#Coding4Fun – How to control your #drone ✈ with 20 lines of code! (24/N) #AzureIoT

Coding4Fun Drone 🚁 posts

Hi !

Final post, so let’s recap

We have a device template representing a drone, tracking accelerometer, battery and temperature values.

We have created a new device to twin our drone in Azure IoT Central. And, copy the connect information: ScopeId, DeviceId and Key.

Let’s use a “get data from drone demo” and publish this information to Azure IoT Central.

I’ll share the complete file below, however let’s take a look at the main app code.

The following code block iterates 300 times while is reading drone information.
In each iteration, it send to the drone devices the accelerometer values. These are drone telemetry capabilities.
Every 10 iterations, it also update other drone capabilities: battery and temperature. These are drone properties.

# MAIN APP
battery = 0
agx     = 0
agy     = 0
agz     = 0
temph   = 0
templ   = 0

i = 0
while i < 300:
    i = i + 1
    sendReadCommand('battery?')
    await drone.send_telemetry(agx, agy, agz)
    if (i % 10) == 0:
        await drone.send_properties(temph, templ, battery)
    time.sleep(1)

Once we run the app, Azure IoT Central dashboard will show the real-time information from the drone. If the drone is flying and reporting accelerometer values, the agx, agy, agz chart will display the values related to axis x, y and z.

Disclaimer: I declared the temperature unit as Celsius. You can quickly realize that the values are in Farenheight.

And as promised here is the full code for this demo.

	# Copyright (c) 2020
	# Author: Bruno Capuano
	#
	# Permission is hereby granted, free of charge, to any person obtaining a copy
	# of this software and associated documentation files (the "Software"), to deal
	# in the Software without restriction, including without limitation the rights
	# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
	# copies of the Software, and to permit persons to whom the Software is
	# furnished to do so, subject to the following conditions:
	#
	# The above copyright notice and this permission notice shall be included in
	# all copies or substantial portions of the Software.
	#
	# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
	# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
	# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
	# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
	# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
	# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
	# THE SOFTWARE.
	#

	# ———————————————–
	# 70 AZURE IOT HUB Sample
	# ———————————————–

	import socket
	import time
	import threading
	import iotc
	import provision_service
	import asyncio
	import json
	import datetime

	from drone_device import Drone_Device

	# ———————————————–
	# RECEIVE DATA FUNCTIONS
	# ———————————————–

	def receiveData():
	global response, clientSocket
	while True:
	try:
	response, _ = clientSocket.recvfrom(1024)
	except:
	break

	def readStates():
	global battery, agx, agy, agz, temph, templ
	global response, response_state, clientSocket, stateSocket, address

	while True:
	try:
	response_state, _ = stateSocket.recvfrom(256)
	if response_state != 'ok':
	response_state = response_state.decode('ASCII')
	list = response_state.replace(';', ':').split(':')
	battery = int(list[21])
	agx = float(list[27])
	agy = float(list[29])
	agz = float(list[31])
	temph = int(list[15])
	templ = int(list[13])
	# except:
	# break
	except Exception as e:
	print(f'exc: {e}')
	pass

	# ———————————————–
	# SEND COMMAND FUNCTIONS
	# ———————————————–

	def sendCommand(command):
	global response, clientSocket, address
	timestamp = int(time.time() * 1000)

	clientSocket.sendto(command.encode('utf-8'), address)

	while response is None:
	if (time.time() * 1000) – timestamp > 5 * 1000:
	return False

	return response


	def sendReadCommand(command):
	global response
	response = sendCommand(command)
	try:
	response = str(response)
	except:
	pass
	return response

	def sendControlCommand(command):
	global response, response_state, clientSocket, stateSocket, address
	response = None
	for i in range(0, 5):
	response = sendCommand(command)
	if response == 'OK' or response == 'ok':
	return True
	return False


	# ———————————————–
	# AZURE IOT CENTRAL
	# ———————————————–

	async def init_drone_AzureIoT():
	global drone

	iothub = ""
	scope = "Azure IoT Central Device Connect Scope ID goes here"
	device_id = "Azure IoT Central Device Connect Device ID goes here"
	key = "Azure IoT Central Device Connect KEY goes here"
	drone = Drone_Device(scope, device_id, key)
	await drone.init_azureIoT()

	# ———————————————–
	# 35 CAMERA
	# APP DISPLAY CAMERA WITH OPENCV and FPS
	# ———————————————–

	async def main():
	global battery, agx, agy, agz, temph, templ
	global response, response_state, clientSocket, stateSocket, address
	global drone

	await init_drone_AzureIoT()

	# CONNECTION TO THE DRONE

	# connection info
	UDP_IP = '192.168.10.1'
	UDP_PORT = 8889
	last_received_command = time.time()
	STATE_UDP_PORT = 8890

	address = (UDP_IP, UDP_PORT)
	response = None
	response_state = None

	clientSocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
	clientSocket.bind(('', UDP_PORT))
	stateSocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
	stateSocket.bind(('', STATE_UDP_PORT))

	# LISTENER THREADS

	# start threads
	recThread = threading.Thread(target=receiveData)
	recThread.daemon = True
	recThread.start()

	stateThread = threading.Thread(target=readStates)
	stateThread.daemon = True
	stateThread.start()

	# START DRONE CONNECTION

	# connect to drone
	response = sendControlCommand("command")
	print(f'command response: {response}')
	response = sendControlCommand("streamon")
	print(f'streamon response: {response}')

	# MAIN APP

	# drone information
	battery = 0
	agx = 0
	agy = 0
	agz = 0
	temph = 0
	templ = 0

	i = 0
	while i < 300:
	i = i + 1
	sendReadCommand('battery?')

	await drone.send_telemetry(agx, agy, agz)

	if (i % 10) == 0:
	await drone.send_properties(temph, templ, battery)

	time.sleep(1)

	if __name__ == "__main__":
	asyncio.run(main())

view raw DroneDeviceAzureIoTFullDemo.py hosted with ❤ by GitHub

In the next post we will connect everything together !

Happy coding!

Greetings

El Bruno

References

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Coding4Fun Drone 🚁 posts

References

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