def reset_to_firmware(self, target_id: int) -> bool:
""" Reset to firmware
The parameter target_id corresponds to the device to reset.
Return True if the reset has been done, False on timeout
"""
pk = CRTPPacket(0xFF, [target_id, 0xFF])
self.link.send_packet(pk)
timeout = 5 # seconds
ts = time.time()
while time.time() - ts < timeout:
answer = self.link.receive_packet(2)
if answer is None:
self.link.send_packet(pk)
continue
if answer.port == 15 and answer.channel == 3 and len(
answer.data) > 2:
if struct.unpack('<BB', pk.data[0:2]) != (target_id, 0xFF):
continue
pk = CRTPPacket(0xff, [target_id, 0xf0, 0x01])
self.link.send_packet(pk)
time.sleep(1)
return True
time.sleep(0.1)
return False
def reset_to_bootloader(self, target_id: int) -> bool:
pk = CRTPPacket(0xFF, [target_id, 0xFF])
self.link.send_packet(pk)
address = None
timeout = 5 # seconds
ts = time.time()
while time.time() - ts < timeout:
pk = self.link.receive_packet(2)
if pk is None:
continue
if pk.port == 15 and pk.channel == 3 and len(pk.data) > 3:
if struct.unpack('<BB', pk.data[0:2]) != (target_id, 0xFF):
continue
address = 'B1' + binascii.hexlify(
pk.data[2:6][::-1]).upper().decode('utf8')
pk = CRTPPacket(0xFF, [target_id, 0xF0, 0x00])
self.link.send_packet(pk)
time.sleep(0.5)
self.link.close()
self.link = cflib.crtp.get_link_driver(
f'radio://0/0/2M/{address}?safelink=0')
time.sleep(0.5)
return True
return False
def _send_to_commander_angle(self, cmd1, cmd2, cmd3, cmd4, roll, pitch,
yaw):
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.data = struct.pack('<BHHHHfff', CF_COMMAND_TYPE_ANGLE, cmd1, cmd2,
cmd3, cmd4, roll, pitch, yaw)
self._cf.send_packet(pk)
def _send_to_commander_rate(self, cmd1, cmd2, cmd3, cmd4, roll_rate,
pitch_rate, yaw_rate):
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.data = struct.pack('<BHHHHfff', CF_COMMAND_TYPE_RATE, cmd1, cmd2,
cmd3, cmd4, roll_rate, pitch_rate, yaw_rate)
self._cf.send_packet(pk)
def send_setpoint(self,
roll,
pitch,
yaw,
thrust,
hover=False,
set_hover=False,
hover_change=0.0):
#print "roll: ", roll, "; pitch: ", roll, "; yaw: ", yaw, "; thrust: ", thrust
"""
Send a new control setpoint for roll/pitch/yaw/thust to the copter
The arguments roll/pitch/yaw/thrust is the new setpoints that should
be sent to the copter. Hover = True enabled hover mode for as long as it is true
"""
if self._x_mode:
roll = 0.707 * (roll - pitch)
pitch = 0.707 * (roll + pitch)
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER
if set_hover or not hover:
hover_change = 0.0
pk.data = struct.pack('<fffH??f', roll, -pitch, yaw, thrust, hover,
set_hover, hover_change)
self._cf.send_packet(pk)
def start(self):
if (self.cf.link is not None):
if (self.blockCreated is False):
logger.debug("First time block is started, add block")
self.blockCreated = True
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_CREATE_BLOCK, self.blockId)
for v in self.logconf.getVariables():
if (v.isTocVariable() is False): # Memory location
logger.debug("Logging to raw memory %d, 0x%04X",
v.getStoredFetchAs(), v.getAddress())
pk.data += struct.pack('<B', v.getStoredFetchAs())
pk.data += struct.pack('<I', v.getAddress())
else: # Item in TOC
logger.debug("Adding %s with id=%d and type=0x%02X",
v.getName(),
self.cf.log.toc.get_element_id(
v.getName()), v.getStoredFetchAs())
pk.data += struct.pack('<B', v.getStoredFetchAs())
pk.data += struct.pack('<B', self.cf.log.toc.
get_element_id(v.getName()))
logger.debug("Adding log block id {}".format(self.blockId))
self.cf.send_packet(pk)
else:
logger.debug("Block already registered, starting logging"
" for %d", self.blockId)
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_START_LOGGING, self.blockId, self.period)
self.cf.send_packet(pk)
def write_flash(self, addr, page_buffer, target_page, page_count):
"""Initate flashing of data in the buffer to flash."""
#print "Write page", flashPage
#print "Writing page [%d] and [%d] forward" % (flashPage, nPage)
pk = None
retry_counter = 5
#print "Flasing to 0x{:X}".format(addr)
while ((not pk or pk.header != 0xFF or
struct.unpack("<BB", pk.data[0:2]) != (addr, 0x18))
and retry_counter >= 0):
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = struct.pack("<BBHHH", addr, 0x18, page_buffer,
target_page, page_count)
self.link.send_packet(pk)
pk = self.link.receive_packet(1)
retry_counter -= 1
if retry_counter < 0:
self.error_code = -1
return False
self.error_code = ord(pk.data[3])
return ord(pk.data[2]) == 1
def handleNotification(self, cHandle, data):
raw_packet = bytearray(data)
header = Control_Byte(raw_packet=raw_packet)
return_packet = None
if (header.start):
if header.length < 20:
self.tempByteArray.clear()
self.tempByteArray[0:header.length - 1] = raw_packet[1:]
return_packet = CRTPPacket(header=self.tempByteArray[0],
data=self.tempByteArray[1:])
self.in_queue.put(return_packet)
else:
self.tempByteArray[0:header.length - 1] = raw_packet[1:]
self.temp_pid = header.pid
self.temp_length = header.length
else:
if header.pid == self.temp_pid:
self.tempByteArray[19:header.length - 1] = raw_packet[1:]
return_packet = CRTPPacket(header=self.tempByteArray[0],
data=self.tempByteArray[1:])
self.in_queue.put(return_packet)
else:
self.temp_pid = -1
self.temp_length = 0
def read_flash(self, addr=0xFF, page=0x00):
"""Read back a flash page from the Crazyflie and return it"""
buff = bytearray()
page_size = self.targets[addr].page_size
for i in range(0, int(math.ceil(page_size / 25.0))):
pk = None
retry_counter = 5
while ((not pk or pk.header != 0xFF or
struct.unpack('<BB', pk.data[0:2]) != (addr, 0x1C)) and
retry_counter >= 0):
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = struct.pack('<BBHH', addr, 0x1C, page, (i * 25))
self.link.send_packet(pk)
pk = self.link.receive_packet(1)
retry_counter -= 1
if (retry_counter < 0):
return None
else:
buff += pk.data[6:]
# For some reason we get one byte extra here...
return buff[0:page_size]
def _request_protocol_version(self):
# Sending a sink request to detect if the connected Crazyflie
# supports protocol versioning
pk = CRTPPacket()
pk.set_header(CRTPPort.LINKCTRL, LINKSERVICE_SOURCE)
pk.data = (0, )
self._cf.send_packet(pk)
def reset_to_bootloader(self, target_id):
retry_counter = 5
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = (target_id, 0xFF)
self.link.send_packet(pk)
pk = self.link.receive_packet(1)
while ((not pk or pk.header != 0xFF
or struct.unpack("<BB", pk.data[0:2]) != (target_id, 0xFF))
and retry_counter >= 0):
pk = self.link.receive_packet(1)
retry_counter -= 1
if pk:
new_address = (0xb1, ) + struct.unpack("<BBBB", pk.data[2:6][::-1])
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = (target_id, 0xF0, 0x00)
self.link.send_packet(pk)
addr = int(struct.pack("B" * 5, *new_address).encode('hex'), 16)
time.sleep(0.2)
self.link.close()
time.sleep(0.2)
self.link = cflib.crtp.get_link_driver(
"radio://0/0/2M/{}".format(addr))
return True
else:
return False
def request_param_update(self, var_id):
"""Place a param update request on the queue"""
pk = CRTPPacket()
pk.set_header(CRTPPort.PARAM, READ_CHANNEL)
pk.data = struct.pack('<B', var_id)
logger.debug('Requesting request to update param [%d]', var_id)
self.request_queue.put(pk)
def send_setpoint(self, roll, pitch, yaw, thrust, hover=False, set_hover=False, hover_change = 0.0):
#print "roll: ", roll, "; pitch: ", roll, "; yaw: ", yaw, "; thrust: ", thrust
"""
Send a new control setpoint for roll/pitch/yaw/thust to the copter
The arguments roll/pitch/yaw/thrust is the new setpoints that should
be sent to the copter. Hover = True enabled hover mode for as long as it is true
"""
if self._x_mode:
roll = 0.707*(roll-pitch)
pitch = 0.707*(roll+pitch)
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER
if set_hover or not hover:
hover_change = 0.0
pk.data = struct.pack('<fffH??f', roll, -pitch, yaw, thrust, hover, set_hover, hover_change)
self._cf.send_packet(pk)
def read_flash(self, addr=0xFF, page=0x00):
"""Read back a flash page from the Crazyflie and return it"""
buff = bytearray()
page_size = self.targets[addr].page_size
for i in range(0, int(math.ceil(page_size / 25.0))):
pk = None
retry_counter = 5
while ((not pk or pk.header != 0xFF
or struct.unpack('<BB', pk.data[0:2]) != (addr, 0x1C))
and retry_counter >= 0):
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = struct.pack('<BBHH', addr, 0x1C, page, (i * 25))
self.link.send_packet(pk)
pk = self.link.receive_packet(1)
retry_counter -= 1
if (retry_counter < 0):
return None
else:
buff += pk.data[6:]
# For some reason we get one byte extra here...
return buff[0:page_size]
def _write_new_chunk(self):
"""
Called to request a new chunk of data to be read from the Crazyflie
"""
# Figure out the length of the next request
new_len = len(self._data)
if new_len > _WriteRequest.MAX_DATA_LENGTH:
new_len = _WriteRequest.MAX_DATA_LENGTH
logger.info('Writing new chunk of {}bytes at 0x{:X}'.format(
new_len, self._current_addr))
data = self._data[:new_len]
self._data = self._data[new_len:]
pk = CRTPPacket()
pk.set_header(CRTPPort.MEM, CHAN_WRITE)
pk.data = struct.pack('<BI', self.mem.id, self._current_addr)
# Create a tuple used for matching the reply using id and address
reply = struct.unpack('<BBBBB', pk.data)
self._sent_reply = reply
# Add the data
pk.data += struct.pack('B' * len(data), *data)
self._sent_packet = pk
self.cf.send_packet(pk, expected_reply=reply, timeout=1)
self._addr_add = len(data)
def _write_new_chunk(self):
"""
Called to request a new chunk of data to be read from the Crazyflie
"""
# Figure out the length of the next request
new_len = len(self._data)
if new_len > _WriteRequest.MAX_DATA_LENGTH:
new_len = _WriteRequest.MAX_DATA_LENGTH
logger.info('Writing new chunk of {}bytes at 0x{:X}'.format(
new_len, self._current_addr))
data = self._data[:new_len]
self._data = self._data[new_len:]
pk = CRTPPacket()
pk.set_header(CRTPPort.MEM, CHAN_WRITE)
pk.data = struct.pack('<BI', self.mem.id, self._current_addr)
# Create a tuple used for matching the reply using id and address
reply = struct.unpack('<BBBBB', pk.data)
self._sent_reply = reply
# Add the data
pk.data += struct.pack('B' * len(data), *data)
self._sent_packet = pk
self.cf.send_packet(pk, expected_reply=reply, timeout=1)
self._addr_add = len(data)
def _update_info(self):
""" Call the command getInfo and fill up the information received in
the fields of the object
"""
#Call getInfo ...
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = (0xFF, 0x10)
self.link.send_packet(pk)
#Wait for the answer
pk = self.link.receive_packet(2)
if (pk and pk.header == 0xFF and
struct.unpack("<BB", pk.data[0:2]) == (0xFF, 0x10)):
tab = struct.unpack("BBHHHH", pk.data[0:10])
cpuid = struct.unpack("B" * 12, pk.data[10:22])
if len(pk.data) > 22:
self.protocol_version = pk.data[22]
self.page_size = tab[2]
self.buffer_pages = tab[3]
self.flash_pages = tab[4]
self.start_page = tab[5]
self.cpuid = "%02X" % cpuid[0]
for i in cpuid[1:]:
self.cpuid += ":%02X" % i
return True
return False
def reset_to_firmware(self, target_id):
""" Reset to firmware
The parameter cpuid shall correspond to the device to reset.
Return true if the reset has been done
"""
fake_cpu_id = (1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12)
#Send the reset to bootloader request
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = (target_id, 0xFF) + fake_cpu_id
self.link.send_packet(pk)
#Wait to ack the reset ...
pk = None
while True:
pk = self.link.receive_packet(2)
if not pk:
return False
if (pk.header == 0xFF and
struct.unpack("B" * len(pk.data),
pk.data)[:2] == (target_id, 0xFF)):
pk.data = (target_id, 0xF0, 0x01)
self.link.send_packet(pk)
break
time.sleep(0.1)
def set_value(self, complete_name, value):
"""
Set the value for the supplied parameter.
"""
element = self.toc.get_element_by_complete_name(complete_name)
if not element:
logger.warning("Cannot set value for [%s], it's not in the TOC!",
complete_name)
raise KeyError('{} not in param TOC'.format(complete_name))
elif element.access == ParamTocElement.RO_ACCESS:
logger.debug('[%s] is read only, no trying to set value',
complete_name)
raise AttributeError('{} is read-only!'.format(complete_name))
else:
varid = element.ident
pk = CRTPPacket()
pk.set_header(CRTPPort.PARAM, WRITE_CHANNEL)
if self._useV2:
pk.data = struct.pack('<H', varid)
else:
pk.data = struct.pack('<B', varid)
try:
value_nr = eval(value)
except TypeError:
value_nr = value
pk.data += struct.pack(element.pytype, value_nr)
self.param_updater.request_param_setvalue(pk)
def persistent_store(self, complete_name, callback=None):
"""
Store the current value of the specified persistent parameter to
eeprom. The supplied callback will be called with `True` as an
argument on success, and with `False` as an argument on failure.
@param complete_name The 'group.name' name of the parameter to store
@param callback Optional callback should take `complete_name` and boolean status as arguments
"""
element = self.toc.get_element_by_complete_name(complete_name)
if not element.is_persistent():
raise AttributeError(f"Param '{complete_name}' is not persistent")
def new_packet_cb(pk):
if pk.channel == MISC_CHANNEL and pk.data[
0] == MISC_PERSISTENT_STORE:
callback(complete_name, pk.data[3] == 0)
self.cf.remove_port_callback(CRTPPort.PARAM, new_packet_cb)
if callback is not None:
self.cf.add_port_callback(CRTPPort.PARAM, new_packet_cb)
pk = CRTPPacket()
pk.set_header(CRTPPort.PARAM, MISC_CHANNEL)
pk.data = struct.pack('<BH', MISC_PERSISTENT_STORE, element.ident)
self.param_updater.send_param_misc(pk)
def get_default_value(self, complete_name, callback):
"""
Get the default value of the specified parameter.
The supplied callback will be called with the name of the parameter
as well as the default value. None if there is an error.
@param complete_name The 'group.name' name of the parameter to store
@param callback The callback should take `complete_name` and default value as argument
"""
element = self.toc.get_element_by_complete_name(complete_name)
def new_packet_cb(pk):
if pk.channel == MISC_CHANNEL and pk.data[
0] == MISC_GET_DEFAULT_VALUE:
if pk.data[3] == errno.ENOENT:
callback(complete_name, None)
self.cf.remove_port_callback(CRTPPort.PARAM, new_packet_cb)
return
default_value, = struct.unpack(element.pytype, pk.data[3:])
callback(complete_name, default_value)
self.cf.remove_port_callback(CRTPPort.PARAM, new_packet_cb)
self.cf.add_port_callback(CRTPPort.PARAM, new_packet_cb)
pk = CRTPPacket()
pk.set_header(CRTPPort.PARAM, MISC_CHANNEL)
pk.data = struct.pack('<BH', MISC_GET_DEFAULT_VALUE, element.ident)
self.param_updater.send_param_misc(pk)
def _ramp_motors(self):
thrust_mult = 1
thrust_step = 100
thrust_base = 3000
thrust = thrust_base
pitch = 0
roll = 0
yawrate = 0
# Unlock startup thrust protection
pk = CRTPPacket()
pk.set_header(0xF, 2) # unlock drone
pk.data = '0'
self._cf.send_packet(pk)
while thrust >= thrust_base:
self._cf.commander.send_setpoint(roll, pitch, yawrate, thrust)
time.sleep(0.1)
if thrust >= thrust_base + 1000:
thrust_mult = -1
thrust += thrust_step * thrust_mult
# Make sure that the last packet leaves before the link is closed
# since the message queue is not flushed before closing
self._cf.commander.send_setpoint(0, 0, 0, 0)
time.sleep(0.2)
self._cf.close_link()
def request_param_update(self, var_id):
"""Place a param update request on the queue"""
pk = CRTPPacket()
pk.set_header(CRTPPort.PARAM, READ_CHANNEL)
pk.data = struct.pack('<B', var_id)
logger.debug('Requesting request to update param [%d]', var_id)
self.request_queue.put(pk)
def upload_buffer(self, page, address, buff):
"""Upload data into a buffer on the Crazyflie"""
#print len(buff)
count = 0
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = struct.pack("=BBHH", 0xFF, 0x14, page, address)
for i in range(0, len(buff)):
#print "[0x%02X]" % ord(buff[i]),
pk.data += buff[i]
count += 1
if count > 24:
self.link.send_packet(pk)
count = 0
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = struct.pack("=BBHH", 0xFF, 0x14, page,
i + address + 1)
#sys.stdout.write("+")
#sys.stdout.flush()
self.link.send_packet(pk)
def start(self):
"""Start the logging for this entry"""
if (self.cf.link is not None):
if (self._added is False):
logger.debug("First time block is started, add block")
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_CREATE_BLOCK, self.id)
for var in self.variables:
if (var.is_toc_variable() is False): # Memory location
logger.debug("Logging to raw memory %d, 0x%04X",
var.get_storage_and_fetch_byte(), var.address)
pk.data += struct.pack('<B', var.get_storage_and_fetch_byte())
pk.data += struct.pack('<I', var.address)
else: # Item in TOC
logger.debug("Adding %s with id=%d and type=0x%02X",
var.name,
self.cf.log._toc.get_element_id(
var.name), var.get_storage_and_fetch_byte())
pk.data += struct.pack('<B', var.get_storage_and_fetch_byte())
pk.data += struct.pack('<B', self.cf.log._toc.
get_element_id(var.name))
logger.debug("Adding log block id {}".format(self.id))
self.cf.send_packet(pk, expected_reply=(CMD_CREATE_BLOCK, self.id))
else:
logger.debug("Block already registered, starting logging"
" for id=%d", self.id)
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_START_LOGGING, self.id, self.period)
self.cf.send_packet(pk, expected_reply=(CMD_START_LOGGING, self.id))
def _request_toc_element(self, index):
"""Request information about a specific item in the TOC"""
logger.debug("Requesting index %d on port %d", index, self.port)
pk = CRTPPacket()
pk.set_header(self.port, TOC_CHANNEL)
pk.data = (CMD_TOC_ELEMENT, index)
self.cf.send_packet(pk, expect_answer=True)
def _update_info(self):
""" Call the command getInfo and fill up the information received in
the fields of the object
"""
#Call getInfo ...
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = (0xFF, 0x10)
self.link.send_packet(pk)
#Wait for the answer
pk = self.link.receive_packet(2)
if (pk and pk.header == 0xFF and
struct.unpack("<BB", pk.data[0:2]) == (0xFF, 0x10)):
tab = struct.unpack("BBHHHH", pk.data[0:10])
cpuid = struct.unpack("B"*12, pk.data[10:22])
if len(pk.data)>22:
self.protocol_version = pk.data[22]
self.page_size = tab[2]
self.buffer_pages = tab[3]
self.flash_pages = tab[4]
self.start_page = tab[5]
self.cpuid = "%02X" % cpuid[0]
for i in cpuid[1:]:
self.cpuid += ":%02X" % i
return True
return False
def send_setpoint(self, roll, pitch, yaw, thrust):
"""
Send a new control setpoint for roll/pitch/yaw/thust to the copter
The arguments roll/pitch/yaw/trust is the new setpoints that should
be sent to the copter
"""
if self.pointerYaw is not None: #elif = else if
# roll = x, pitch = y, yaw = A, A >= 0
# x' = x*cos(A) - y*sin(A)
# y' = x*sin(A) + y*cos(A)
# A < 0
# x' = x*cos(A) + y*sin(A)
# y' = -x*sin(A) + y*cos(A)
currentYaw = self.pointerYaw
self._yaw = math.radians(currentYaw)
cosy = math.cos(self._yaw)
siny = math.sin(self._yaw)
#print "Roll: %3.3f -- Pitch: %3.3f -- Yaw: %3.3f" % (self._actualPoint["stabilizer.roll"], self._actualPoint["stabilizer.pitch"], currentYaw)
#print "Degree Yaw: %3.3f -- Radians Yaw: %3.3f" % (currentYaw, self._yaw)
roll1 = roll
#if self._yaw >= 0:
# roll = roll*cosy - pitch*siny
# pitch = roll1*siny + pitch*cosy
#else:
roll = roll * cosy + pitch * siny
pitch = pitch * cosy - roll1 * siny
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER
pk.data = struct.pack('<fffH', roll, -pitch, yaw, thrust)
self._cf.send_packet(pk)
def _request_toc_element(self, index):
"""Request information about a specific item in the TOC"""
logger.debug("Requesting index %d on port %d", index, self.port)
pk = CRTPPacket()
pk.set_header(self.port, TOC_CHANNEL)
pk.data = (CMD_TOC_ELEMENT, index)
self.cf.send_packet(pk, expect_answer=True)
def _request_param_update(self, varid):
"""Send a request to the Crazyflie for an update of a param value"""
logger.debug("Requesting update for varid %d", varid)
pk = CRTPPacket()
pk.set_header(CRTPPort.PARAM, READ_CHANNEL)
pk.data = struct.pack('<B', varid)
self.cf.send_packet(pk, expect_answer=True)
def create(self):
"""Save the log configuration in the Crazyflie"""
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
if self.useV2:
pk.data = (CMD_CREATE_BLOCK_V2, self.id)
else:
pk.data = (CMD_CREATE_BLOCK, self.id)
for var in self.variables:
if (var.is_toc_variable() is False): # Memory location
logger.debug('Logging to raw memory %d, 0x%04X',
var.get_storage_and_fetch_byte(), var.address)
pk.data.append(struct.pack('<B',
var.get_storage_and_fetch_byte()))
pk.data.append(struct.pack('<I', var.address))
else: # Item in TOC
logger.debug('Adding %s with id=%d and type=0x%02X',
var.name,
self.cf.log.toc.get_element_id(
var.name), var.get_storage_and_fetch_byte())
pk.data.append(var.get_storage_and_fetch_byte())
if self.useV2:
ident = self.cf.log.toc.get_element_id(var.name)
pk.data.append(ident & 0x0ff)
pk.data.append((ident >> 8) & 0x0ff)
else:
pk.data.append(self.cf.log.toc.get_element_id(var.name))
logger.debug('Adding log block id {}'.format(self.id))
if self.useV2:
self.cf.send_packet(pk, expected_reply=(
CMD_CREATE_BLOCK_V2, self.id))
else:
self.cf.send_packet(pk, expected_reply=(CMD_CREATE_BLOCK, self.id))
def write_flash(self, addr, page_buffer, target_page, page_count):
"""Initate flashing of data in the buffer to flash."""
#print "Write page", flashPage
#print "Writing page [%d] and [%d] forward" % (flashPage, nPage)
pk = None
retry_counter = 5
#print "Flasing to 0x{:X}".format(addr)
while ((not pk or pk.header != 0xFF
or struct.unpack("<BB", pk.data[0:2]) != (addr, 0x18))
and retry_counter >= 0):
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = struct.pack("<BBHHH", addr, 0x18, page_buffer,
target_page, page_count)
self.link.send_packet(pk)
pk = self.link.receive_packet(1)
retry_counter -= 1
if retry_counter < 0:
self.error_code = -1
return False
self.error_code = ord(pk.data[3])
return ord(pk.data[2]) == 1
def send_synchronisation(self):
if self.cf.state == State.CONNECTED:
pk = CRTPPacket()
pk.port = CRTPPort.SYNC
t = rospy.Time.now().to_nsec()
pk.data = struct.pack('<Q',t) # timestamp in m
self.cf.send_packet(pk)
def _request_protocol_version(self):
# Sending a sink request to detect if the connected Crazyflie
# supports protocol versioning
pk = CRTPPacket()
pk.set_header(CRTPPort.LINKCTRL, LINKSERVICE_SOURCE)
pk.data = (0,)
self._cf.send_packet(pk)
def _new_packet_cb(self, packet):
"""Callback for newly arrived packets with TOC information"""
chan = packet.channel
cmd = packet.datal[0]
payload = struct.pack("B" * (len(packet.datal) - 1), *packet.datal[1:])
if (chan == CHAN_SETTINGS):
block_id = ord(payload[0])
error_status = ord(payload[1])
block = self._find_block(block_id)
if (cmd == CMD_CREATE_BLOCK):
if (block is not None):
if (error_status == 0): # No error
logger.debug("Have successfully added block_id=%d",
block_id)
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_START_LOGGING, block_id,
block.period)
self.cf.send_packet(pk)
block.added = True
else:
msg = self._err_codes[error_status]
logger.warning("Error %d when adding block_id=%d (%s)"
, error_status, block_id, msg)
block.err_no = error_status
block.added_cb.call(False)
block.error.call(block.logconf, msg)
else:
logger.warning("No LogEntry to assign block to !!!")
if (cmd == CMD_START_LOGGING):
if (error_status == 0x00):
logger.info("Have successfully logging for block=%d",
block_id)
if block:
block.started = True
else:
msg = self._err_codes[error_status]
logger.warning("Error %d when starting block_id=%d (%s)"
, error_status, new_block_id, msg)
if block:
block.err_no = error_status
block.started_cb.call(False)
block.error.call(block.logconf, msg)
if (chan == CHAN_LOGDATA):
chan = packet.channel
block_id = packet.datal[0]
block = self._find_block(block_id)
timestamps = struct.unpack("<BBB", packet.data[1:4])
timestamp = (timestamps[0] | timestamps[1] << 8 | timestamps[2] << 16)
logdata = packet.data[4:]
if (block is not None):
block.unpack_log_data(logdata, timestamp)
else:
logger.warning("Error no LogEntry to handle block=%d", block_id)
def send_bypass_setpoint(self, m1, m2, m3, m4):
"""
Control mode where the motor setpoints are sent directly (in form uint16)
"""
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.data = struct.pack('<Bffff', TYPE_BYPASS, m1, m2, m3, m4)
self._cf.send_packet(pk)
def _connected(self, link_uri):
print('Connected to %s' % link_uri)
pk = CRTPPacket()
pk.port = CRTPPort.LOCALIZATION
pk.channel = self.POSITION_CH
pk.data = struct.pack('<fff', 3.1, 3.2, 3.3)
self._cf.send_packet(pk)
def request_extended_types(self, elements):
self._count = len(elements)
for element in elements:
pk = CRTPPacket()
pk.set_header(CRTPPort.PARAM, MISC_CHANNEL)
pk.data = struct.pack('<BH', MISC_GET_EXTENDED_TYPE, element.ident)
self.request_queue.put(pk)
def send_stop_setpoint(self):
"""
Send STOP setpoing, stopping the motors and (potentially) falling.
"""
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.data = struct.pack('<B', TYPE_STOP)
self._cf.send_packet(pk)
def send_stop_setpoint(self):
"""
Send STOP setpoing, stopping the motors and (potentially) falling.
"""
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.data = struct.pack('<B', TYPE_STOP)
self._cf.send_packet(pk)
def _serial_listener(self):
while self.is_connected:
data = self._serial.read(size=29)
if (data):
pk = CRTPPacket()
pk.port = CRTP_PORT_MICROROS
pk.data = data
self.link.send_packet(pk)
def assist_now(self):
"""Callback from assistnow button"""
# print "Hello World"
if (self.helper.cf.link != None):
pk = CRTPPacket()
pk.port = CRTPPort.ABLOCK
pk.data = "<S>\n"
self.helper.cf.send_packet(pk)
def send_keep_alive(self):
"""
Keep the drone with previous control command which is saved in the microcontroller
"""
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.channel = self.KEEP_ALIVE_CH
self._cf.send_packet(pk)
def send_height(self, vx, vy, yaw, height):
if height > 2.0 or height < 0.0:
raise ValueError('Height must be between 0.0 and 2.0m')
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_POSHOLD
pk.channel = 1
pk.data = struct.pack('<Bffff', TYPE_POSHOLD, vx, vy, yaw, height)
self._cf.send_packet(pk)
def set_continous_wave(self, enabled):
"""
Enable/disable the client side X-mode. When enabled this recalculates
the setpoints before sending them to the Crazyflie.
"""
pk = CRTPPacket()
pk.set_header(CRTPPort.PLATFORM, PLATFORM_COMMAND)
pk.data = (0, enabled)
self._cf.send_packet(pk)
def set_continous_wave(self, enabled):
"""
Enable/disable the client side X-mode. When enabled this recalculates
the setpoints before sending them to the Crazyflie.
"""
pk = CRTPPacket()
pk.set_header(CRTPPort.PLATFORM, 0)
pk.data = (0, enabled)
self._cf.send_packet(pk)
def send_shoot(self, notused):
if notused == 0:
return
sock.sendto(struct.pack("<LBB", 1, 2, 1), (SOUND_IP, SOUND_PORT))
print("Sending Shoot!")
pk = CRTPPacket()
pk.port = CRTPPort.SHOOT
pk.data = struct.pack('<fffH', 1, 2, 3, 4) #"test"#struct.pack()
self._cf.send_packet(pk)
def refresh_toc(self, refreshDoneCallback, toc_cache):
pk = CRTPPacket()
pk.set_header(CRTPPort.LOGGING, CHAN_SETTINGS)
pk.data = (CMD_RESET_LOGGING, )
self.cf.send_packet(pk)
self.toc = Toc()
tocFetcher = TocFetcher(self.cf, LogTocElement, CRTPPort.LOGGING,
self.toc, refreshDoneCallback, toc_cache)
tocFetcher.start()
def stop(self):
if (self.cf.link is not None):
if (self.blockId is None):
logger.warning("Stopping block, but no block registered")
else:
logger.debug("Sending stop logging for block %d", self.blockId)
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_STOP_LOGGING, self.blockId)
self.cf.send_packet(pk)
def send_short_lpp_packet(self, dest_id, data):
"""
Send ultra-wide-band LPP packet to dest_id
"""
pk = CRTPPacket()
pk.port = CRTPPort.LOCALIZATION
pk.channel = self.GENERIC_CH
pk.data = struct.pack('<BB', self.LPS_SHORT_LPP_PACKET, dest_id) + data
self._cf.send_packet(pk)
def stop(self):
"""Stop the logging for this entry"""
if (self.cf.link is not None):
if (self.id is None):
logger.warning("Stopping block, but no block registered")
else:
logger.debug("Sending stop logging for block %d", self.id)
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_STOP_LOGGING, self.id)
self.cf.send_packet(pk, expect_answer=True)
def send_extpos(self, pos):
"""
Send the current Crazyflie X, Y, Z position. This is going to be
forwarded to the Crazyflie's position estimator.
"""
pk = CRTPPacket()
pk.port = CRTPPort.LOCALIZATION
pk.channel = self.POSITION_CH
pk.data = struct.pack('<fff', pos[0], pos[1], pos[2])
self._cf.send_packet(pk)
def refresh_toc(self, refresh_done_callback, toc_cache):
"""Start refreshing the table of loggale variables"""
self._toc_cache = toc_cache
self._refresh_callback = refresh_done_callback
self.toc = None
pk = CRTPPacket()
pk.set_header(CRTPPort.LOGGING, CHAN_SETTINGS)
pk.data = (CMD_RESET_LOGGING, )
self.cf.send_packet(pk, expected_reply=(CMD_RESET_LOGGING,))
def test_that_header_is_set_when_constructed(self):
# Fixture
sut = CRTPPacket(header=0x21)
# Test
actual = sut.get_header()
# Assert
self.assertEqual(0x2d, actual)
self.assertEqual(2, sut.port)
self.assertEqual(1, sut.channel)
def request_param_update(self, var_id):
"""Place a param update request on the queue"""
self._useV2 = self.cf.platform.get_protocol_version() >= 4
pk = CRTPPacket()
pk.set_header(CRTPPort.PARAM, READ_CHANNEL)
if self._useV2:
pk.data = struct.pack('<H', var_id)
else:
pk.data = struct.pack('<B', var_id)
logger.debug('Requesting request to update param [%d]', var_id)
self.request_queue.put(pk)
def close(self):
if (self.cf.link is not None):
if (self.blockId is None):
logger.warning("Delete block, but no block registered")
else:
logger.debug("LogEntry: Sending delete logging for block %d"
% self.blockId)
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_DELETE_BLOCK, self.blockId)
self.cf.send_packet(pk)
self.blockId = None # Wait until we get confirmation of delete
def send_zdistance_setpoint(self, roll, pitch, yawrate, zdistance):
"""
Control mode where the height is send as an absolute setpoint (intended
to be the distance to the surface under the Crazflie).
Roll, pitch, yawrate are defined as rad, rad, rad/s
"""
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.data = struct.pack('<Bffff', TYPE_ZDISTANCE,
roll, pitch, yawrate, zdistance)
self._cf.send_packet(pk)
def send_velocity_world_setpoint(self, vx, vy, vz, yawrate):
"""
Send Velocity in the world frame of reference setpoint.
vx, vy, vz are in m/s
yawrate is in rad/s
"""
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
pk.data = struct.pack('<Bffff', TYPE_VELOCITY_WORLD,
vx, vy, vz, yawrate)
self._cf.send_packet(pk)
def start(self):
"""Initiate fetching of the TOC."""
logger.debug("[%d]: Start fetching...", self.port)
# Register callback in this class for the port
self.cf.add_port_callback(self.port, self._new_packet_cb)
# Request the TOC CRC
self.state = GET_TOC_INFO
pk = CRTPPacket()
pk.set_header(self.port, TOC_CHANNEL)
pk.data = (CMD_TOC_INFO, )
self.cf.send_packet(pk, expect_answer=True)
def delete(self):
"""Delete this entry in the Crazyflie"""
if (self.cf.link is not None):
if (self.id is None):
logger.warning("Delete block, but no block registered")
else:
logger.debug("LogEntry: Sending delete logging for block %d"
% self.id)
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_DELETE_BLOCK, self.id)
self.cf.send_packet(pk, expect_answer=True)
