Program Listing for File tello.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
//
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// modification, are permitted provided that the following conditions are met:
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//    * Redistributions in binary form must reproduce the above copyright
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#ifndef TELLO__TELLO_HPP_
#define TELLO__TELLO_HPP_

#include <memory>
#include <cmath>
#include <iostream>
#include <sstream>
#include <string>
#include <thread>
#include <unordered_map>
#include <utility>
#include <vector>
#include "socket_udp.hpp"

#include "opencv2/core.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgcodecs.hpp"

#define COMMAND_SEND_TIMEOUT 220  // Timeout to send a command (ms)

namespace tello
{

struct coordinates
{
  double x = 0;
  double y = 0;
  double z = 0;
};

struct TelloState
{
  double stamp = 0;  // Time stamp (s) since connection
  double pitch = 0;  // Pitch angle (rad)
  double roll = 0;  // Roll angle (rad)
  double yaw = 0;  // Yaw angle (rad)
  double vgx = 0;  // Velocity in x (m/s)
  double vgy = 0;  // Velocity in y (m/s)
  double vgz = 0;  // Velocity in z (m/s)
  double templ = 0;  // Lower temperature (°C)
  double temph = 0;  // Higher temperature (°C)
  double tof = 0;  // Time of flight (s)
  double h = 0;  // Height (m)
  double bat = 0;  // Battery (%)
  double baro = 0;  // Barometer (m)
  double time = 0;  // Time (s)
  double agx = 0;  // Linear acceleration in x (m/s²) TODO(RPS98): Check units
  double agy = 0;  // Linear acceleration in y (m/s²) TODO(RPS98): Check units
  double agz = 0;  // Linear acceleration in z (m/s²) TODO(RPS98): Check units
};


class TelloStateReceiver
{
public:
  TelloStateReceiver(
    const std::string & state_ip = "0.0.0.0",
    const int port_state = 8890);

  ~TelloStateReceiver();

  const TelloState & getTelloState();

  const std::string & getTelloStateString();

private:
  // UPD sockets
  std::unique_ptr<SocketUDP> udp_socket_state_;  // UDP socket to receive state

  // Tello state
  std::string tello_state_raw_;  // Raw state received from the tello drone
  TelloState tello_state_;  // State of the tello drone

  // Hash map to store the state of the tello drone
  std::unordered_map<std::string, double> state_{
    {"pitch", 0.0}, {"roll", 0.0}, {"yaw", 0.0}, {"vgx", 0.0}, {"vgy", 0.0}, {"vgz", 0.0},
    {"templ", 0.0}, {"temph", 0.0}, {"tof", 0.0}, {"h", 0.0}, {"bat", 0.0}, {"baro", 0.0},
    {"time", 0.0}, {"agx", 0.0}, {"agy", 0.0}, {"agz", 0.0}};

  // Connection time stamp
  std::chrono::time_point<std::chrono::system_clock> connection_time_;

private:
  bool parseState(const std::string & data);
};

class TelloCommandSender
{
public:
  TelloCommandSender(
    const std::string & tello_ip,
    const int port_command = 8890,
    const int port_command_client = 8890);

  ~TelloCommandSender();

  const std::string & getSDKVersion();

  bool getTime(std::string & response);

  bool entrySDKMode();

  bool setPort(
    const int port_state = 8890,
    const int port_camera = 11111);

  bool takeoff();

  bool land();

  bool emergency();

  bool positionMotionCommand(const double x, const double y, const double z, const double speed);

  bool speedMotionCommand(const double vx, const double vy, const double vz, const double yaw);

  bool yawMotion(double yaw);

  bool sendCameraCommand(
    const bool enable, const int timeout_milis = -1);

private:
  // UPD sockets
  std::unique_ptr<SocketUDP> udp_socket_command_;  // UDP socket to send commands

  // Tello info
  std::string tello_version_ = "";  // Tello version

  bool askSDKVersion(std::string & response);

  bool sendControlCommand(
    const std::string & command, const int timeout_milis = -1);

  bool sendReadCommands(
    const std::string & command, std::string & response,
    const int timeout_milis = -1);
};

class TelloCameraManager
{
public:
  TelloCameraManager(
    std::shared_ptr<TelloCommandSender> tello_command_sender,
    const std::string & stream_url = "udp://0.0.0.0:11111");

  ~TelloCameraManager();

  bool setVideoStream(
    const bool enable, const std::string & stream_url);

  const cv::Mat & getFrame();

private:
  // Tello command sender
  std::shared_ptr<TelloCommandSender> tello_command_sender_;  // Tello command sender

  // Camera
  bool camera_enabled_ = false;  // Camera enabled
  cv::VideoCapture video_stream_capture_;  // Video stream capture
  cv::Mat video_stream_frame_;  // Video stream frame
};

}  // namespace tello

#endif  // TELLO__TELLO_HPP_