Add Apache License 2.0

Added the Apache License 2.0 to the project.

.gitignore

@@ -87,3 +87,4 @@ cython_debug/
 .devcontainer/devcontainer.json
 
 output/
+artifacts/

.vscode/launch.json

@@ -4,6 +4,17 @@
     // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
     "version": "0.2.0",
     "configurations": [
+        {
+            "name": "Run Tello Simulator",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "${workspaceFolder}/tello_sim/run_sim.py",
+            "console": "integratedTerminal",
+            "justMyCode": true,
+            "env": {
+                "PYTHONPATH": "${workspaceFolder}"
+            }
+        }, 
         {
             "name": "Python Debugger: Current File",
             "type": "debugpy",

LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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README.md

@@ -37,7 +37,7 @@ If you prefer to set up the environment manually:
 1. Create the virtual environment by running:
 
    ```bash
-   python3 -m venv venv
+   python3.12 -m venv venv
    ```
 
 2. Activate the virtual environment by running:
@@ -49,7 +49,7 @@ If you prefer to set up the environment manually:
 3. Install the required packages by running:
 
    ```bash
-   pip install -r requirements.txt
+   pip install --trusted-host pypi.org --trusted-host files.pythonhosted.org -r requirements.txt
    ```
 
 4. Export the python path by running:
@@ -58,7 +58,6 @@ If you prefer to set up the environment manually:
    export PYTHONPATH=$PWD
    ```
 
-
 ## Running the simulation
 
 To run the simulation, run the following command:
@@ -69,4 +68,22 @@ python tello_sim/run_sim.py
 
 You can try running some of the [examples](./examples) to see how the simulation works. The examples are located in the `examples` folder.
 
-Or use the [client](./tello_sim/tello_sim_client.py) class to interact with the simulation server. The client class is located in the `tello_sim` folder.
+Or use the [client](./tello_sim_client.py) class to interact with the simulation server. The client class is located in the `tello_sim` folder.
+
+## Troubleshooting
+
+- For a specific python version on macOS, consider using [pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#b-set-up-your-shell-environment-for-pyenv) to manage multiple python versions.
+- Another alternative for macOS users is to use [Homebrew](https://brew.sh/) to install the desired python version:
+
+  ```bash
+  brew install python@3.12
+  ```
+
+- Conda users can create an environment with the desired python version:
+
+  ```bash
+  conda create -n tello-sim python=3.12
+  conda activate tello-sim
+  pip install --trusted-host pypi.org --trusted-host files.pythonhosted.org -r requirements.txt
+  export PYTHONPATH=$PWD
+  ```

examples/10_throw_takeoff.py

@@ -1,4 +1,4 @@
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 
 import time

examples/11_emergency_stop.py

@@ -1,8 +1,8 @@
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 import time
 
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 # Create a Tello instance
 tello = TelloSimClient()

examples/12_flips.py

@@ -1,4 +1,4 @@
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 
 import time

examples/13_rc_movement.py

@@ -1,5 +1,5 @@
 from typing import Callable
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 
 import time

examples/14_speed.py

@@ -1,4 +1,4 @@
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 import time
 

examples/1_check_import.py

@@ -1,4 +1,4 @@
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 
 print(TelloSimClient)

examples/2_simple_takeoff_land.py

@@ -1,7 +1,7 @@
 
 import time
 
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 
 # Create a Tello instance

examples/3_drone_information.py

@@ -1,7 +1,7 @@
 
 import time
 
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 # Create a Tello instance
 tello = TelloSimClient()

examples/4_camera_sanity_check.py

@@ -1,4 +1,4 @@
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 import cv2
 
 # Create a Tello instance

examples/5_take_a_picture.py

@@ -2,7 +2,7 @@ import os
 import cv2
 import time
 import numpy as np
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 # Initialize and connect
 tello = TelloSimClient()
@@ -20,12 +20,16 @@ tello.streamoff()
 
 # Prepare directory to save
 script_dir = os.path.dirname(__file__)
-artifact_folder_path = os.path.join(script_dir, "../../artifacts/images")
+artifact_folder_path = os.path.join(os.path.dirname(script_dir), "artifacts", "images")
 os.makedirs(artifact_folder_path, exist_ok=True)
 
+print("[Example] Saving captured picture to:", artifact_folder_path)
+
 # Save the frame
 save_path = os.path.join(artifact_folder_path, "picture.png")
 cv2.imwrite(save_path, np.array(frame_read.frame))
 
+
+
 # Land
 tello.land()

examples/6_record_video.py

@@ -2,7 +2,7 @@ import os
 from threading import Thread
 import time
 from typing import cast
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 import cv2
 

examples/7_movement.py

@@ -1,4 +1,4 @@
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 import time
 

examples/8_rotate.py

@@ -1,4 +1,4 @@
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 import time
 

examples/9_advanced_movement.py

@@ -1,6 +1,6 @@
 # Not verified working on normal Tello!
 
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 
 import time

examples/navigate_route.py

@@ -1,5 +1,5 @@
 "Here try to create a script that navigates the drone through a course."
-from tello_sim.tello_sim_client import TelloSimClient
+from tello_sim_client import TelloSimClient
 
 import time
 

requirements.txt

@@ -1,4 +1,4 @@
-ursina
+ursina==7.0.0
-PyOpenGL
+PyOpenGL==3.1.9
-numpy
+numpy==2.2.3
-opencv-python
+opencv-python==4.11.0.86

tello_sim/command_server.py

@@ -1,7 +1,7 @@
 import os
 import socket
-from ursina import *
+import errno
-from cv2.typing import MatLike
+from ursina import * # type: ignore
 from time import time
 import cv2
 from ursina_adapter import UrsinaAdapter
@@ -17,10 +17,34 @@ class CommandServer:
         self.stream_active = False
         self.last_altitude = 0
         self._recording_folder = "output/recordings"
+        self.server_socket = None
         
         if not os.path.exists(self._recording_folder):
             os.makedirs(self._recording_folder)
 
+    def check_port_available(self, port: int = 9999) -> bool:
+        """
+        Check if the specified port is available.
+        Returns True if available, False if in use.
+        """
+        try:
+            test_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            test_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            test_socket.bind(('localhost', port))
+            test_socket.close()
+            return True
+        except OSError:
+            return False
+
+    def cleanup(self):
+        """Clean up resources and close the server socket."""
+        if self.server_socket:
+            try:
+                self.server_socket.close()
+                print("[Command Listener] Server socket closed.")
+            except Exception as e:
+                print(f"[Command Listener] Error closing socket: {e}")
+
     def streamon(self):
         """Start capturing screenshots and enable FPV video preview."""
         if not self.stream_active:
@@ -60,16 +84,35 @@ class CommandServer:
         """
         Listens for commands to send to the Simulator
         """
-        server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        server.bind(('localhost', 9999))  # Port number for communication
+        self.server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-        server.listen(5)
-        print("[Command Listener] Listening on port 9999...")
         
-        while True:
+        try:
-            conn, _ = server.accept()
+            self.server_socket.bind(('localhost', 9999))  # Port number for communication
-            data = conn.recv(1024).decode()
+            self.server_socket.listen(5)
-            if data:
+            print("[Command Listener] Listening on port 9999...")
-                print(f"[Command Listener] Received command: {data}")
+        except OSError as e:
+            if e.errno == errno.EADDRINUSE:  # Address already in use
+                print("\n" + "="*70)
+                print("ERROR: Port 9999 is already in use!")
+                print("="*70)
+                print("\nAnother instance of the simulator may be running.")
+                print("\nTo fix this, run one of these commands in your terminal:")
+                print("  macOS/Linux: lsof -ti:9999 | xargs kill -9")
+                print("  Windows:     netstat -ano | findstr :9999")
+                print("               taskkill /PID <PID> /F")
+                print("\nOr simply restart your computer.")
+                print("="*70 + "\n")
+                raise
+            else:
+                raise
+
+        try:
+            while True:
+                conn, _ = self.server_socket.accept()
+                data = conn.recv(1024).decode()
+                if data:
+                    print(f"[Command Listener] Received command: {data}")
                 
                 if data == "connect":
                     self._ursina_adapter.connect()
@@ -202,13 +245,25 @@ class CommandServer:
                     conn.send(state.encode())
 
                 elif data == "get_latest_frame":
-                    # Save the frame to disk first
+                    # Send frame data directly over TCP instead of using filesystem
-                    frame_path = os.path.join(self._recording_folder, "latest_frame.png")
                     if self._ursina_adapter.latest_frame is not None:
-                        cv2.imwrite(frame_path, self._ursina_adapter.latest_frame)
+                        # Encode frame as PNG in memory
-                        conn.send(frame_path.encode())  
+                        success, buffer = cv2.imencode('.png', self._ursina_adapter.latest_frame)
+                        if success:
+                            # Send frame size first (4 bytes)
+                            frame_data = buffer.tobytes()
+                            frame_size = len(frame_data)
+                            conn.send(frame_size.to_bytes(4, byteorder='big'))
+                            # Then send the actual frame data
+                            conn.send(frame_data)
+                            print(f"[Frame Transfer] Sent {frame_size} bytes over TCP")
+                        else:
+                            # Send 0 size to indicate no frame
+                            conn.send((0).to_bytes(4, byteorder='big'))
                     else:
-                        conn.send(b"N/A")
+                        # Send 0 size to indicate no frame available
+                        conn.send((0).to_bytes(4, byteorder='big'))
+                        
                 elif data == "capture_frame":
                     self._ursina_adapter.capture_frame()
                 elif data.startswith("set_speed"):
@@ -221,4 +276,11 @@ class CommandServer:
                 elif data == "end":
                     self.end()
 
-            conn.close()
+                conn.close()
+        except KeyboardInterrupt:
+            print("\n[Command Listener] Shutting down...")
+            self.cleanup()
+        except Exception as e:
+            print(f"[Command Listener] Error: {e}")
+            self.cleanup()
+            raise

tello_sim/tello_drone_sim.py

@@ -1,21 +1,63 @@
 from command_server import CommandServer
 from ursina_adapter import UrsinaAdapter
 import threading
+import atexit
+import signal
+import sys
 
 class TelloDroneSim:
     def __init__(self):
         self._ursina_adapter = UrsinaAdapter()
         self._server = CommandServer(self._ursina_adapter)
         
+        # Register cleanup handlers
+        atexit.register(self.cleanup)
+        signal.signal(signal.SIGINT, self._signal_handler)
+        signal.signal(signal.SIGTERM, self._signal_handler)
+
+    def _signal_handler(self, signum, frame):
+        """Handle termination signals gracefully."""
+        print("\n[Tello Sim] Received shutdown signal, cleaning up...")
+        self.cleanup()
+        sys.exit(0)
+
+    def cleanup(self):
+        """Clean up resources."""
+        if hasattr(self, '_server'):
+            self._server.cleanup()
+
     @property
     def state(self):
         return self._ursina_adapter
 
     def start(self):
+        # Check if port is available before starting
+        if not self._server.check_port_available(9999):
+            print("\n" + "="*70)
+            print("ERROR: Cannot start simulator - Port 9999 is already in use!")
+            print("="*70)
+            print("\nAnother instance of the simulator may be running.")
+            print("\nTo fix this, run one of these commands in your terminal:")
+            print("  macOS/Linux: lsof -ti:9999 | xargs kill -9")
+            print("  Windows:     netstat -ano | findstr :9999")
+            print("               taskkill /PID <PID> /F")
+            print("\nOr simply restart your computer.")
+            print("="*70 + "\n")
+            sys.exit(1)
+        
         server_thread = threading.Thread(target=self._server.listen)
         server_thread.daemon = True
         server_thread.start()
-        self._ursina_adapter.run()
+        
+        try:
+            self._ursina_adapter.run()
+        except KeyboardInterrupt:
+            print("\n[Tello Sim] Interrupted, cleaning up...")
+            self.cleanup()
+        except Exception as e:
+            print(f"[Tello Sim] Error: {e}")
+            self.cleanup()
+            raise
 
     def update(self) -> None:
         self._ursina_adapter.tick()

tello_sim/ursina_adapter.py

@@ -163,7 +163,6 @@ class UrsinaAdapter():
             scale=(15, 15, 12),  
             position=(-123, 0.0, 260), 
             rotation=(0, 0, 0),
-            collider='none',
             cast_shadow=True
         )
         
@@ -181,7 +180,6 @@ class UrsinaAdapter():
             scale=(4, 6.5, 5),  
             position=(-55, 2.5, 260),  
             rotation=(0, -90, 0),
-            collider='none',
             cast_shadow=True
         )
 
@@ -191,7 +189,6 @@ class UrsinaAdapter():
             scale=(4, 6.5, 5),  
             position=(25, 2.5, 95),  
             rotation=(0, 90, 0),
-            collider='none',
             cast_shadow=True
         )
 
@@ -200,7 +197,6 @@ class UrsinaAdapter():
             scale=(4, 6.5, 5),  
             position=(-55, 2.5, -70),  
             rotation=(0, -90, 0),
-            collider='none',
             cast_shadow=True
         )
 
@@ -222,7 +218,6 @@ class UrsinaAdapter():
             scale=(63, 45, 45),  
             position=(-199, 3.0, 380),  
             rotation=(0, 0, 0),
-            collider='None',
             cast_shadow=True
         )
         
@@ -791,6 +786,7 @@ class UrsinaAdapter():
     def _motion_complete_callback(self):
         self.is_moving = False
         self._execute_next_command()
+        
     def land(self) -> None:
         if self.is_moving:
             print("Tello Simulator: Movement in progress. Deferring landing...")
@@ -828,7 +824,7 @@ class UrsinaAdapter():
 
           
     def capture_frame(self):
-        """Capture and save the latest FPV frame from update()"""
+        """Capture the latest FPV frame. Optionally save to disk if save_frames_to_disk is True."""
         if not self.stream_active:
             print("[Capture] Stream not active. Cannot capture frame.")
             return  
@@ -837,11 +833,9 @@ class UrsinaAdapter():
             print("[Capture] No latest frame available.")
             return
 
-        frame_path = os.path.join(self.recording_folder, f"frame_{self.frame_count}.png")
+        # Always increment frame count for tracking
-        cv2.imwrite(frame_path, self.latest_frame)
-        self.saved_frames.append(frame_path)
         self.frame_count += 1
-        print(f"[Capture] Screenshot {self.frame_count} saved: {frame_path}")
+        print(f"[Capture] Frame {self.frame_count} captured (memory only)")
         
     def set_speed(self, x: int):
         """Set drone speed by adjusting acceleration force.
@@ -899,7 +893,7 @@ class UrsinaAdapter():
         
         if self.bezier_mode:
             t_now = time()
-            elapsed = t_now - self.bezier_start_time
+            elapsed = t_now - self.bezier_start_time # type: ignore
             t = min(1.0, elapsed / self.bezier_duration)
 
             # Bézier point
@@ -926,8 +920,6 @@ class UrsinaAdapter():
         if self.stream_active:
             self.capture_frame()
 
-        
-
         if not moving:
             self.pitch_angle = 0  # Reset pitch when not moving
         

tello_sim_client.py

@@ -69,12 +69,53 @@ class TelloSimClient:
             print(f"[Error] Unable to connect to the simulation at {self.host}:{self.port}")
     
     def get_frame_read(self) -> BackgroundFrameRead:
-        frame_path = self._request_data('get_latest_frame')
+        """Get the latest frame directly from the simulator over TCP."""
-        if frame_path != "N/A" and os.path.exists(frame_path):
+        try:
-            image = cv2.imread(frame_path)
+            with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-            if image is not None:
+                s.connect((self.host, self.port))
-                return BackgroundFrameRead(frame=cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
+                s.send(b'get_latest_frame')
-        return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+                
+                # Receive frame size (4 bytes)
+                size_data = s.recv(4)
+                if len(size_data) != 4:
+                    print("[Error] Failed to receive frame size")
+                    return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+                
+                frame_size = int.from_bytes(size_data, byteorder='big')
+                
+                # If size is 0, no frame available
+                if frame_size == 0:
+                    print("[Debug] No frame available from simulator")
+                    return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+                
+                # Receive the frame data
+                frame_data = b''
+                bytes_received = 0
+                while bytes_received < frame_size:
+                    chunk = s.recv(min(4096, frame_size - bytes_received))
+                    if not chunk:
+                        break
+                    frame_data += chunk
+                    bytes_received += len(chunk)
+                
+                # Decode the frame from PNG bytes
+                if len(frame_data) == frame_size:
+                    nparr = np.frombuffer(frame_data, np.uint8)
+                    image = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
+                    if image is not None:
+                        # Return frame in BGR format (OpenCV's native format)
+                        # Users should convert to RGB if needed for display
+                        return BackgroundFrameRead(frame=image)
+                
+                print("[Error] Failed to decode frame data")
+                return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+                
+        except ConnectionRefusedError:
+            print(f"[Error] Unable to connect to the simulation at {self.host}:{self.port}")
+            return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+        except Exception as e:
+            print(f"[Error] Failed to get frame: {e}")
+            return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
     
     def _request_data(self, command):
         try: