def batch_read_flash(self, addr=0xFF, page=0x00):
"""Read back a flash page from the Crazyflie and return it"""
page_size = self.targets[addr].page_size
batch_index = []
for i in range(0, int(math.ceil(page_size / 25.0))):
batch_index.append(1)
buff = bytearray(len(batch_index) * 25)
while not sum(batch_index) == 0:
for index in range(len(batch_index)):
if batch_index[index] == 1:
pk = CRTPPacket()
pk.set_header(0xFF, 0xFF)
pk.data = struct.pack('<BBHH', addr, 0x1C, page,
(index * 25))
self.link.send_packet(pk)
pk = self.link.receive_packet(0)
if pk and len(pk.data) >= 6:
temp_pk = struct.unpack('<BBHH', pk.data[0:6])
back_element = int(temp_pk[3])
if list(temp_pk[:2]) == [addr, 0x1C]:
buff[back_element:back_element + 25] = pk.data[6:]
batch_index[int(back_element / 25)] = 0
return buff[0:page_size]
def bandwidth(self, uri, packet_size=4, count=500):
link = cflib.crtp.get_link_driver(uri, link_error_callback=self.error_cb)
# # wait until no more packets in queue
# while True:
# pk = link.receive_packet(0.5)
# if not pk:
# break
# enqueue packets
start_time = time.time()
for i in range(count):
pk = CRTPPacket()
pk.set_header(CRTPPort.LINKCTRL, 0) # Echo channel
pk.data = self.build_data(i, packet_size)
link.send_packet(pk)
# get the result
for i in range(count):
while True:
pk_ack = link.receive_packet(-1)
if pk_ack.port == CRTPPort.LINKCTRL and pk_ack.channel == 0:
break
# make sure we actually received the expected value
i_recv, = struct.unpack('<I', pk_ack.data[0:4])
self.assertEqual(i, i_recv)
end_time = time.time()
link.close()
result = count / (end_time - start_time)
kbps = (count * packet_size) / 1024 / (end_time - start_time)
print('Bandwith for {} (packet size {} B): {:.2f} packets/s ({:.2f} kB/s)'.format(
uri, packet_size, result, kbps))
return result
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 _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 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 _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 latency(self, uri, packet_size=4, count=500):
link = cflib.crtp.get_link_driver(uri)
# # wait until no more packets in queue
# while True:
# pk = link.receive_packet(0.5)
# print(pk)
# if not pk or pk.header == 0xFF:
# break
pk = CRTPPacket()
pk.set_header(CRTPPort.LINKCTRL, 0) # Echo channel
latencies = []
for i in range(count):
pk.data = self.build_data(i, packet_size)
start_time = time.time()
link.send_packet(pk)
while True:
pk_ack = link.receive_packet(-1)
if pk_ack.port == CRTPPort.LINKCTRL and pk_ack.channel == 0:
break
end_time = time.time()
# make sure we actually received the expected value
i_recv, = struct.unpack('<I', pk_ack.data[0:4])
self.assertEqual(i, i_recv)
latencies.append((end_time - start_time) * 1000)
link.close()
result = np.min(latencies)
print('Latency for {} (packet size {} B): {:.2f} ms'.format(uri, packet_size, result))
return result
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 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 upload_buffer(self, target_id, 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", target_id, 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", target_id, 0x14, page,
i + address + 1)
#sys.stdout.write("+")
#sys.stdout.flush()
self.link.send_packet(pk)
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 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 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 set_value(self, complete_name, value):
"""
Set the value for the supplied parameter.
"""
if not self._initialized.wait(timeout=60):
raise Exception('Connection timed out')
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 _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 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 _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 _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_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 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 start(self):
"""Start the logging for this entry"""
if (self.cf.link is not None):
if (self.block_created is False):
logger.debug("First time block is started, add block")
self.block_created = True
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_CREATE_BLOCK, self.block_id)
for var in self.logconf.getVariables():
if (var.isTocVariable() is False): # Memory location
logger.debug("Logging to raw memory %d, 0x%04X",
var.getStoredFetchAs(), var.getAddress())
pk.data += struct.pack('<B', var.getStoredFetchAs())
pk.data += struct.pack('<I', var.getAddress())
else: # Item in TOC
logger.debug("Adding %s with id=%d and type=0x%02X",
var.getName(),
self.cf.log.toc.get_element_id(
var.getName()), var.getStoredFetchAs())
pk.data += struct.pack('<B', var.getStoredFetchAs())
pk.data += struct.pack('<B', self.cf.log.toc.
get_element_id(var.getName()))
logger.debug("Adding log block id {}".format(self.block_id))
self.cf.send_packet(pk)
else:
logger.debug("Block already registered, starting logging"
" for %d", self.block_id)
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_START_LOGGING, self.block_id, 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 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 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 _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 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, expect_answer=True)
else:
logger.debug("Block already registered, starting logging"
" for %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, expect_answer=True)
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, expected_reply=(CMD_TOC_ELEMENT, index))
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 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 _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 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 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 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 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 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 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 reset_logging(scf):
"""Reset onboard logging for this Crazyflie"""
print('Resetting onboard log settings for: ' + scf.cf.link_uri)
CHAN_SETTINGS = 1
CMD_RESET_LOGGING = 5
if scf.cf.link is not None:
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_RESET_LOGGING, )
scf.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 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 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 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 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 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 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)
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 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 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, expected_reply=(CMD_TOC_INFO, ))
def refresh_toc(self, refresh_done_callback, toc_cache):
"""Start refreshing the table of loggale variables"""
pk = CRTPPacket()
pk.set_header(CRTPPort.LOGGING, CHAN_SETTINGS)
pk.data = (CMD_RESET_LOGGING, )
self.cf.send_packet(pk, expect_answer=True)
self.log_blocks = []
self.toc = Toc()
toc_fetcher = TocFetcher(self.cf, LogTocElement, CRTPPort.LOGGING,
self.toc, refresh_done_callback, toc_cache)
toc_fetcher.start()
def start(self):
"""Start the logging for this entry"""
if (self.cf.link is not None):
if (self._added is False):
self.create()
logger.debug("First time block is started, add block")
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()
if self._useV2:
pk.set_header(self.port, TOC_CHANNEL)
pk.data = (CMD_TOC_ITEM_V2, index & 0x0ff, (index >> 8) & 0x0ff)
self.cf.send_packet(pk, expected_reply=(
CMD_TOC_ITEM_V2, index & 0x0ff, (index >> 8) & 0x0ff))
else:
pk.set_header(self.port, TOC_CHANNEL)
pk.data = (CMD_TOC_ELEMENT, index)
self.cf.send_packet(pk, expected_reply=(CMD_TOC_ELEMENT, index))
def _crt_service_callback(self, pk):
if pk.channel == LINKSERVICE_SOURCE:
# If the sink contains a magic string, get the protocol version,
# otherwise -1
if pk.data[:18].decode('utf8') == 'Bitcraze Crazyflie':
pk = CRTPPacket()
pk.set_header(CRTPPort.PLATFORM, VERSION_COMMAND)
pk.data = (VERSION_GET_PROTOCOL, )
self._cf.send_packet(pk)
else:
self._protocolVersion = -1
logger.info('Procotol version: {}'.format(
self.get_protocol_version()))
self._callback()
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):
new_block_id = ord(payload[0])
error_status = ord(payload[1])
if (cmd == CMD_CREATE_BLOCK):
block = None
for blocks in self.log_blocks:
if (blocks.block_id == new_block_id):
block = blocks
if (block is not None):
if (error_status == 0): # No error
logger.debug("Have successfully added block_id=%d",
new_block_id)
pk = CRTPPacket()
pk.set_header(5, CHAN_SETTINGS)
pk.data = (CMD_START_LOGGING, new_block_id,
block.period)
self.cf.send_packet(pk)
else:
logger.warning("Error when adding block_id=%d, should"
" tell listenders...", new_block_id)
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",
new_block_id)
else:
logger.warning("Error=%d when starting logging for "
"block=%d", error_status, new_block_id)
if (chan == CHAN_LOGDATA):
chan = packet.channel
block_id = ord(packet.data[0])
# timestamp = packet.data[0:4] # Not currently used
logdata = packet.data[4:]
block = None
for blocks in self.log_blocks:
if (blocks.block_id == block_id):
block = blocks
if (block is not None):
block.unpack_log_data(logdata)
else:
logger.warning("Error no LogEntry to handle block=%d", block_id)