tello.py

import Tello3
import cv2
import math

#gets the frame in a safe way.
#Program will temporarily hang if reciever is writing the image
def getImage(instance):
    instance.mutexLock.acquire()
    frame = instance.Bframe
    instance.mutexLock.release()
    return frame

# Flys in a polygon shape starting on the bottom leftmost pont
#_in_ instance : telloSDK instance
#_in_ size : number 20 - 500 (centimeters)
#_in_ sides : integer 3 - 360
#
#_out_ status : bool -1?1
# def flyPolygon(instance, size, sides):
#     if(sides > 360 or sides < 3):
#         return -1
#     if(size > 500 or size < 20):
#         return -1

#     rotation = 360/sides
#     if(sides != 4):
#         if(sides == 3): 
#             instance.sendMessage("cw 30")
#         else:
#             instance.sendMessage("ccw " + str(90-rotation))

#     for i in range(sides):
#         instance.sendMessage("forward " + str(size))
#         if i == sides:
#             instance.sendMessage("cw 90") #drone ends the same way it starts
#         else:
#             instance.sendMessage("cw " + str(rotation))
#     return 1

# #Flys in a figure 8 starting the the middle
# #_in_ instance : telloSDK instance
# #_in_ size : number 50 - 500
# #_in_ speed : number 10-60 cm/s
# #
# #_out_ status : bool -1?1
# def figure8(instance, size, speed):
#     if(size < 50 or size > 500):
#         return -1
#     if(speed < 10 or speed > 60):
#         return -1

#     #we're heavily assuming that curve uses relative postion instead of some magical absolute position that makes life suck (documentation is unclear)
#     #also assuming that the drone's x/y/z axis are also relative to rotation
#     #5% chance this works as is
#     instance.sendMessage("cw 90")
#     x = lambda rad: math.sin(rad)*size
#     y = lambda rad: math.cos(rad)*size
#     pnt1 = (x(0.25*math.pi), y(1.25*math.pi) + size) 
#     pnt2 = (x(0.5*math.pi), y(0.5*math.pi) + size)
#     for i in range(4): #first circle
#         instance.sendMessage("curve " + str(pnt1[0]) + " 0 " + str(pnt1[1]) + " " + str(pnt2[0]) + " 0 " + str(pnt2[1]) + " " + str(speed))
    
#     pnt1 = (x(0.25*math.pi), y(0.25*math.pi) - size) 
#     pnt2 = (x(0.5*math.pi), y(0.5*math.pi) - size)
#     for i in range(4): #second circle
#         instance.sendMessage("curve " + str(pnt1[0]) + " 0 " + str(pnt1[1]) + " " + str(pnt2[0]) + " 0 " + str(pnt2[1]) + " " + str(speed))

#     return 1