From d9a0ed26d8c4dced47878b23c7d7e65b75272b0b Mon Sep 17 00:00:00 2001
From: Zen <wandemeir@gmail.com>
Date: Fri, 31 Jul 2020 04:55:12 +0300
Subject: [PATCH] first commit

---
 TelloModule.py | 123 +++++++++++++++++++++++++++++++++++++++++++++++++
 tast.py        |  10 ++++
 test.py        |  28 +++++++++++
 3 files changed, 161 insertions(+)
 create mode 100644 TelloModule.py
 create mode 100644 tast.py
 create mode 100644 test.py

diff --git a/TelloModule.py b/TelloModule.py
new file mode 100644
index 0000000..dfd5e88
--- /dev/null
+++ b/TelloModule.py
@@ -0,0 +1,123 @@
+import serial
+import time
+import threading
+
+info = { 'count':0,
+                'forward_dist':0,
+                'right_dist':0,
+                'back_dist':0,
+                'left_dist':0,
+                'light':0 }
+
+class SerialTread (threading.Thread):
+    c = 0
+    def __init__(self, name, counter):
+        threading.Thread.__init__(self)
+        self.threadID = counter
+        self.name = name
+        self.counter = counter
+    def run(self):        
+        while self.c == 0:
+            line = str(ser.readline())[4:-3].split()
+            info['count'] = int(line[0][2:])
+            info['forward_dist'] = int(line[1][6:])
+            info['right_dist'] = int(line[2][6:])
+            info['back_dist'] = int(line[3][6:])
+            info['left_dist'] = int(line[4][6:])
+            info['light'] = int(line[5][6:])
+    def join(self):
+        self.c = 1
+
+class TelloModule():
+    def __init__(self):
+        """Constructor"""
+        pass
+
+    def module_init(self, module):
+        global type_module
+        global t
+        global ser
+
+        t = SerialTread("Thread", 1)
+        ser = serial.Serial('/dev/ttyUSB0', 115200)
+        ser.readline()
+
+        type_module = module   
+        if type_module == 'distance':        
+            t.start()
+            time.sleep(1)
+        else:
+            print ("Error: There is NO module with this name, please select \"distance\".")
+
+
+
+    def module_deinit(self):
+        if type_module == 'distance':        
+            t.join()
+            type_module == ''
+        else:
+            print ("Error: First you need to initialize the module.")
+
+
+
+    def get_forward_dist(self):
+        return info['forward_dist']
+
+    def get_left_dist(self):
+        return info['left_dist']
+
+    def get_right_dist(self):
+        return info['right_dist']
+
+    def get_back_dist(self):
+        return info['back_dist']
+
+    def get_light(self):
+        return info['light']
+
+    def get_count(self):
+        return info['count']
+
+    def get_dist(self):
+        return [info['forward_dist'], info['right_dist'], info['left_dist'], info['back_dist']]
+
+    def get_block_dist(self):           # count + forward + right + back + left + light 
+        ser = serial.Serial('/dev/ttyUSB0', 115200)
+        line = str(ser.readline())[4:-3].split()
+        ser.close()
+        if line[0][3] == "r" :
+            return [int(line[0][6:]), int(line[1][6:]), int(line[2][6:]), int(line[3][6:]), int(line[4][6:]), int(line[5][6:])]
+        else:
+            return [int(line[0]), int(line[1][6:]), int(line[2][6:]), int(line[3][6:]), int(line[4][6:]), int(line[5][6:])]
+
+
+if __name__ == "__main__":
+    mod = TelloModule()
+    
+    print ("\n -------- Test blocking mode --------- \n")
+    for i in range(10):
+        line = mod.get_block_dist()
+        print ("Test " + str(i) +
+                " count = " + str(line[0]) + 
+                " forward = " + str(line[1]) + 
+                " right = " + str(line[2]) + 
+                " back = " + str(line[3]) + 
+                " left = " + str(line[4]) + 
+                " light = " + str(line[5]))
+
+    print ("\n ------ Test NON Blocking mode ------- \n")
+    mod.module_init('distance')
+    for i in range(10):
+        print ("Test " + str(i) +
+                " count = " + str(mod.get_count()) + 
+                " forward = " + str(mod.get_forward_dist()) + 
+                " right = " + str(mod.get_right_dist()) + 
+                " back = " + str(mod.get_back_dist()) + 
+                " left = " + str(mod.get_left_dist()) + 
+                " light = " + str(mod.get_light()))
+        time.sleep(0.5)
+    mod.module_deinit()
+
+    print ("\n ------------ Finish Test ------------ \n")
+
+    
\ No newline at end of file
diff --git a/tast.py b/tast.py
new file mode 100644
index 0000000..e0b8f4d
--- /dev/null
+++ b/tast.py
@@ -0,0 +1,10 @@
+from easytello import tello
+
+drone = tello.Tello()
+drone.takeoff()             #Команда взлета
+
+for i in range(12):
+	drone.forward(30)       #Лететь вперед на 30 см
+	drone.cw(90)            #Повернутся на 90 градусов по часовой
+	
+drone.land()
\ No newline at end of file
diff --git a/test.py b/test.py
new file mode 100644
index 0000000..8cac1a3
--- /dev/null
+++ b/test.py
@@ -0,0 +1,28 @@
+from TelloModule import TelloModule
+import time
+
+mod = TelloModule()
+    
+print ("\n -------- Test blocking mode --------- \n")
+for i in range(10):
+    line = mod.get_block_dist()
+    print ("Test " + str(i) +
+            " count = " + str(line[0]) + 
+            " forward = " + str(line[1]) + 
+            " right = " + str(line[2]) + 
+            " back = " + str(line[3]) + 
+            " left = " + str(line[4]) + 
+            " light = " + str(line[5]))
+print ("\n ------ Test NON Blocking mode ------- \n")
+mod.module_init('distance')
+for i in range(10):
+    print ("Test " + str(i) +
+            " count = " + str(mod.get_count()) + 
+            " forward = " + str(mod.get_forward_dist()) + 
+            " right = " + str(mod.get_right_dist()) + 
+            " back = " + str(mod.get_back_dist()) + 
+            " left = " + str(mod.get_left_dist()) + 
+            " light = " + str(mod.get_light()))
+    time.sleep(0.5)
+mod.module_deinit()
+print ("\n ------------ Finish Test ------------ \n")
\ No newline at end of file