HoudiniからTELLOを操作するスクリプト

HoudiniTello.py

from PySide2 import QtWidgets
import socket

def onCreateInterface():    
    widget = Tello()
    return widget

class Tello(QtWidgets.QWidget):
    def __init__(self, parent=None):
        QtWidgets.QWidget.__init__(self, parent)      
        layout = QtWidgets.QHBoxLayout()

        # Left
        LU = QtWidgets.QPushButton("↑", self)
        LU.clicked.connect(self.LeftUp)

        LR = QtWidgets.QPushButton("→", self)
        LR.clicked.connect(self.LeftRight)

        LD = QtWidgets.QPushButton("↓", self)
        LD.clicked.connect(self.LeftDown)

        LL = QtWidgets.QPushButton("←", self)
        LL.clicked.connect(self.LeftLeft)

        # Center
        CU = QtWidgets.QPushButton("↑", self)
        CU.clicked.connect(self.CenterUp)

        CD = QtWidgets.QPushButton("↓", self)
        CD.clicked.connect(self.CenterDown)

        # Right
        RU = QtWidgets.QPushButton("↑", self)
        RU.clicked.connect(self.RightUp)

        RR = QtWidgets.QPushButton("→", self)
        RR.clicked.connect(self.RightRight)

        RD = QtWidgets.QPushButton("↓", self)
        RD.clicked.connect(self.RightDown)

        RL = QtWidgets.QPushButton("←", self)
        RL.clicked.connect(self.RightLeft)
        
        # 格子状にボタンを並べる
        layout = QtWidgets.QGridLayout()
        layout.addWidget(LU, 0, 1)
        layout.addWidget(LR, 1, 2)
        layout.addWidget(LD, 2, 1)
        layout.addWidget(LL, 1, 0)
        layout.addWidget(CU, 1, 3)
        layout.addWidget(CD, 1, 4)
        layout.addWidget(RU, 0, 1+5)
        layout.addWidget(RR, 1, 2+5)
        layout.addWidget(RD, 2, 1+5)
        layout.addWidget(RL, 1, 0+5)
        
        # TELLO move speed
        self.__speed = 50
        # Network Initialize
        self.ConnectUdp()
        
        self.setLayout(layout)
    
    def closeEvent(self, e):
        print("close")
        self.SendMessage('end')
        self.__sock.close()  
        MaxPlus.CUI.EnableAccelerators()

    def __del__(self) :
        print("destructor")
        self.SendMessage('end')
        self.__sock.close()  

    def ConnectUdp(self) :
        host = ''
        port = 9000
        locaddr = (host, port) 

        # Create a UDP socket
        self.__sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        self.__tello_address = ('192.168.10.1', 8889)         
        try:
            self.__sock.bind(locaddr)
        except:
            self.__sock.close()
            self.__sock.bind(locaddr)

        self.SendMessage('command')

    def SendMessage(self, msg) :
        print msg
        msg = msg.encode(encoding="utf-8")         
        sent = self.__sock.sendto(msg, self.__tello_address)        

    def LeftUp(*args) :
        args[0].SendMessage('up ' + str(args[0].__speed))

    def LeftRight(*args) :
        args[0].SendMessage('cw ' + str(args[0].__speed))

    def LeftDown(*args) :
        args[0].SendMessage('down ' + str(args[0].__speed))

    def LeftLeft(*args) :
        args[0].SendMessage('ccw ' + str(args[0].__speed))

    def CenterUp(*args) :
        args[0].SendMessage('takeoff')

    def CenterDown(*args) :
        args[0].SendMessage('land')

    def RightUp(*args) :
        args[0].SendMessage('forward ' + str(args[0].__speed))

    def RightRight(*args) :
        args[0].SendMessage('right ' + str(args[0].__speed))

    def RightDown(*args) :
        args[0].SendMessage('back ' + str(args[0].__speed))

    def RightLeft(*args) :
        args[0].SendMessage('left ' + str(args[0].__speed))