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@tomoto
Last active December 22, 2017 12:48
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Controlling drone by MQTT
#!/usr/bin/env python
import logging
logging.basicConfig(level=logging.DEBUG)
logger = logging.getLogger("main")
# Mambo
from Mambo import Mambo
import random
def create_mambo():
# you will need to change this to the address of YOUR mambo
mamboAddr = "00:00:00:00:00:00"
return Mambo(mamboAddr, 4)
def connect_mambo(mambo):
logger.info("Connecting to Mambo...")
success = mambo.connect(num_retries=3)
logger.info("Mambo connected: %s" % success)
# MQTT
import paho.mqtt.client as mqtt
import json
TOKEN = "<YOUR TOKEN>"
HOSTNAME = "api.beebotte.com"
PORT = 1883
TOPIC = "<YOUR CHANNEL>/<YOUR RESOURCE>"
def on_connect(client, mambo, flags, response_code):
logger.info("MQTT broker connected. %s" % response_code)
client.subscribe(TOPIC)
def on_message(client, mambo, msg):
logger.debug("Entering to on_message");
data = json.loads(msg.payload.decode("utf-8"))
logger.info(data)
command = data[u'data'][u'command'].strip()
if u'take off' in command:
logger.info('Taking off!')
mambo.takeoff()
if u'land' in command:
logger.info('Landing!')
mambo.land()
if u'flip' in command:
logger.info('Flipping!')
mambo.flip(random.choice(['front', 'back']))
if u'turn' in command:
logger.info('Turning!')
mambo.turn_degrees(180)
if u'higher' in command:
logger.info('Going up!')
mambo.fly_direct(0, 0, 0, 50, 1)
if u'lower' in command:
logger.info('Going down!')
mambo.fly_direct(0, 0, 0, -50, 1)
logger.debug("Exiting from on_message");
def main():
mambo = create_mambo()
connect_mambo(mambo)
client = mqtt.Client(userdata=mambo)
client.username_pw_set("token:%s" % TOKEN)
client.on_connect = on_connect
client.on_message = on_message
client.connect(HOSTNAME, port=PORT, keepalive=60)
logger.info("Connecting to MQTT broker...")
while True:
logger.debug("Requesting state update...")
mambo.ask_for_state_update()
for i in range(0, 10):
client.loop()
mambo.smart_sleep(0.1)
main()
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