def __init__(self, parse_args=True):
if parse_args:
parser = argparse.ArgumentParser()
parser.add_argument("--sim",
help="Run using simulation",
action="store_true")
parser.add_argument("--vis",
help="(sim only) Visualization backend [mpl]",
choices=['mpl', 'vispy'],
default="mpl")
parser.add_argument("--dt",
help="(sim only) dt [0.1s]",
type=float,
default=0.1)
parser.add_argument(
"--writecsv",
help="Enable CSV output (only available in simulation)",
action="store_true")
args = parser.parse_args()
if parse_args and args.sim:
import crazyflieSim
self.timeHelper = crazyflieSim.TimeHelper(args.vis, args.dt,
args.writecsv)
self.allcfs = crazyflieSim.CrazyflieServer(self.timeHelper)
else:
import crazyflie
self.allcfs = crazyflie.CrazyflieServer()
self.timeHelper = crazyflie.TimeHelper()
if parse_args and args.writecsv:
print(
"WARNING: writecsv argument ignored! This is only available in simulation."
)
self.input = genericJoystick.Joystick(self.timeHelper)
def __init__(self, crazyflies_yaml=None, parent_parser=None, args=None):
if parent_parser is not None:
parents = [parent_parser]
else:
parents = []
parser = build_argparser(parents)
if isinstance(args, str):
args = args.split()
args, unknown = parser.parse_known_args(args)
if crazyflies_yaml is None:
crazyflies_yaml = "../launch/crazyflies.yaml"
if crazyflies_yaml.endswith(".yaml"):
crazyflies_yaml = open(crazyflies_yaml, 'r').read()
if args.sim:
import crazyflieSim
self.timeHelper = crazyflieSim.TimeHelper(args.vis, args.dt,
args.writecsv,
args.disturbance)
self.allcfs = crazyflieSim.CrazyflieServer(self.timeHelper,
crazyflies_yaml)
else:
import crazyflie
self.allcfs = crazyflie.CrazyflieServer(crazyflies_yaml)
self.timeHelper = crazyflie.TimeHelper()
if args.writecsv:
print(
"WARNING: writecsv argument ignored! This is only available in simulation."
)
self.input = genericJoystick.Joystick(self.timeHelper)