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test.py
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import cv2
import time
import socket
import threading
import numpy as np
import os
import face_recognition
import playsound
import logging
# todo: Add GUI for Camera
def estop():
send("emergency")
speaktext(0)
while True:
send("emergency")
def speaktext(tc=0):
os.chdir("text to speak")
if tc == 0:
playsound.playsound("estop.mp3")
elif tc == 1:
playsound.playsound("fric.mp3")
elif tc == 2:
playsound.playsound("fullyoperational.mp3")
elif tc == 3:
playsound.playsound("initinit.mp3")
elif tc == 4:
playsound.playsound("sst.mp3")
elif tc == 5:
playsound.playsound("veac.mp3")
elif tc == 6:
playsound.playsound("wdpo.mp3")
os.chdir("..")
def send(message):
try:
sock.sendto(message.encode(encoding="utf-8"), tello_address)
print("Sending message: " + message)
except Exception as effg:
print("Error sending: " + str(effg))
def receive():
global french
while True:
try:
response, _ = sock.recvfrom(128)
message = response.decode(encoding='utf-8')
print("Received message: " + message)
if french and "ok" in message:
print("resetting command in progress")
french = False
except Exception as exceptiontenthisisaexception:
sock.close()
print("Error receiving: " + str(exceptiontenthisisaexception))
break
def send_with_buffer():
global bs_list
global commands_survey
global french
global taken_off
try:
while True:
if french:
while french:
time.sleep(0)
try:
if bs_list["Top Priority"][0] is not None:
message = bs_list["Top Priority"][0]
if message == "takeoff":
taken_off = True
elif message == "land":
taken_off = False
print("Top Priority Command is being sent")
while True:
try:
sock.sendto(message.encode(encoding="utf-8"), tello_address)
print("Sending message: " + message)
except Exception as eikk:
print("Error sending: " + str(eikk))
try:
response, _ = sock.recvfrom(128)
message = response.decode(encoding='utf-8')
if french and "ok" in message:
break
except Exception as eikk:
print("Error Receiving: " + str(eikk))
sock.close()
break
french = False
except Exception as expoint:
logging.info("Exception: " + str(expoint))
try:
if bs_list["Secondary Priority"][0] is None:
bs_list["Secondary Priority"].extend(commands_survey)
else:
message = bs_list["Secondary Priority"][0]
if message == "takeoff":
taken_off = True
elif message == "land":
taken_off = False
while True:
try:
sock.sendto(message.encode(encoding="utf-8"), tello_address)
print("Sending message: " + message)
except Exception as eikk:
print("Error sending: " + str(eikk))
try:
response, _ = sock.recvfrom(128)
message = response.decode(encoding='utf-8')
if french and "ok" in message:
break
except Exception as eikk:
print(f"Error: {str(eikk)}")
sock.close()
break
french = False
except Exception as eikk:
print(f"Error Something Bad Happened: {eikk}")
bs_list["Secondary Priority"].extend(commands_survey)
print(bs_list)
except Exception as a_very_bad_exception:
print("Big Bad Error: " + str(a_very_bad_exception))
if __name__ == '__main__':
logging.basicConfig(filename='app.log', filemode='a', format='%(asctime)s - %(levelname)s - %(message)s',
datefmt='%d-%b-%y %H:%M:%S')
try:
logging.info("Logging Enabled")
logging.info("System Init: Starting")
speaktext(3)
bs_list = {"Top Priority": [], "Secondary Priority": []}
killing = True
french = True
commands_survey = ["takeoff", "up 30", "down 30", "cw 90", "cw 90", "cw 90", "cw 90", "land"]
taken_off = False
tello_address = ('192.168.10.1', 8889)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(('', 9000))
current_command = 0
receiveThread = threading.Thread(target=receive)
receiveThread.daemon = True
receiveThread.start()
logging.info("Drone Partially Operational")
speaktext(6)
im1 = face_recognition.load_image_file("images/alexander.jpg")
ima1 = face_recognition.face_encodings(im1)[0]
known_face_encodings = [ima1]
known_face_names = ["Alexander Doyle"]
face_locations = []
face_encodings = []
face_names = []
process_this_frame = True
logging.info("Facial Recognition Init Complete")
speaktext(1)
send("command")
time.sleep(1)
send("streamon")
time.sleep(1)
camera = cv2.VideoCapture('udp://127.0.0.1:11111')
time.sleep(3)
logging.info("Drone Video Stream Enabled")
speaktext(5)
logging.info("Drone Fully Operational")
except Exception as Init_exception:
logging.error("Error While Init: " + str(Init_exception))
else:
try:
maincommandpipethread = threading.Thread(target=send_with_buffer, daemon=True).start()
french = False
speaktext(2)
while True:
ret, frame = camera.read()
small_frame = cv2.resize(frame, (0, 0), fx=0.25, fy=0.25)
rgb_small_frame = small_frame[:, :, ::-1]
if process_this_frame:
face_locations = face_recognition.face_locations(rgb_small_frame)
face_encodings = face_recognition.face_encodings(rgb_small_frame, face_locations)
face_names = []
for face_encoding in face_encodings:
matches = face_recognition.compare_faces(known_face_encodings, face_encoding)
name = "Enemy"
face_distances = face_recognition.face_distance(known_face_encodings, face_encoding)
best_match_index = np.argmin(face_distances)
if matches[best_match_index]:
name = known_face_names[best_match_index]
print("Person Found: " + name)
if name == "Alexander Doyle":
print("Fugitive Found")
if killing:
if taken_off:
bs_list["Top Priority"].append("forward 100")
bs_list["Top Priority"].append("back 100")
bs_list["Top Priority"].append("land")
elif taken_off:
bs_list["Top Priority"].append("takeoff")
bs_list["Top Priority"].append("forward 100")
bs_list["Top Priority"].append("back 100")
bs_list["Top Priority"].append("land")
else:
logging.warning("Something Weird Happened in your attacking code")
else:
print("Yo, We're Buffering Dude")
face_names.append(name)
process_this_frame = not process_this_frame
for (top, right, bottom, left), name in zip(face_locations, face_names):
top *= 4
right *= 4
bottom *= 4
left *= 4
cv2.rectangle(frame, (left, top), (right, bottom), (0, 0, 255), 2)
cv2.rectangle(frame, (left, bottom - 35), (right, bottom), (0, 0, 255), cv2.FILLED)
font = cv2.FONT_HERSHEY_DUPLEX
cv2.putText(frame, name, (left + 6, bottom - 6), font, 1.0, (255, 255, 255), 1)
cv2.imshow('Tello', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
logging.warning("Drone Video Stream Not Visible")
break
sock.close()
logging.warning("Drone Communication Capability Disabled")
camera.release()
cv2.destroyAllWindows()
except Exception as e:
logging.error(f"System Suddenly Stopped: {e}")
exit(0)
finally:
print("System Exit By End of File")
logging.info("System Exit By End of File :)")