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tello: API improvements by using const values and types for streaming video settings 

Signed-off-by: Ron Evans <ron@hybridgroup.com>
This commit is contained in:
Ron Evans 2018-04-22 18:15:38 +02:00
parent 73069e4345
commit c0e08e250d
3 changed files with 82 additions and 23 deletions
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4
examples/tello_opencv.go
View File

@ -63,8 +63,8 @@ func main() {
drone.On(tello.ConnectedEvent, func(data interface{}) {
fmt.Println("Connected")
drone.StartVideo()
drone.SetExposure(1)
drone.SetVideoEncoderRate(4)
drone.SetVideoEncoderRate(tello.VideoBitRateAuto)
drone.SetExposure(0)
gobot.Every(100*time.Millisecond, func() {
drone.StartVideo()

2
examples/tello_video.go
View File

@ -36,7 +36,7 @@ func main() {
drone.On(tello.ConnectedEvent, func(data interface{}) {
fmt.Println("Connected")
drone.StartVideo()
drone.SetVideoEncoderRate(4)
drone.SetVideoEncoderRate(tello.VideoBitRateAuto)
gobot.Every(100*time.Millisecond, func() {
drone.StartVideo()
})

99
platforms/dji/tello/driver.go
View File

@ -45,14 +45,18 @@ const (
// VideoFrameEvent event
VideoFrameEvent = "videoframe"
// SetVideoEncoderRateEvent event
SetVideoEncoderRateEvent = "setvideoencoder"
)
const (
messageStart = 0xcc
wifiMessage = 26
lightMessage = 53
timeMessage = 70
flightMessage = 86
messageStart = 0xcc
wifiMessage = 26
videoRateQuery = 40
lightMessage = 53
timeMessage = 70
flightMessage = 86
logMessage = 0x50
@ -63,11 +67,58 @@ const (
takeoffCommand = 0x54
landCommand = 0x55
flipCommand = 0x5c
)
flipFront = 0
flipLeft = 1
flipBack = 2
flipRight = 3
// FlipType is used for the various flips supported by the Tello.
type FlipType int
const (
// FlipFront flips forward.
FlipFront FlipType = 0
// FlipLeft flips left.
FlipLeft FlipType = 1
// FlipBack flips backwards.
FlipBack FlipType = 2
// FlipRight flips to the right.
FlipRight FlipType = 3
// FlipForwardLeft flips forwards and to the left.
FlipForwardLeft FlipType = 4
// FlipBackLeft flips backwards and to the left.
FlipBackLeft FlipType = 5
// FlipBackRight flips backwards and to the right.
FlipBackRight FlipType = 6
// FlipForwardRight flips forewards and to the right.
FlipForwardRight FlipType = 7
)
// VideoBitRate is used to set the bit rate for the streaming video returned by the Tello.
type VideoBitRate int
const (
// VideoBitRateAuto sets the bitrate for streaming video to auto-adjust.
VideoBitRateAuto VideoBitRate = 0
// VideoBitRate1M sets the bitrate for streaming video to 1 Mb/s.
VideoBitRate1M VideoBitRate = 1
// VideoBitRate15M sets the bitrate for streaming video to 1.5 Mb/s
VideoBitRate15M VideoBitRate = 2
// VideoBitRate2M sets the bitrate for streaming video to 2 Mb/s.
VideoBitRate2M VideoBitRate = 3
// VideoBitRate3M sets the bitrate for streaming video to 3 Mb/s.
VideoBitRate3M VideoBitRate = 4
// VideoBitRate4M sets the bitrate for streaming video to 4 Mb/s.
VideoBitRate4M VideoBitRate = 5
)
// FlightData packet returned by the Tello
@ -140,10 +191,16 @@ func NewDriver(port string) *Driver {
d.AddEvent(ConnectedEvent)
d.AddEvent(FlightDataEvent)
d.AddEvent(TakeoffEvent)
d.AddEvent(LandingEvent)
d.AddEvent(FlipEvent)
d.AddEvent(TimeEvent)
d.AddEvent(LogEvent)
d.AddEvent(WifiDataEvent)
d.AddEvent(LightStrengthEvent)
d.AddEvent(VideoFrameEvent)
d.AddEvent(SetExposureEvent)
d.AddEvent(VideoFrameEvent)
d.AddEvent(SetVideoEncoderRateEvent)
return d
}
@ -250,6 +307,8 @@ func (d *Driver) handleResponse() error {
d.Publish(d.Event(FlightDataEvent), fd)
case exposureCommand:
d.Publish(d.Event(SetExposureEvent), buf[7:8])
case videoEncoderRateCommand:
d.Publish(d.Event(SetVideoEncoderRateEvent), buf[7:8])
default:
fmt.Printf("Unknown message: %+v\n", buf[0:n])
}
@ -311,7 +370,7 @@ func (d *Driver) Land() (err error) {
return
}
// StartVideo tells to start video stream.
// StartVideo tells Tello to send start info (SPS/PPS) for video stream.
func (d *Driver) StartVideo() (err error) {
pkt := []byte{messageStart, 0x58, 0x00, 0x7c, 0x60, videoStartCommand, 0x00, 0x00, 0x00, 0x6c, 0x95}
_, err = d.reqConn.Write(pkt)
@ -334,8 +393,8 @@ func (d *Driver) SetExposure(level int) (err error) {
}
// SetVideoEncoderRate sets the drone video encoder rate.
func (d *Driver) SetVideoEncoderRate(rate int) (err error) {
pkt := []byte{messageStart, 0x62, 0x00, 0x27, 0x68, videoEncoderRateCommand, 0x00, 0xe6, 0x01, byte(rate), 0x00, 0x00, 0x00}
func (d *Driver) SetVideoEncoderRate(rate VideoBitRate) (err error) {
pkt := []byte{messageStart, 0x60, 0x00, 0x27, 0x68, videoEncoderRateCommand, 0x00, 0xe6, 0x01, byte(rate), 0x00, 0x00}
// sets ending crc bytes for packet
l := len(pkt)
@ -345,9 +404,9 @@ func (d *Driver) SetVideoEncoderRate(rate int) (err error) {
return
}
// Rate does some still unknown thing.
// Rate queries the current video bit rate.
func (d *Driver) Rate() (err error) {
pkt := []byte{messageStart, 0x58, 0x00, 0x7c, 0x48, 40, 0x00, 0xe6, 0x01, 0x6c, 0x95}
pkt := []byte{messageStart, 0x58, 0x00, 0x7c, 0x48, videoRateQuery, 0x00, 0xe6, 0x01, 0x6c, 0x95}
// sets ending crc bytes for packet
l := len(pkt)
@ -431,7 +490,7 @@ func (d *Driver) CounterClockwise(val int) error {
}
// Flip tells drone to flip
func (d *Driver) Flip(direction int) (err error) {
func (d *Driver) Flip(direction FlipType) (err error) {
pkt := []byte{messageStart, 0x60, 0x00, 0x27, 0x70, flipCommand, 0x00, 0xe6, 0x01, byte(direction), 0x00, 0x00}
// sets ending crc bytes for packet
@ -444,22 +503,22 @@ func (d *Driver) Flip(direction int) (err error) {
// FrontFlip tells the drone to perform a front flip.
func (d *Driver) FrontFlip() (err error) {
return d.Flip(flipFront)
return d.Flip(FlipFront)
}
// BackFlip tells the drone to perform a back flip.
func (d *Driver) BackFlip() (err error) {
return d.Flip(flipBack)
return d.Flip(FlipBack)
}
// RightFlip tells the drone to perform a flip to the right.
func (d *Driver) RightFlip() (err error) {
return d.Flip(flipRight)
return d.Flip(FlipRight)
}
// LeftFlip tells the drone to perform a flip to the left.
func (d *Driver) LeftFlip() (err error) {
return d.Flip(flipLeft)
return d.Flip(FlipLeft)
}
// ParseFlightData from drone