def __init__(self, uri):
self._event = Event()
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
helper = LighthouseMemHelper(scf.cf)
helper.read_all_geos(self._geo_read_ready)
self._event.wait()
self._event.clear()
helper.read_all_calibs(self._calib_read_ready)
self._event.wait()
def __init__(self, uri, geo_dict, calib_dict):
self._event = Event()
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
helper = LighthouseMemHelper(scf.cf)
helper.write_geos(geo_dict, self._data_written)
self._event.wait()
self._event.clear()
helper.write_calibs(calib_dict, self._data_written)
self._event.wait()
def __init__(self, URI):
# Tool to process the data from drone's sensors
self.processing = Processing(URI)
self.id = URI[-2:]
cflib.crtp.init_drivers(enable_debug_driver=False)
self.scf = SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache'))
self.cf = self.scf.cf
# Connect callbacks from the Crazyflie API
self.cf.connected.add_callback(self.connected)
self.cf.disconnected.add_callback(self.disconnected)
# Connect to the Crazyflie
self.cf.open_link(URI)
def setUp(self):
self.uri = 'radio://0/60/2M'
self.cf_mock = MagicMock(spec=Crazyflie)
self.cf_mock.connected = Caller()
self.cf_mock.connection_failed = Caller()
self.cf_mock.disconnected = Caller()
self.cf_mock.open_link = AsyncCallbackCaller(
cb=self.cf_mock.connected,
args=[self.uri]).trigger
self.sut = SyncCrazyflie(self.uri, self.cf_mock)
def connect_reality(self, uris):
"""
Set amount of drones to actual drones in reality and set up simulated drones to work with real ones.
:param uris: URIs of the drones to connect to.
"""
# Update amount of drones to that of real drones
self.update_drone_amount(len(uris))
# For every drone, create SyncCrazyflie object and store it, then connect to the drone via it
for num, drone in enumerate(self.drones):
drone.crazyflie = SyncCrazyflie(uris[num],
cf=Crazyflie(rw_cache='./cache'))
drone.crazyflie.open_link()
def setUp(self):
self.uri = 'radio://0/60/2M'
self.cf_mock = MagicMock(spec=Crazyflie)
self.cf_mock.connected = Caller()
self.cf_mock.connection_failed = Caller()
self.cf_mock.disconnected = Caller()
self.cf_mock.open_link = AsyncCallbackCaller(
cb=self.cf_mock.connected,
args=[self.uri],
delay=0.2
).trigger
self.close_link_mock = AsyncCallbackCaller(
cb=self.cf_mock.disconnected,
args=[self.uri],
delay=0.2
)
self.cf_mock.close_link = self.close_link_mock.trigger
self.sut = SyncCrazyflie(self.uri, self.cf_mock)
def _hover_test(self):
print("sending initial thrust of 0")
self._cf.commander.send_setpoint(0,0,0,0);
time.sleep(0.5);
print("putting in althold")
self._cf.param.set_value("flightmode.althold","True")
print("Stay in althold for 7s")
lg_stab = LogConfig(name='Stabilizer', period_in_ms=10)
lg_stab.add_variable('stabilizer.roll','float')
lg_stab.add_variable('stabilizer.pitch','float')
lg_stab.add_variable('stabilizer.yaw','float')
cf = Crazyflie(rw_cache='./cache')
with SyncCrazyflie(available[0][0],cf=cf) as scf:
with SyncLogger(scf, lg_stab) as logger:
endTime = time.time()+10
it=0
self._cf.commander.send_setpoint(0.66,1,0,35000)
time.sleep(2)
#Bug here
#self._cf.param.set_value("flightmode.althold","True")
for log_entry in logger:
print('HI')
timestamp = log_entry[0]
data = log_entry[1]
logconf_name = log_entry[2]
print('[%d][%s]: %s' % (timestamp,logconf_name,data))
#while it<200:
#self._cf.commander.send_setpoint(roll, pitch, yawrate, thrust)
#self._cf.commander.send_setpoint(0.66,-1,0,32767)
self._cf.commander.send_setpoint(0.66,1,0,32767)
self._cf.param.set_value("flightmode.althold","True")
#self._cf.param.set_value("flightmode.poshold","False")
#time.sleep(0.01)
#it+=1
if time.time()>endTime:
print("Close connection")
self._cf.commander.send_setpoint(0,0,0,0)
self._cf.close_link()
break
def distance_measurement():
for uri in uris:
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
lpos = LogConfig(name='rxCNT', period_in_ms=500)
lpos.add_variable('rxCNT.rxcnt10')
lpos.add_variable('rxCNT.rxcnt20')
lpos.add_variable('rxCNT.rxcnt30')
lpos.add_variable('rxCNT.rxcnt40')
scf.cf.log.add_config(lpos)
lpos.data_received_cb.add_callback(pos_data)
lpos.start()
time.sleep(2)
lpos.stop()
df = pd.DataFrame(
dt, columns=['uri', 'rxcnt10', 'rxcnt20', 'rxcnt30', 'rxcnt40'])
df.to_csv('./rxcnt.csv', index=False)
dt.clear()
dt_mapper.clear()
for uri in uris:
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
lpos = LogConfig(name='rxCNT', period_in_ms=500)
lpos.add_variable('rangingCNT.rangingcnt10')
lpos.add_variable('rangingCNT.rangingcnt20')
lpos.add_variable('rangingCNT.rangingcnt30')
lpos.add_variable('rangingCNT.rangingcnt40')
scf.cf.log.add_config(lpos)
lpos.data_received_cb.add_callback(pos_data2)
lpos.start()
time.sleep(2)
lpos.stop()
df = pd.DataFrame(dt,
columns=[
'uri', 'rangingcnt10', 'rangingcnt20',
'rangingcnt30', 'rangingcnt40'
])
df.to_csv('./rangingcnt.csv', index=False)
print("done")
return
def __init__(self, distance):
"""
Inicialização dos drivers, parâmetros do controle PID e decolagem do drone.
"""
self.distance = distance
self.pid_foward = PID(distance, 0.01, 0.0001, 0.01, 500, -500, 0.7,
-0.7)
self.pid_yaw = PID(0, 0.33, 0.0, 0.33, 500, -500, 100, -100)
self.pid_angle = PID(0.0, 0.01, 0.0, 0.01, 500, -500, 0.3, -0.3)
self.pid_height = PID(0.0, 0.002, 0.0002, 0.002, 500, -500, 0.3, -0.2)
cflib.crtp.init_drivers(enable_debug_driver=False)
self.factory = CachedCfFactory(rw_cache='./cache')
self.URI4 = 'radio://0/40/2M/E7E7E7E7E4'
self.cf = Crazyflie(rw_cache='./cache')
self.sync = SyncCrazyflie(self.URI4, cf=self.cf)
self.sync.open_link()
self.mc = MotionCommander(self.sync)
self.cont = 0
self.notFoundCount = 0
self.calculator = DistanceCalculator()
self.cap = cv2.VideoCapture(1)
self.mc.take_off()
time.sleep(1)
def main():
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:
damn = curses.initscr()
damn.nodelay(1)
curses.noecho()
# We take off when the commander is created
print("\rStart motion commander:")
print("\r u/d - up/down")
print("\r l/r - left/right")
print("\r f/b - forward/back")
print("\r c/w - turn left/right 90 degrees")
print("\r i/I - circle left/right 360 degrees")
print("\r q - quit")
with MotionCommander(scf) as mc:
time.sleep(TIME_SEC)
while True:
c = damn.getch()
if c == ord('u'): # u - up
mc.up(Z_STEP)
elif c == ord('d'): # d - down
mc.down(Z_STEP)
elif c == ord('l'): # l - left
mc.left(X_STEP)
elif c == ord('r'): # r - right
mc.right(X_STEP)
elif c == ord('f'): # f - forward
mc.forward(X_STEP)
elif c == ord('b'): # b - backward
mc.back(X_STEP)
elif c == ord('w'): # clockwise
mc.turn_right(CW_STEP)
elif c == ord('c'): # counter clockwise
mc.turn_left(CW_STEP)
elif c == ord('i'):
mc.circle_left(0.3)
elif c == ord('I'):
mc.circle_right(0.3)
elif c == ord('q'): # q - quit
break
curses.echo()
curses.endwin()
def run_flight():
cflib.crtp.init_drivers(enable_debug_driver=False)
threads = []
for spec in SPEC:
scf = SyncCrazyflie(spec[0], cf=Crazyflie(rw_cache='./cache'))
scfs.append(scf)
t = Thread(target=run_drone, args=(scf, spec), daemon=True)
threads.append(t)
t.start()
for t in threads:
t.join()
def setUp(self):
self.uri = uri_helper.uri_from_env(
default='radio://0/80/2M/E7E7E7E7E7')
self.cf_mock = MagicMock(spec=Crazyflie)
self.cf_mock.connected = Caller()
self.cf_mock.connection_failed = Caller()
self.cf_mock.disconnected = Caller()
self.cf_mock.fully_connected = Caller()
self.cf_mock.open_link = AsyncCallbackCaller(cb=self.cf_mock.connected,
args=[self.uri],
delay=0.2).trigger
self.close_link_mock = AsyncCallbackCaller(
cb=self.cf_mock.disconnected, args=[self.uri], delay=0.2)
self.cf_mock.close_link = self.close_link_mock.trigger
# Register a callback to be called when connected. Use it to trigger a callback
# to trigger the call to the param.all_updated() callback
self.cf_mock.connected.add_callback(self._connected_callback)
self.sut = SyncCrazyflie(self.uri, cf=self.cf_mock)
def __init__(self, uri, threaded=False):
super().__init__(threaded)
# TODO: maybe add a parameter so people can change the default velocity
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
# the connection to the crazyflie
self._scf = SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache'))
# temp (or maybe will be permanent) state variable
self._is_open = False
self._running = False
self._send_rate = 5 # want to send messages at 5Hz NOTE: the minimum is 2 Hz
self._out_msg_queue = queue.Queue() # a queue for sending data between threads
self._write_handle = threading.Thread(target=self.command_loop)
self._write_handle.daemon = True
# since can only command velocities and not positions, the connection
# needs some awareness of the current position to be able to do
# the math necessary
self._current_position_xyz = [0.0, 0.0, 0.0] # [x, y, z]
def __init__(self, uri):
self.got_data = False
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
mems = scf.cf.mem.get_mems(MemoryElement.TYPE_LH)
count = len(mems)
if count != 1:
raise Exception('Unexpected nr of memories found:', count)
print('Rquesting data')
mems[0].update(self._data_updated)
while not self.got_data:
time.sleep(1)
def room_border():
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
start_position_printing(scf)
with PositionHlCommander(
scf,
x=0, y=0, z=0,
default_velocity=0.3,
default_height=0.2,
controller=PositionHlCommander.CONTROLLER_MELLINGER) as pc:
height = 1
pc.go_to(-1.3,-1.8,height)
pc.go_to(1.3,-1.8,height)
pc.go_to(1.3,1.8,height)
pc.go_to(-1.3,1.8,height)
pc.go_to(-1.3,-1.8,height)
def main():
try:
#logfile reset
myfile = open('SensorMaster.txt', 'w')
myfile.write
myfile.close()
cflib.crtp.init_drivers(enable_debug_driver=False)
scf = SyncCrazyflie(URI)
fc = FlightCtrl(scf)
m = Myo()
Thread(target=fc.gesture_ctrl, args=(fc, gesture)).start()
Thread(target=m.gesture_detection, args=(gesture, )).start()
prev_t = 0
while True:
t = int(time.time())
if scf.vbat is not None:
if t % 20 == 0 and t != prev_t: # print every 20 seconds
print "Battery voltage: %.2fV" % (scf.vbat, )
prev_t = t
if t % 5 == 0 and t != prev_t and scf.vbat > MIN_VBAT and scf.vbat < WARN_VBAT:
print "WARN: Battery voltage: %.2fV. Landing soon..." % (
scf.vbat, )
prev_t = t
if t % 5 == 0 and scf.vbat < MIN_VBAT:
print "Battery voltage %.2f too low; landing..." % (
scf.vbat)
fc.mc.land()
os.kill(os.getpid(), signal.SIGINT)
time.sleep(0.1)
except KeyboardInterrupt:
print('\nClosing link...')
scf.close_link()
print('Shutting down...')
os.kill(os.getpid(), signal.SIGINT)
except Exception, e:
print(str(e))
print('\nShutting down...')
scf.close_link()
sys.exit(0)
def main():
cflib.crtp.init_drivers(enable_debug_driver=False)
with SyncCrazyflie(URI) as scf:
with MotionCommander(scf) as mq90:
mq90.forward(0.5)
mq90.turn_right(144)
mq90.forward(0.5)
mq90.turn_right(144)
mq90.forward(0.5)
mq90.turn_right(144)
mq90.forward(0.5)
mq90.turn_right(144)
mq90.forward(0.5)
mq90.turn_right(144)
mq90.land()
def complex_flight():
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
with PositionHlCommander(
scf,
x=1.0,
y=1.0,
z=0.0,
default_velocity=0.3,
default_height=0.5,
controller=PositionHlCommander.CONTROLLER_MELLINGER) as pc:
pc.set_default_velocity(0.3)
pc.set_default_height(1.0)
#pc.go_to(1.0, 1.0)
pc.go_to(3.0, 1.0)
pc.go_to(2.0, 3.0)
pc.go_to(1.0, 1.0)
def initDrone(self, posAddressList):
print("Resetting and locating ", self.address)
scf = SyncCrazyflie(self.address, cf=Crazyflie(rw_cache='./cache'))
scf.open_link()
self.reset_estimator(scf)
self.start_position_printing(scf)
time.sleep(0.2)
self.pos
posAddressList.append([self.pos, self.address])
print("added", [self.pos, self.address])
scf.close_link()
def __init__(self, uri, bs1, bs2):
self.data_written = False
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
mems = scf.cf.mem.get_mems(MemoryElement.TYPE_LH)
count = len(mems)
if count != 1:
raise Exception('Unexpected nr of memories found:', count)
mems[0].geometry_data = [bs1, bs2]
print('Writing data')
mems[0].write_data(self._data_written)
while not self.data_written:
time.sleep(1)
def call(x, y, z, yawrate):
URI = 'radio://0/80/1M'
# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)
if __name__ == '__main__':
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:
cf = scf.cf
with MotionCommander(scf) as mc:
time.sleep(0)
mc._set_vel_setpoint(x, y, z, yawrate)
time.sleep(1)
mc.stop()
def __init__(self, uri):
self._event = Event()
self._cf = Crazyflie(rw_cache='./cache')
with SyncCrazyflie(uri, cf=self._cf) as scf:
mems = scf.cf.mem.get_mems(MemoryElement.TYPE_DECK_MEMORY)
count = len(mems)
if count != 1:
raise Exception('Unexpected nr of memories found:', count)
mem = mems[0]
mem.query_decks(self.query_complete_cb)
self._event.wait()
if len(mem.deck_memories.items()) == 0:
print('No memories to read')
for id, deck_mem in mem.deck_memories.items():
print('-----')
print('Deck id:', id)
print('Name:', deck_mem.name)
print('is_started:', deck_mem.is_started)
print('supports_read:', deck_mem.supports_read)
print('supports_write:', deck_mem.supports_write)
if deck_mem.supports_fw_upgrade:
print('This deck supports FW upgrades')
print(
f' The required FW is: hash={deck_mem.required_hash}, '
f'length={deck_mem.required_length}, name={deck_mem.name}'
)
print(' is_fw_upgrade_required:',
deck_mem.is_fw_upgrade_required)
if (deck_mem.is_bootloader_active):
print(' In bootloader mode, ready to be flashed')
else:
print(' In FW mode')
print('')
if deck_mem.supports_read:
print('Reading first 10 bytes of memory')
self._event.clear()
deck_mem.read(0, 10, self.read_complete, self.read_failed)
self._event.wait()
def main():
cflib.crtp.init_drivers(enable_debug_driver=False)
numVertex = int(
input("Quin número de vertex vols que tingui la estrella?"))
numRepeticions = int(input("Quants cops vols realitzar l'estrella?"))
llargadaArestes = float(
input("Longitud de les arestes (Entre 0.4m i 1 m)?"))
with SyncCrazyflie(URI) as scf:
with MotionCommander(scf) as mq90:
grausAresta = 180 - (180 / numVertex)
for repeticio in range(numRepeticions):
for vertex in range(numVertex):
mq90.forward(llargadaArestes)
mq90.turn_right(grausAresta)
mq90.land()
def run(self):
while True:
print("run")
#load crazyflie driver
cflib.crtp.init_drivers(enable_debug_driver=False)
#conenct crazyflie
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
print("connected")
cf = scf.cf
#activate position commander
self.activate_high_level_commander(cf)
self.reset_estimator(cf)
#Rückgabe der Position der Crazyflie
self.start_position_printing(scf)
#start statemachine
self.stateMachine = StateMachine(self.position)
#start queueHandler
self.queueHandler(cf)
def talker():
pub = rospy.Publisher('chatter', String, queue_size=10)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz
cflib.crtp.init_drivers(enable_debug_driver=False)
cf = Crazyflie(rw_cache='./cache')
while not rospy.is_shutdown():
with SyncCrazyflie(URI, cf=cf) as scf:
with MotionCommander(scf) as motion_commander:
with Multiranger(scf) as multiranger:
#reset_estimator(scf)
start_position_printing(scf)
keep_flying = True
while keep_flying:
print("tadaaaaa-----", x)
VELOCITY = 0.5
velocity_x = 0.0
velocity_y = 0.0
if is_close(multiranger.front):
velocity_x -= VELOCITY
if is_close(multiranger.back):
velocity_x += VELOCITY
if is_close(multiranger.left):
velocity_y -= VELOCITY
if is_close(multiranger.right):
velocity_y += VELOCITY
if is_close(multiranger.up):
keep_flying = False
hello_str = "hello world %s" % multiranger.front
rospy.loginfo(hello_str)
#pub.publish(hello_str)
motion_commander.start_linear_motion(
velocity_x, velocity_y, 0)
#print(data['kalman.stateX'])
time.sleep(0.1)
print('Demo terminated!')
rate.sleep()
def __init__(self, uri):
self.got_data = False
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
mems = scf.cf.mem.get_mems(MemoryElement.TYPE_LH)
count = len(mems)
if count != 1:
raise Exception('Unexpected nr of memories found:', count)
lh_mem = mems[0]
print('Requesting data')
print('-- Geo 0')
self.got_data = False
lh_mem.read_geo_data(0, self._geo_data_updated,
update_failed_cb=self._update_failed)
while not self.got_data:
time.sleep(1)
print('-- Geo 1')
self.got_data = False
lh_mem.read_geo_data(1, self._geo_data_updated,
update_failed_cb=self._update_failed)
while not self.got_data:
time.sleep(1)
print('-- Calibration 0')
self.got_data = False
lh_mem.read_calib_data(0, self._calib_data_updated,
update_failed_cb=self._update_failed)
while not self.got_data:
time.sleep(1)
print('-- Calibration 1')
self.got_data = False
lh_mem.read_calib_data(1, self._calib_data_updated,
update_failed_cb=self._update_failed)
while not self.got_data:
time.sleep(1)
def __init__(self, uri, geos, calibs):
self.data_written = False
self.result_received = False
with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
mems = scf.cf.mem.get_mems(MemoryElement.TYPE_LH)
count = len(mems)
if count != 1:
raise Exception('Unexpected nr of memories found:', count)
lh_mem = mems[0]
for bs, geo in geos.items():
self.data_written = False
print('Write geoetry', bs, 'to RAM')
lh_mem.write_geo_data(bs,
geo,
self._data_written,
write_failed_cb=self._data_failed)
while not self.data_written:
time.sleep(0.1)
for bs, calib in calibs.items():
self.data_written = False
print('Write calibration', bs, 'to RAM')
lh_mem.write_calib_data(bs,
calib,
self._data_written,
write_failed_cb=self._data_failed)
while not self.data_written:
time.sleep(0.1)
print('Persist data')
scf.cf.loc.receivedLocationPacket.add_callback(
self._data_persisted)
scf.cf.loc.send_lh_persist_data_packet(list(range(16)),
list(range(16)))
while not self.result_received:
time.sleep(0.1)
def main():
cflib.crtp.init_drivers(enable_debug_driver=False)
numVertices = int(
input("¿Qué número de vertices quieres que tenga la estrella?"))
numRepeticiones = int(
input("¿Cuántas veces quieres realizar la estrella?"))
distanciaAristas = float(
input("¿Longitud de las aristas (Entre 0.4m y 1 m)?"))
with SyncCrazyflie(URI) as scf:
with MotionCommander(scf) as mq90:
gradosArista = 180 - (180 / numVertices)
for repeticio in range(numRepeticiones):
for vertex in range(numVertices):
mq90.forward(distanciaAristas)
mq90.turn_right(gradosArista)
mq90.land()
def __init__(self, uriDrone, flightList):
if len(flightList) != 0:
#Setting up connection
with SyncCrazyflie(uriDrone,
cf=Crazyflie(rw_cache='./cache')) as scf:
cf = scf.cf
cf.param.set_value('kalman.resetEstimation', '1')
time.sleep(0.1)
cf.param.set_value('kalman.resetEstimation', '0')
time.sleep(2)
for flight in flightList:
if flight[0] != flightTypes[
0]: #If the user selected a flight type different than None
for repeat in range(int(flight[5])):
if flight[0] == flightTypes[1]:
cf.commander.send_setpoint(
float(flight[1]), float(flight[2]),
float(flight[3]), int(flight[4])) #Thrust
elif flight[0] == flightTypes[2]:
cf.commander.send_velocity_world_setpoint(
float(flight[1]), float(flight[2]),
float(flight[3]), float(flight[4]))
elif flight[0] == flightTypes[3]:
cf.commander.send_zdistance_setpoint(
float(flight[1]), float(flight[2]),
float(flight[3]), float(flight[4]))
cf.commander.send_hover_setpoint(
float(flight[1]), float(flight[2]),
float(flight[3]), float(flight[4]))
time.sleep(float(flight[6]) /
1000) #cast it to seconds
cf.commander.send_stop_setpoint()
def async_log_ranging(link_uri,
log_cfg_name='TSranging',
log_var={},
log_save_path="./default.csv",
period_in_ms=100,
keep_time_in_s=5):
cflib.crtp.init_drivers()
log_data = pd.DataFrame(columns=log_var.keys())
with SyncCrazyflie(link_uri=link_uri,
cf=Crazyflie(rw_cache="./cache")) as scf:
log_cfg = LogConfig(name=log_cfg_name, period_in_ms=period_in_ms)
scf.cf.log.add_config(log_cfg)
for log_var_name, log_var_type in log_var.items():
log_cfg.add_variable(log_cfg.name + '.' + log_var_name,
log_var_type)
log_cfg.data_received_cb.add_callback(async_log_cb)
log_cfg.start()
time.sleep(keep_time_in_s)
def fly_square(self, id):
""" Example of simple logico to make the drone fly in a square
trajectory at fixed speed"""
# Sync with drone
with SyncCrazyflie(id, cf=self._cf) as scf:
# Send position commands
with PositionHlCommander(scf) as pc:
pc.up(1.0)
# print('Moving up')
pc.forward(1.0)
# print('Moving forward')
pc.left(1.0)
# print('Moving left')
pc.back(1.0)
# print('Moving back')
pc.right(1.0)
# print('Moving right')
self._disconnected
class SyncCrazyflieTest(unittest.TestCase):
def setUp(self):
self.uri = 'radio://0/60/2M'
self.cf_mock = MagicMock(spec=Crazyflie)
self.cf_mock.connected = Caller()
self.cf_mock.connection_failed = Caller()
self.cf_mock.disconnected = Caller()
self.cf_mock.open_link = AsyncCallbackCaller(
cb=self.cf_mock.connected,
args=[self.uri]).trigger
self.sut = SyncCrazyflie(self.uri, self.cf_mock)
def test_different_underlying_cf_instances(self):
# Fixture
# Test
scf1 = SyncCrazyflie('uri 1')
scf2 = SyncCrazyflie('uri 2')
# Assert
actual1 = scf1.cf
actual2 = scf2.cf
self.assertNotEquals(actual1, actual2)
def test_open_link(self):
# Fixture
# Test
self.sut.open_link()
# Assert
self.assertTrue(self.sut.is_link_open())
def test_failed_open_link_raises_exception(self):
# Fixture
expected = 'Some error message'
self.cf_mock.open_link = AsyncCallbackCaller(
cb=self.cf_mock.connection_failed,
args=[self.uri, expected]).trigger
# Test
try:
self.sut.open_link()
except Exception as e:
actual = e.args[0]
else:
self.fail('Expect exception')
# Assert
self.assertEqual(expected, actual)
def test_open_link_of_already_open_link_raises_exception(self):
# Fixture
self.sut.open_link()
# Test
# Assert
with self.assertRaises(Exception):
self.sut.open_link()
def test_close_link(self):
# Fixture
self.sut.open_link()
# Test
self.sut.close_link()
# Assert
self.cf_mock.close_link.assert_called_once_with()
self.assertFalse(self.sut.is_link_open())
def test_close_link_that_is_not_open(self):
# Fixture
# Test
self.sut.close_link()
# Assert
self.assertFalse(self.sut.is_link_open())
def test_closed_if_connection_is_lost(self):
# Fixture
self.sut.open_link()
# Test
AsyncCallbackCaller(
cb=self.cf_mock.disconnected,
args=[self.uri]).call_and_wait()
# Assert
self.assertFalse(self.sut.is_link_open())
def test_open_close_with_context_mangement(self):
# Fixture
# Test
with SyncCrazyflie(self.uri, self.cf_mock) as sut:
self.assertTrue(sut.is_link_open())
# Assert
self.cf_mock.close_link.assert_called_once_with()
