implement emergency stop & better exception handling

commander/commands.py

@@ -42,6 +42,10 @@ class CommandHandler:
     def _end_session(self):
         response = requests.get(f"{self.COMMANDER_COMMANDS_URL}/end")
         print(response.json())
+    
+    def _emergency(self):
+        response = requests.get(f"{self.COMMANDER_COMMANDS_URL}/emergency")
+        print(response.json())
 
     def handle(self, cmd: dict):
         #print(f"commanding for: {cmd}")
@@ -59,5 +63,7 @@ class CommandHandler:
             self._takeoff()
         elif cmd["command"] == "land":
             self._land()
+        elif cmd["command"] == "emergency":
+            self._emergency()
         else:
             raise ValueError(f"Uknown command object: {cmd}")

commander/routes/route_command.py

@@ -45,14 +45,17 @@ def takeoff():
     try:
         tello.connect()
     except Exception as e:
-        return {"msg": "failed to connect"}
+        return {"msg": "command failed", "reason": "failed to connect"}
     
     if tello.is_flying:
         return {"msg": "already flying"}
 
-    tello.takeoff()
-    stats_collector.start_collecting()
-    
+    try:
+        tello.takeoff()
+        stats_collector.start_collecting()
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }
+
     if tello.is_flying:
         return {"msg": "ok"}
     else:
@@ -63,8 +66,11 @@ def land():
     if not tello.is_flying:
         return {"msg": "already on land"}
 
-    tello.land()
-    stats_collector.stop_collecting()
+    try:
+        tello.land()
+        stats_collector.stop_collecting()
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }
     
     if not tello.is_flying:
         return {"msg": "ok"}
@@ -76,10 +82,13 @@ def turn(direction: str, degree: int):
     if degree < 1 or degree > 360:
         return {"degree must be between 1 and 360"}
 
-    if direction == "right":
-        tello.rotate_clockwise(degree)
-    elif direction == "left":
-        tello.rotate_counter_clockwise(degree)
+    try:
+        if direction == "right":
+            tello.rotate_clockwise(degree)
+        elif direction == "left":
+            tello.rotate_counter_clockwise(degree)
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }
     
     return {"msg": "ok"}
 
@@ -93,14 +102,22 @@ def turn(direction: str, distance: int):
     try:
         tello.move(direction, distance)
     except Exception as e:
-        return {
-            "msg": "command failed", 
-            "reason": e
-            }
+        return { "msg": "command failed", "reason": e }
     
     return {"msg": "ok"}
 
+@router.get("/emergency")
+def emercengy_stop():
+    try:
+        tello.emergency()
+        return {"msg": "ok"}
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }
+
 @router.get("/end")
 def end_flight_session():
-    tello.end()
-    return {"msg": "ok"}
+    try:
+        tello.end()
+        return {"msg": "ok"}
+    except Exception as e:
+        return { "msg": "command failed", "reason": e }