def main():
if not start_only_voice_control:
uri = args['uri']
logging.basicConfig()
crtp.init_drivers(enable_debug_driver=False)
# the command queue for the crazyflie
crazyflieCommandQueue = Queue()
# set up the crazyflie
cf = crazyflie.Crazyflie(rw_cache='./cache')
control = ControllerThread(cf, crazyflieCommandQueue)
control.start()
# start the web interface to the crazyflie
server = Process(target=run_server,
args=("0.0.0.0", control_port, crazyflieCommandQueue))
server.start()
# start the path planning server
pathPlanner = Process(target=run_path_planner,
args=("0.0.0.0", planning_port,
crazyflieCommandQueue, room_config))
pathPlanner.start()
# connect to the crazyflie
if uri is None:
print('Scanning for Crazyflies...')
available = crtp.scan_interfaces()
if available:
print('Found Crazyflies:')
for i in available:
print('-', i[0])
uri = available[0][0]
else:
print('No Crazyflies found!')
sys.exit(1)
print('Connecting to', uri)
cf.open_link(uri)
handle_keyboard_input(control, server)
cf.close_link()
if start_voice_control or start_only_voice_control:
start_command_loop(f'{control_url}:{control_port}', voice_api)
def __init__(self, index, link_uri, window):
self._roll = 0.0
self._pitch = 0.0
self._yaw = 0.0
self._thrust = 0
self._pressure = 0
self._mag_x = 0
self._mag_y = 0
self._mag_z = 0
self._acc_x = 0.0
self._acc_y = 0.0
self._acc_z = 0.0
self._auto = False
self._index = index
self._link_uri = link_uri
self._window = window
self._cf = crazyflie.Crazyflie()
self._cf.connectSetupFinished.add_callback(self._onConnect)
logger.info('Opening link to ' + link_uri)
self._cf.open_link(link_uri)
elif ch == 'q':
if not control.enabled:
print('Uppercase Q quits the program')
control.disable()
elif ch == 'Q':
control.disable()
print('Bye!')
break
else:
print('Unhandled key', ch, 'was pressed')
if __name__ == "__main__":
logging.basicConfig()
crtp.init_drivers(enable_debug_driver=False)
cf = crazyflie.Crazyflie(rw_cache='./cache')
control = ControllerThread(cf)
control.start()
if URI is None:
print('Scanning for Crazyflies...')
available = crtp.scan_interfaces()
if available:
print('Found Crazyflies:')
for i in available:
print('-', i[0])
URI = available[0][0]
else:
print('No Crazyflies found!')
sys.exit(1)