def get_status(self):
        if self.cfusb is None:
            try:
                self.cfusb = CfUsb()
            except USBError as e:
                return "Cannot open Crazyflie. Permission problem?"\
                       " ({})".format(str(e))
            except Exception as e:
                return str(e)

        return "Crazyradio version {}".format(self.cfusb.version)
Exemplo n.º 2
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    def connect(self, uri, link_quality_callback, link_error_callback):
        """
        Connect the link driver to a specified URI of the format:
        radio://<dongle nbr>/<radio channel>/[250K,1M,2M]

        The callback for linkQuality can be called at any moment from the
        driver to report back the link quality in percentage. The
        callback from linkError will be called when a error occues with
        an error message.
        """

        # check if the URI is a radio URI
        if not re.search("^usb://", uri):
            raise WrongUriType("Not a radio URI")

        # Open the USB dongle
        if not re.search("^usb://([0-9]+)$",
                         uri):
            raise WrongUriType('Wrong radio URI format!')

        uri_data = re.search("^usb://([0-9]+)$",
                             uri)

        self.uri = uri

        if self.cfusb is None:
            self.cfusb = CfUsb(devid=int(uri_data.group(1)))
            if self.cfusb.dev:
                self.cfusb.set_crtp_to_usb(True)
                # Wait for the blocking queues in the firmware to time out
                time.sleep(1)
            else:
                self.cfusb = None
                raise Exception("Could not open {}".format(self.uri))

        else:
            raise Exception("Link already open!")

        # Prepare the inter-thread communication queue
        self.in_queue = queue.Queue()
        # Limited size out queue to avoid "ReadBack" effect
        self.out_queue = queue.Queue(50)

        # Launch the comm thread
        self._thread = _UsbReceiveThread(self.cfusb, self.in_queue,
                                         link_quality_callback,
                                         link_error_callback)
        self._thread.start()

        self.link_error_callback = link_error_callback
Exemplo n.º 3
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    def scan_interface(self, address):
        """ Scan interface for Crazyflies """
        if self.cfusb is None:
            try:
                self.cfusb = CfUsb()
            except Exception as e:
                logger.warn("Exception while scanning for Crazyflie USB: {}".format(str(e)))
                return []
        else:
            raise Exception("Cannot scan for links while the link is open!")

        # FIXME: implements serial number in the Crazyradio driver!
        #serial = "N/A"

        found = self.cfusb.scan()

        self.cfusb.close()
        self.cfusb = None

        return found
Exemplo n.º 4
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    def get_status(self):
        if self.cfusb is None:
            try:
                self.cfusb = CfUsb()
            except USBError as e:
                return "Cannot open Crazyflie. Permission problem?"\
                       " ({})".format(str(e))
            except Exception as e:
                return str(e)

        return "Crazyradio version {}".format(self.cfusb.version)
Exemplo n.º 5
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    def scan_interface(self):
        """ Scan interface for Crazyflies """
        if self.cfusb is None:
            try:
                self.cfusb = CfUsb()
            except Exception as e:
                logger.warn("Exception while scanning for Crazyflie USB: {}".format(str(e)))
                return []
        else:
            raise Exception("Cannot scan for links while the link is open!")

        # FIXME: implements serial number in the Crazyradio driver!
        #serial = "N/A"

        found = self.cfusb.scan()

        self.cfusb.close()
        self.cfusb = None

        return found
Exemplo n.º 6
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class UsbDriver(CRTPDriver):
    """ Crazyradio link driver """
    def __init__(self):
        """ Create the link driver """
        CRTPDriver.__init__(self)
        self.cfusb = None
        self.uri = ""
        self.link_error_callback = None
        self.link_quality_callback = None
        self.in_queue = None
        self.out_queue = None
        self._thread = None

    def connect(self, uri, link_quality_callback, link_error_callback):
        """
        Connect the link driver to a specified URI of the format:
        radio://<dongle nbr>/<radio channel>/[250K,1M,2M]

        The callback for linkQuality can be called at any moment from the
        driver to report back the link quality in percentage. The
        callback from linkError will be called when a error occues with
        an error message.
        """

        # check if the URI is a radio URI
        if not re.search("^usb://", uri):
            raise WrongUriType("Not a radio URI")

        # Open the USB dongle
        if not re.search("^usb://([0-9]+)$",
                         uri):
            raise WrongUriType('Wrong radio URI format!')

        uri_data = re.search("^usb://([0-9]+)$",
                             uri)

        self.uri = uri

        if self.cfusb is None:
            self.cfusb = CfUsb(devid=int(uri_data.group(1)))
            if self.cfusb.dev:
                self.cfusb.set_crtp_to_usb(True)
                time.sleep(1) # Wait for the blocking queues in the firmware to time out
            else:
                self.cfusb = None
                raise Exception("Could not open {}".format(self.uri))

        else:
            raise Exception("Link already open!")

        # Prepare the inter-thread communication queue
        self.in_queue = Queue.Queue()
        # Limited size out queue to avoid "ReadBack" effect
        self.out_queue = Queue.Queue(50)

        # Launch the comm thread
        self._thread = _UsbReceiveThread(self.cfusb, self.in_queue,
                                          link_quality_callback,
                                          link_error_callback)
        self._thread.start()

        self.link_error_callback = link_error_callback

    def receive_packet(self, time=0):
        """
        Receive a packet though the link. This call is blocking but will
        timeout and return None if a timeout is supplied.
        """
        if time == 0:
            try:
                return self.in_queue.get(False)
            except Queue.Empty:
                return None
        elif time < 0:
            try:
                return self.in_queue.get(True)
            except Queue.Empty:
                return None
        else:
            try:
                return self.in_queue.get(True, time)
            except Queue.Empty:
                return None

    def send_packet(self, pk):
        """ Send the packet pk though the link """
        # if self.out_queue.full():
        #    self.out_queue.get()
        if (self.cfusb is None):
            return

        try:
            dataOut = (pk.header,)
            dataOut += pk.datat
            self.cfusb.send_packet(dataOut)
        except Queue.Full:
            if self.link_error_callback:
                self.link_error_callback("UsbDriver: Could not send packet"
                                         " to Crazyflie")

    def pause(self):
        self._thread.stop()
        self._thread = None

    def restart(self):
        if self._thread:
            return

        self._thread = _UsbReceiveThread(self.cfusb, self.in_queue,
                                          self.link_quality_callback,
                                          self.link_error_callback)
        self._thread.start()

    def close(self):
        """ Close the link. """
        # Stop the comm thread
        self._thread.stop()

        # Close the USB dongle
        try:
            if self.cfusb:
                self.cfusb.set_crtp_to_usb(False)
                self.cfusb.close()
        except Exception as e:
            # If we pull out the dongle we will not make this call
            logger.info("Could not close {}".format(e))
            pass
        self.cfusb = None

    def scan_interface(self, address):
        """ Scan interface for Crazyflies """
        if self.cfusb is None:
            try:
                self.cfusb = CfUsb()
            except Exception as e:
                logger.warn("Exception while scanning for Crazyflie USB: {}".format(str(e)))
                return []
        else:
            raise Exception("Cannot scan for links while the link is open!")

        # FIXME: implements serial number in the Crazyradio driver!
        #serial = "N/A"

        found = self.cfusb.scan()

        self.cfusb.close()
        self.cfusb = None

        return found

    def get_status(self):
        return "No information available"

    def get_name(self):
        return "UsbCdc"
Exemplo n.º 7
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class UsbDriver(CRTPDriver):
    """ Crazyradio link driver """

    def __init__(self):
        """ Create the link driver """
        CRTPDriver.__init__(self)
        self.cfusb = None
        self.uri = ''
        self.link_error_callback = None
        self.link_quality_callback = None
        self.in_queue = None
        self.out_queue = None
        self._thread = None
        self.needs_resending = False

    def connect(self, uri, link_quality_callback, link_error_callback):
        """
        Connect the link driver to a specified URI of the format:
        radio://<dongle nbr>/<radio channel>/[250K,1M,2M]

        The callback for linkQuality can be called at any moment from the
        driver to report back the link quality in percentage. The
        callback from linkError will be called when a error occues with
        an error message.
        """

        # check if the URI is a radio URI
        if not re.search('^usb://', uri):
            raise WrongUriType('Not a radio URI')

        # Open the USB dongle
        if not re.search('^usb://([0-9]+)$',
                         uri):
            raise WrongUriType('Wrong radio URI format!')

        uri_data = re.search('^usb://([0-9]+)$',
                             uri)

        self.uri = uri

        if self.cfusb is None:
            self.cfusb = CfUsb(devid=int(uri_data.group(1)))
            if self.cfusb.dev:
                self.cfusb.set_crtp_to_usb(True)
            else:
                self.cfusb = None
                raise Exception('Could not open {}'.format(self.uri))

        else:
            raise Exception('Link already open!')

        # Prepare the inter-thread communication queue
        self.in_queue = queue.Queue()
        # Limited size out queue to avoid "ReadBack" effect
        self.out_queue = queue.Queue(50)

        # Launch the comm thread
        self._thread = _UsbReceiveThread(self.cfusb, self.in_queue,
                                         link_quality_callback,
                                         link_error_callback)
        self._thread.start()

        self.link_error_callback = link_error_callback

    def receive_packet(self, time=0):
        """
        Receive a packet though the link. This call is blocking but will
        timeout and return None if a timeout is supplied.
        """
        if time == 0:
            try:
                return self.in_queue.get(False)
            except queue.Empty:
                return None
        elif time < 0:
            try:
                return self.in_queue.get(True)
            except queue.Empty:
                return None
        else:
            try:
                return self.in_queue.get(True, time)
            except queue.Empty:
                return None

    def send_packet(self, pk):
        """ Send the packet pk though the link """
        # if self.out_queue.full():
        #    self.out_queue.get()
        if (self.cfusb is None):
            return

        try:
            dataOut = (pk.header,)
            dataOut += pk.datat
            self.cfusb.send_packet(dataOut)
        except queue.Full:
            if self.link_error_callback:
                self.link_error_callback(
                    'UsbDriver: Could not send packet to Crazyflie')

    def pause(self):
        self._thread.stop()
        self._thread = None

    def restart(self):
        if self._thread:
            return

        self._thread = _UsbReceiveThread(self.cfusb, self.in_queue,
                                         self.link_quality_callback,
                                         self.link_error_callback)
        self._thread.start()

    def close(self):
        """ Close the link. """
        # Stop the comm thread
        self._thread.stop()

        # Close the USB dongle
        try:
            if self.cfusb:
                self.cfusb.set_crtp_to_usb(False)
                self.cfusb.close()
        except Exception as e:
            # If we pull out the dongle we will not make this call
            logger.info('Could not close {}'.format(e))
            pass
        self.cfusb = None

    def scan_interface(self, address):
        """ Scan interface for Crazyflies """
        if self.cfusb is None:
            try:
                self.cfusb = CfUsb()
            except Exception as e:
                logger.warn(
                    'Exception while scanning for Crazyflie USB: {}'.format(
                        str(e)))
                return []
        else:
            raise Exception('Cannot scan for links while the link is open!')

        # FIXME: implements serial number in the Crazyradio driver!
        # serial = "N/A"

        found = self.cfusb.scan()

        self.cfusb.close()
        self.cfusb = None

        return found

    def get_status(self):
        return 'No information available'

    def get_name(self):
        return 'UsbCdc'