MAYAからTELLOを操作するスクリプト

telloControl.py

# -*- coding: utf-8 -*-
import maya.cmds as cmds
import socket
import sys
import time

class Tello :
    def __init__(self) :
        # Create Window
        if cmds.window("Obj_EditWindow",exists=True):
	        cmds.deleteUI(Set_Window)

        scale=5
        Set_Window = cmds.window("Obj_EditWindow", t="TELLO Controller",s=False, w=130*scale, h=50*scale)
        form = cmds.formLayout()
        LU = cmds.button(label=u"↑", command=self.LeftUp, width=10*scale, height =10*scale)
        LR = cmds.button(label=u"→", command=self.LeftRight, width=10*scale, height =10*scale)
        LD = cmds.button(label=u"↓", command=self.LeftDown, width=10*scale, height =10*scale)
        LL = cmds.button(label=u"←", command=self.LeftLeft, width=10*scale, height =10*scale)
        CU = cmds.button(label=u"↑", command=self.CenterUp, width=10*scale, height =10*scale)
        CD = cmds.button(label=u"↓", command=self.CenterDown, width=10*scale, height =10*scale)
        RU = cmds.button(label=u"↑", command=self.RightUp, width=10*scale, height =10*scale)
        RR = cmds.button(label=u"→", command=self.RightRight, width=10*scale, height =10*scale)
        RD = cmds.button(label=u"↓", command=self.RightDown, width=10*scale, height =10*scale)
        RL = cmds.button(label=u"←", command=self.RightLeft, width=10*scale, height =10*scale)

        cmds.formLayout(form, edit=True,\
	        attachForm=(
	            (LU, 'top', 10*scale), (LU, 'left', 20*scale), \
                (LR, 'top', 20*scale), (LR, 'left', 30*scale), \
   	            (LD, 'top', 30*scale), (LD, 'left', 20*scale), \
                (LL, 'top', 20*scale), (LL, 'left', 10*scale), \
   	            (CU, 'top', 20*scale), (CU, 'left', 50*scale), \
   	            (CD, 'top', 20*scale), (CD, 'left', 70*scale), \
                (RU, 'top', 10*scale), (RU, 'left', 100*scale), \
   	            (RR, 'top', 20*scale), (RR, 'left', 110*scale), \
   	            (RD, 'top', 30*scale), (RD, 'left', 100*scale), \
                (RL, 'top', 20*scale), (RL, 'left', 90*scale)))
        cmds.showWindow(Set_Window)
        
        # TELLO move speed
        self.__speed = 50
        # Network Initialize
        self.ConnectUdp()

    def __del__(self) :
        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)

        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))