def scan(self):
interfaces = scan_interfaces()
for i in enumerate(interfaces):
interfaces[i[0]][0] = interfaces[i[0]][0].replace(
"radio://0", "radio://" + str(self.radio))
self.sig_foundURI.emit(interfaces)
def gui_scanForDrones(self):
'''
Scan the radio channel looking for drones.
Returns a list of all the available drones
'''
drones = radioChannel.scan_interfaces()
self.drones = self.removeDuplicatedDrones(drones)
def __init__(self, ble=False, sim_vel=np.array([0., 0., 0.])):
print("[CrazyFlie] Attaching CrazyFlie Plug with Keyboard handle")
if ble:
link = BLEDriver()
inter = link.scan_interface()[0][0]
# inter = "e0:c3:b3:86:a6:13"
link.connect(inter)
self._cf = Crazyflie(link=link, rw_cache="./")
self.rate = 0.05
print("[CrazyFlie] Connected to Crazyflie on bluetooth {}.".format(
inter))
else:
crtp.init_drivers()
self.inter = crtp.scan_interfaces()
self._cf = Crazyflie(rw_cache="./")
self._cf.open_link(self.inter[0][0])
time.sleep(1) # wait for a while to let crazyflie fetch the TOC
self.rate = 0.01
print("[CrazyFlie] Connected to Crazyflie on radio {}.".format(
self.inter))
self.roll = 0
self.pitch = 0
self.yaw = 0
self.hover_thrust = 36330
self.tilt_angle = 10
self.x_dot = 0.0
self.y_dot = 0.0
self.z_dot = 0.0
self.yaw_rate = 0.0
self.step = 0.1
self.max_xyz_speed = 0.4
self.max_yaw_rate = 90.
self.x, self.y, self.z = 0, 0, 0.5
self.running = True
self.roll_calib_offset = 0
self.pitch_calib_offset = 0
signal.signal(signal.SIGINT, self.interrupt_handle)
# tty.setcbreak(sys.stdin)
self.keyboard_handle = Listener(on_press=self.on_press,
on_release=self.on_release)
self.keyboard_handle.start()
# unlocking thrust protection
self._cf.commander.send_setpoint(0, 0, 0, 0)
self.sim_vel = sim_vel
# if self.sim_vel is not None:
self.hover_thread_flag = True
self.hover_thread = threading.Thread(target=self.hover_threaded)
def getLink():
print "Scanning for Crazyflies..."
crazyfliesFound = scan_interfaces()
if crazyfliesFound:
for i in crazyfliesFound:
print "Found: ", i[0]
return i[0]
else:
print "No Crazyfly found"
return False
def getLink():
print "Scanning for Crazyflies..."
crazyfliesFound = scan_interfaces()
if crazyfliesFound:
for i in crazyfliesFound:
print "Found: ", i[0]
return i[0]
else:
print "No Crazyfly found"
return False
def scanRadioChannel(self):
'''
NOT GUI INTENDED
Scan the radio channel looking for drones.
If no drones are found, restarts the scan. Until the end of time.
'''
print('Scanning interfaces for Crazyflies...')
numberDronesFound = 0
restartScanIn = 1 #seconds
while (numberDronesFound == 0):
availableDrones = radioChannel.scan_interfaces()
availableDrones = self.removeDuplicatedDrones(availableDrones)
numberDronesFound = len(availableDrones)
if numberDronesFound == 0:
print('No Crazyflies found, restarting scan...\n')
time.sleep(restartScanIn)
# return self.scanRadioChannel()
else:
#Select all available drones, display them, let the user choose which to connect to
print('Crazyflies found:', numberDronesFound)
droneList = range(numberDronesFound)
for i in droneList:
print(i, ") - ", availableDrones[i][0])
try:
chosen = int(
input("Choose the Drone you want to connect to\n"))
except ValueError:
print("I know you can do better than that :)\n")
return self.scanRadioChannel()
if chosen not in droneList: #Now we need to check whether the input refers to a valid listed drone
print("Bad choice indeed... I'll give you a second chance\n")
return self.scanRadioChannel()
#Set the URI into the class variable droneURI
#Avoid situations like: correctly find a drone to connect to but no Link/URI has been received.
#This is usually due to low battery drone
if (availableDrones[0][int(chosen)] != ""
or availableDrones[0][int(chosen)] != None):
self.droneURI = availableDrones[0][int(chosen)]
else:
numberDronesFound = 0
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 run(self):
self.cf = crazyflie.Crazyflie(ro_cache='./cache/ro/', rw_cache='./cache/rw/')
crtp.init_drivers()
available = crtp.scan_interfaces()
for i in available:
print "Connecting"
self.cf.connectSetupFinished.add_callback(self.connected)
self.cf.open_link(i[0])
break
while (self.values.run):
sys.stdout.write("\rThrust: %d, Roll: %d, Pitch: %d, Yaw: %d " % (self.values.thrust, self.values.roll, self.values.pitch, self.values.yaw))
sys.stdout.flush();
r = self.values.roll + self.base_roll
p = self.values.pitch + self.base_pitch
y = self.values.yaw + self.base_yaw
t = self.values.thrust
self.cf.commander.send_setpoint(r, p, y, t)
def connect_to_cf(self, retry_after=10, max_timeout=20):
"""
Initializes radio drivers, looks for available CrazyRadios, and attempts to connect to the first available one.
Doesn't return anything, but raises exceptions if anything goes wrong.
:param retry_after: Time in seconds after which we should abort current connection and restart the attempt.
:param max_timeout: Time in seconds after which we should give up if we haven't been able to establish comm. yet
"""
logging.info("Initializing drivers.")
crtp.init_drivers(enable_debug_driver=False)
logging.info("Setting up the communication link. Looking for available CrazyRadios in range.")
available_links = crtp.scan_interfaces()
if len(available_links) == 0:
raise Exception("Error, no Crazyflies found. Exiting.")
else:
logging.info("CrazyFlies found:") # For debugging purposes, show info about available links
for i in available_links:
logging.info("\t" + i[0])
link_uri = available_links[0][0] # Choose first available link
logging.info("Initializing CrazyFlie (connecting to first available interface: '{}').".format(link_uri))
self.crazyflie = Crazyflie(ro_cache="cachero", rw_cache="cacherw") # Create an instance of Crazyflie
self.crazyflie.connected.add_callback(self.on_cf_radio_connected) # Set up callback functions for communication feedback
self.crazyflie.disconnected.add_callback(self.on_cf_radio_disconnected)
self.crazyflie.connection_failed.add_callback(self.on_cf_radio_conn_failed)
self.crazyflie.connection_lost.add_callback(self.on_cf_radio_conn_lost)
cnt = 0 # Initialize a time counter
while self.cf_radio_connecting and cnt < max_timeout:
if cnt % retry_after == 0:
if cnt > 0: # Only show warning after first failed attempt
logging.warning("Unable to establish communication with Crazyflie ({}) after {}s. Retrying...".format(link_uri, retry_after))
self.crazyflie.close_link() # Closing the link will call on_disconnect, which will set cf_radio_connecting to False
self.cf_radio_connecting = True # Reset cf_radio_connecting back to True
self.crazyflie.open_link(link_uri) # Connect/Reconnect to the CrazyRadio through the selected interface
time.sleep(1) # Sleep for a second (give time for callback functions to detect whether we are connected)
cnt += 1 # Increase the "waiting seconds" counter
if cnt >= max_timeout:
self.crazyflie.close_link()
raise Exception("Unable to establish communication with CrazyFlie after {}s. Given up :(".format(max_timeout))
elif not self.cf_radio_connected:
raise Exception("Something failed while attempting to connect to the CrazyFlie, exiting.")
while True:
sys.stdout.write("\r" + str(leap_controller.read_input()))
sys.stdout.flush()
try:
sys.stdin.readline()
except KeyboardInterrupt:
pass
finally:
pass
# controller.remove_listener(listener)
if __name__ == '__main__':
crtp.init_drivers(enable_debug_driver=False)
available = crtp.scan_interfaces()
for i in available:
print(i[0])
if len(available) > 0:
print("available", available[0][0])
leap_controller = LeapController(available[0][0])
else:
print('No Crazyflies found, cannot run example')
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)
print('Connecting to', URI)
cf.open_link(URI)
handle_keyboard_input(control)
cf.close_link()
def scan(self):
self.sig_foundURI.emit(scan_interfaces())
def scan(self):
interfaces = scan_interfaces()
for i in enumerate(interfaces):
interfaces[i[0]][0] = interfaces[i[0]][0].replace("radio://0", "radio://"+str(self.radio))
self.sig_foundURI.emit(interfaces)
