# coding=utf-8

from flask import Flask, request, abort

from linebot import (

    LineBotApi, WebhookHandler

)

from linebot.exceptions import (

    InvalidSignatureError

)

from linebot.models import (

    MessageEvent, TextMessage, TextSendMessage,

)

import threading, socket, sys, time

#這邊的port是和Line伺服器溝通的port，可以修改成你要想run的port

myPort=8090

app = Flask(__name__)

#請修改以下的程式，加入自己Line的channelAccessToken以及channelSecret

line_bot_api = LineBotApi('這裡改成自己Line的channelAccessToken')

handler = WebhookHandler('這裡改成自己Line的channelSecret')

host = ''

port = 9000

locaddr = (host,port) 

# Create a UDP socket

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

#192.168.10.1是Tello的IP

tello_address = ('192.168.10.1', 8889)

sock.bind(locaddr)

myId=''

getId=False

def recv():

    count = 0

    while True: 

        try:

            data, server = sock.recvfrom(1518)

            data=data.decode(encoding="utf-8")

            data=data.replace('\r\n','')

            print(data)

            line_bot_api.push_message(myId, TextSendMessage(text=data))

        except Exception:

            print ('\nExit . . .\n')

            break

#recvThread create

recvThread = threading.Thread(target=recv)

recvThread.start()

@app.route("/", methods=['POST'])

def index():

    # get X-Line-Signature header value

    signature = request.headers['X-Line-Signature']

    # get request body as text

    body = request.get_data(as_text=True)

    app.logger.info("Request body: " + body)

    # handle webhook body

    try:

        handler.handle(body, signature)

    except InvalidSignatureError:

        abort(400)

    return 'OK'

#以下從Line伺服器收到Tello控制命令後，用sock.sendto()傳送命令給Tello

@handler.add(MessageEvent, message=TextMessage)

def handle_message(event):

    global myId

    global getId

    if not getId:

       myId=event.source.user_id

       getId=True

    if event.message.text=="end":

       sock.close()

    else:

       sock.sendto(event.message.text.encode(encoding="utf-8"), tello_address)

    #line_bot_api.reply_message(event.reply_token,TextSendMessage(text=event.message.text))

if __name__ == "__main__":

    app.run(host='0.0.0.0', port= myPort)

ngrok http 8090