def _write_positions_to_anchors(self):
lopo = LoPoAnchor(self._helper.cf)
for id, anchor_pos in self._anchor_pos_ui.items():
if id in self._anchors:
position = anchor_pos.get_position()
lopo.set_position(id, position)
def osc_reboot(self, address, reboot_bootloader=False, **path_args):
"""
Set the position of LPS nodes with IDs {nodes}.
WARNING : Needs a connected drone.
OSC listen: /{nodes}/reboot
:param {nodes}: nodes ids separated by a ';'. * for all
:type {nodes}: str.
:param reboot_bootloader: default to False.\
Either it should be rebooted in bootloader mode instead of firmware.
:type reboot_bootloader: bool.
:param y: the Y position.
:type y: float.
:param z: the Z position.
:type z: float.
"""
node_id = int(path_args['node_id'])
self._debug('rebooting node', node_id)
_, drones = self.server.get_module('CRAZYFLIE').get_connected_drones()
anchor = LoPoAnchor(drones[0]['cf'])
anchor.reboot(
node_id, LoPoAnchor.REBOOT_TO_BOOTLOADER
if reboot_bootloader else LoPoAnchor.REBOOT_TO_FIRMWARE)
def write_positions_to_anchors(self, anchor_positions):
lopo = LoPoAnchor(self._helper.cf)
for _ in range(3):
for id, position in anchor_positions.items():
lopo.set_position(id, position)
time.sleep(0.2)
def write_positions_to_anchors(self, anchor_positions):
lopo = LoPoAnchor(self._helper.cf)
for _ in range(3):
for id, position in anchor_positions.items():
lopo.set_position(id, position)
time.sleep(0.2)
def _write_positions_to_anchors(self):
lopo = LoPoAnchor(self._helper.cf)
for id, anchor_pos in self._anchor_pos_ui.items():
if id in self._anchors:
position = anchor_pos.get_position()
lopo.set_position(id, position)
def _reboot_thread(self):
anchors = LoPoAnchor(self._cf)
print('Sending reboot signal to all anchors 10 times in a row ...')
for retry in range(10):
for anchor_id in range(6):
anchors.reboot(anchor_id, anchors.REBOOT_TO_BOOTLOADER)
time.sleep(0.1)
self._cf.close_link()
def _reboot_thread(self):
anchors = LoPoAnchor(self._cf)
print('Sending reboot signal to all anchors 10 times in a row ...')
for retry in range(10):
for anchor_id in range(6):
anchors.reboot(anchor_id, anchors.REBOOT_TO_BOOTLOADER)
time.sleep(0.1)
self._cf.close_link()
def _send_anchor_mode(self):
lopo = LoPoAnchor(self._helper.cf)
# Set the mode from the last to the first anchor
# In TDoA mode this ensures that the master anchor is set last
for i in reversed(range(8)):
if self._current_requested_mode == self.LOCO_MODE_TDOA:
lopo.set_mode(i, lopo.MODE_TWR)
elif self._current_requested_mode == self.LOCO_MODE_TWR:
lopo.set_mode(i, lopo.MODE_TDOA)
else:
pass
def update_in_drone(
self): # The self arg is used because of the decorator only
drones_ids, drones = zip(
*self.server.get_module('CRAZYFLIE').get_connected_drones())
anchor = LoPoAnchor(drones[0]['cf'])
anchor.set_position(node_id, (x, y, z))
crazyflie_module = self.server.get_module('CRAZYFLIE')
for drone_id in drones_ids:
crazyflie_module.osc_update_lps_pos('',
drones=drone_id,
nodes=node_id)
def _send_anchor_mode(self, mode):
lopo = LoPoAnchor(self._helper.cf)
mode_translation = {
self.LOCO_MODE_TWR: lopo.MODE_TWR,
self.LOCO_MODE_TDOA2: lopo.MODE_TDOA,
self.LOCO_MODE_TDOA3: lopo.MODE_TDOA3,
}
# Set the mode from the last to the first anchor
# In TDoA 2 mode this ensures that the master anchor is set last
# Note: We only switch mode of anchor 0 - 7 since this is what is
# supported in TWR and TDoA 2
for j in range(5):
for i in reversed(range(8)):
lopo.set_mode(i, mode_translation[mode])
def _send_anchor_mode(self, mode):
lopo = LoPoAnchor(self._helper.cf)
mode_translation = {
self.LOCO_MODE_TWR: lopo.MODE_TWR,
self.LOCO_MODE_TDOA2: lopo.MODE_TDOA,
self.LOCO_MODE_TDOA3: lopo.MODE_TDOA3,
}
# Set the mode from the last to the first anchor
# In TDoA 2 mode this ensures that the master anchor is set last
# Note: We only switch mode of anchor 0 - 7 since this is what is
# supported in TWR and TDoA 2
for j in range(5):
for i in reversed(range(8)):
lopo.set_mode(i, mode_translation[mode])
def _send_anchor_mode(self):
lopo = LoPoAnchor(self._helper.cf)
# Set the mode from the last to the first anchor
# In TDoA mode this ensures that the master anchor is set last
for i in reversed(range(8)):
if self._current_requested_mode == self.LOCO_MODE_TDOA:
lopo.set_mode(i, lopo.MODE_TWR)
elif self._current_requested_mode == self.LOCO_MODE_TWR:
lopo.set_mode(i, lopo.MODE_TDOA)
else:
pass
