class BaseDrone ():
""" BaseDrone class that is used to communicate to a crazyflie2.1 drone.
The BaseDrone class establishes a connection and gives a small set of functions to verify that the connection is set e.g. communicating with the led ring.
"""
################################################################################
# Initialization and cleanup code
################################################################################
def __init__(self, uri):
"""Initialize the connection to the Drone.
The uri is depending on the drone and has to be given at initialization.
"""
self.uri = uri
cflib.crtp.init_drivers(enable_debug_driver=False)
self.cf = Crazyflie(rw_cache='./cache')
self.scf = SyncCrazyflie (self.uri, cf=self.cf)
def __enter__(self):
"""Establishes the link to the drone and returns the BaseDroneObject"""
self.scf.open_link()
return self
def __exit__(self, exc_type, exc_val, exc_tb):
"""Closes the connection to the drone to secure a clean shutdown even in case of an exeption"""
self.close_link()
def close_link(self):
"""Closes the Link to the drone and removes possible callbacks"""
self.scf.cf.close_link()
self.scf._remove_callbacks()
self.scf._is_link_open = False
################################################################################
# Higher Functionality like setting the color of the LED's
# (get creative here)
################################################################################
def red_green_color(self, sequence):
"""Gets an array of values and displays a green or a red light on the led ring
if sequence[n] - startXPositionOfDrone < 0: red light
else: green light
"""
cf = self.scf.cf
self.setRingEffect(7)
for position in sequence:
x = position[0]
if x<0:
self.setRingColor(red=100)
else:
self.setRingColor(green=100)
time.sleep(1) # time for led to be shown
def setRingEffect(self, value):
"""Sets the ring.effect param of the cf to the specified value
If the value is not in range of the specified effects (see https://wiki.bitcraze.io/projects:crazyflie2:expansionboards:ledring), it will print an warning
"""
MAX_NUM_EFFECTS = 13
if value >= 0 and value < MAX_NUM_EFFECTS:
self.scf.cf.param.set_value('ring.effect',str(value))
else:
print("WARNING: Could not set ring.effect to value: {}. Use a value between 0 and {}. For further Information see https://wiki.bitcraze.io/projects:crazyflie2:expansionboards:ledring".format(value,MAX_NUM_EFFECTS))
def setRingColor(self, red = 0, green = 0, blue = 0):
"""Sets the color of the ring to a specific value.
Red, Green and Blue can be numbers between 0 and 100.
TODO: test if ring effect has to be set to 7 all the time.
"""
if red < 0 or red > 100 or green < 0 or green > 100 or blue < 0 or blue > 100:
return False
else:
self.scf.cf.param.set_value('ring.solidRed', str(red))
self.scf.cf.param.set_value('ring.solidGreen', str(green))
self.scf.cf.param.set_value('ring.solidBlue', str(blue))
return True
