3DS MAXからTELLOを操作するスクリプト

telloControlFor3DSMax.py

from PySide2 import QtWidgets
import MaxPlus
import socket

class Tello(QtWidgets.QDialog):
    def __init__(self, parent=MaxPlus.GetQMaxMainWindow()):
        super(Tello, self).__init__(parent)
        self.setWindowTitle("Tello Controller")
        self.initUI()
        
        # TELLO move speed
        self.__speed = 50
        # Network Initialize
        self.ConnectUdp()
        
        MaxPlus.CUI.DisableAccelerators()

    def initUI(self):
        scale = 5
        width = 10*scale
        height = 10*scale
        # Left
        LU = QtWidgets.QPushButton("↑", self)
        LU.setGeometry(20*scale, 10*scale, width, height)
        LU.clicked.connect(self.LeftUp)

        LR = QtWidgets.QPushButton("→", self)
        LR.setGeometry(30*scale, 20*scale, width, height)
        LR.clicked.connect(self.LeftRight)

        LD = QtWidgets.QPushButton("↓", self)
        LD.setGeometry(20*scale, 30*scale, width, height)
        LD.clicked.connect(self.LeftDown)

        LL = QtWidgets.QPushButton("←", self)
        LL.setGeometry(10*scale, 20*scale, width, height)
        LL.clicked.connect(self.LeftLeft)

        # Center
        CU = QtWidgets.QPushButton("↑", self)
        CU.setGeometry(50*scale, 20*scale, width, height)
        CU.clicked.connect(self.CenterUp)

        CD = QtWidgets.QPushButton("↓", self)
        CD.setGeometry(70*scale, 20*scale, width, height)
        CD.clicked.connect(self.CenterDown)

        # Right
        RU = QtWidgets.QPushButton("↑", self)
        RU.setGeometry(100*scale, 10*scale, width, height)
        RU.clicked.connect(self.RightUp)

        RR = QtWidgets.QPushButton("→", self)
        RR.setGeometry(110*scale, 20*scale, width, height)
        RR.clicked.connect(self.RightRight)

        RD = QtWidgets.QPushButton("↓", self)
        RD.setGeometry(100*scale, 30*scale, width, height)
        RD.clicked.connect(self.RightDown)

        RL = QtWidgets.QPushButton("←", self)
        RL.setGeometry(90*scale, 20*scale, width, height)
        RL.clicked.connect(self.RightLeft)

    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)
        #self.__sock.bind(locaddr)		
        try:
            self.__sock.bind(locaddr)
        except:
            self.__sock.close()
            #self.__sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
            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))
        

if __name__ == "__main__":
    try:
        ui.close()
    except:
        pass

    ui = Tello()
    ui.show()