end
 
         # Check to see if test server is up
@@ -50,8 +61,8 @@ module Tello
           @client.send('command', 0)
           sleep 0.5
           unless read_nonblock
-            puts "\n#{'Error:'.error} Could not find Tello test server.",
-                 "Did you run `tello server` in another terminal window?"
+            puts "\n#{'Error:'.error} Could not find Tello#{$edu} test server.",
+                  "Did you run `tello#{$edu.to_s.downcase} server` in another terminal window?"
             return false
           end
           puts "connected!"
@@ -69,10 +80,10 @@ module Tello
               begin
                 @client.send('command', 0)
               rescue Errno::EADDRNOTAVAIL
-                puts "#{'Error:'.error} No response from Tello! Try reconnecting."
+                puts "#{'Error:'.error} No response from Tello#{$edu}! Try reconnecting."
                 @ping.exit
               end
-              sleep 15
+              sleep(14.5)
             end
           end
 
@@ -85,7 +96,8 @@ module Tello
           end
         end
 
-        puts "Ready to fly! 🚁"; true
+        puts "Ready to fly! 🚁"
+        true
       end
 
       # Get Tello connection status
@@ -93,7 +105,7 @@ module Tello
         if @connected
           true
         else
-          puts "Tello is not yet connected. Run `connect` first."
+          puts "Tello#{$edu} is not yet connected. Run `connect` first."
           false
         end
       end
@@ -146,7 +158,11 @@ module Tello
         if res then res.to_i else res end
       end
 
-    end
+      def valid_ipv4?(ip)
+        ## May be improved further
+        (ip.to_s) =~ /^((25[0-5]|2[0-4][0-9]|1[0-9][0-9]|[1-9]?[0-9])\.){3}(25[0-5]|2[0-4][0-9]|1[0-9][0-9]|[1-9]?[0-9])$/
+      end
 
+    end
   end
 end

data/lib/tello/dsl.rb

@@ -1,8 +1,10 @@
 # Tello::DSL
 # Define Tello domain-specific language
+require 'timeout'
 
 module Tello
   module DSL
+    TIMEOUT_SEC = 6 # Needs to be tweaked after more testing
 
     # Warn Linux and Windows users to manually connect to Wi-Fi, for now
     unless Tello.os == :macos
@@ -11,8 +13,8 @@ module Tello
     end
 
     # Connect to the drone
-    def connect
-      Tello::Client.connect
+    def connect(ssid=nil, ip=nil, bind_port=nil)
+      Tello::Client.connect(ssid, ip, bind_port)
     end
 
     # Is the drone connected?
@@ -27,7 +29,24 @@ module Tello
 
     # Send a native Tello command to the drone
     def send(s)
-      Tello::Client.send(s)
+      puts s
+      begin
+        ### WARNING: Ruby Timeout considered harmful (according to Dr. Google)
+        Timeout::timeout(TIMEOUT_SEC) { Tello::Client.send(s) }
+      rescue
+        err = $!.to_s
+        puts err unless err == 'execution expired'
+        puts "timeout after #{TIMEOUT_SEC} seconds"
+      end
+    end
+
+    def ap_mode(ssid, passwd)
+      if ssid.to_s.strip.size == 0
+        puts 'Cannot set AP mode when SSID is empty'
+        return false
+      end
+      cmd = "ap #{ssid.to_s} #{passwd.to_s}"
+      send(cmd)
     end
 
     # Check if value is within the common movement range
@@ -36,14 +55,14 @@ module Tello
     end
 
     # Takeoff and land
-    [:takeoff, :land].each do |cmd|
+    [:takeoff, :land, :streamon, :streamoff].each do |cmd|
       define_method cmd do
         Tello::Client.return_bool send("#{cmd.to_s}")
       end
     end
 
     # Move in a given direction
-    [:up, :down, :left, :right, :forward, :backward].each do |cmd|
+    [:up, :down, :left, :right, :forward, :back].each do |cmd|
       define_method cmd do |x|
         if in_move_range? x
           Tello::Client.return_bool send("#{cmd.to_s} #{x}")
@@ -52,6 +71,8 @@ module Tello
         end
       end
     end
+    alias_method :front, :forward
+    alias_method :backward, :back
 
     # Turn clockwise or counterclockwise
     [:cw, :ccw].each do |cmd|
@@ -189,6 +210,23 @@ module Tello
       send('temp?')
     end
 
+    def sdk
+      send('sdk?')
+    end
+
+    def sn
+      send('sn?')
+    end
+
+    def bye!
+      ## Tell the server to exit gracefully.
+      ## Only applicable in test mode.
+      if Tello.testing
+        send('bye!')
+        exit(0) if connected?
+      end
+    end
+
     # Get Wi-Fi signal-to-noise ratio (SNR); if parameters, set SSID and password
     def wifi(ssid: nil, pass: nil)
       if ssid && pass
@@ -198,8 +236,14 @@ module Tello
       end
     end
 
-    # Stop all motors immediately
+    # stop: hovers in the air per Tello SDK 2.0 User Guide
     def stop
+      Tello::Client.return send('stop')
+    end
+    alias_method :hover, :stop
+
+    # Halt all motors immediately
+    def halt
       Tello::Client.return_bool send('emergency')
     end
 

data/lib/tello/version.rb

@@ -1,5 +1,5 @@
 # version.rb
 
 module Tello
-  VERSION = '0.1.0'
+  VERSION = '0.2.0'
 end

metadata

@@ -1,23 +1,25 @@
 --- !ruby/object:Gem::Specification
 name: tello
 version: !ruby/object:Gem::Version
-  version: 0.1.0
+  version: 0.2.0
 platform: ruby
 authors:
 - Tom Black
-autorequire: 
+autorequire:
 bindir: bin
 cert_chain: []
-date: 2018-11-21 00:00:00.000000000 Z
+date: 2021-12-02 00:00:00.000000000 Z
 dependencies: []
 description: Fly the Tello drone with Ruby!
 email: tom@blacktm.com
 executables:
 - tello
+- telloedu
 extensions: []
 extra_rdoc_files: []
 files:
 - bin/tello
+- bin/telloedu
 - lib/tello.rb
 - lib/tello/cli/console.rb
 - lib/tello/cli/server.rb
@@ -32,7 +34,7 @@ homepage: https://github.com/blacktm/tello
 licenses:
 - MIT
 metadata: {}
-post_install_message: 
+post_install_message:
 rdoc_options: []
 require_paths:
 - lib
@@ -47,9 +49,8 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubyforge_project: 
-rubygems_version: 2.7.8
-signing_key: 
+rubygems_version: 3.2.32
+signing_key:
 specification_version: 4
 summary: Tello
 test_files: []