def __init__(self, flightcontroller):
threading.Thread.__init__(self)
self._flightcontroller = flightcontroller
self.cfLog = CFLog()
# Crazyflie obj + callbacks
self._cf = Crazyflie()
self._cf.connected.add_callback(self._connected)
self._cf.disconnected.add_callback(self._disconnected)
self._cf.connection_failed.add_callback(self._connection_failed)
self._cf.connection_lost.add_callback(self._connection_lost)
self.isConnected = False
self._flightcontroller.setConnectionManager(self)
self._flightcontroller.setCrazyflie(self._cf)
class ConnectionManager(threading.Thread):
'''
handling all connection with and from crazyflie
'''
def __init__(self, flightcontroller):
threading.Thread.__init__(self)
self._flightcontroller = flightcontroller
self.cfLog = CFLog()
# Crazyflie obj + callbacks
self._cf = Crazyflie()
self._cf.connected.add_callback(self._connected)
self._cf.disconnected.add_callback(self._disconnected)
self._cf.connection_failed.add_callback(self._connection_failed)
self._cf.connection_lost.add_callback(self._connection_lost)
self.isConnected = False
self._flightcontroller.setConnectionManager(self)
self._flightcontroller.setCrazyflie(self._cf)
def _connection_failed(self, link_uri, msg):
logger.debug("Connection to %s failed: %s" % (link_uri, msg))
self.isConnected = False
self._link = None
def _connection_lost(self, link_uri, msg):
logger.debug("Connection to %s lost: %s" % (link_uri, msg))
self.isConnected = False
self._link = None
def _disconnected(self, link_uri):
logger.info("Disconnected from %s" % link_uri)
self.isConnected = False
self._link = None
self.cfLog.stop()
def _connected(self, link_uri):
logger.debug("Connected to %s" % link_uri)
self.isConnected = True
self.cfLog.start(self._cf)
def _reconnect(self):
logger.info("Scanning for Crazyflies...")
crazyfliesFound = cflib.crtp.scan_interfaces()
if crazyfliesFound:
for i in crazyfliesFound:
self._link = i[0]
logger.info("Found: %s" % self._link)
self._cf.open_link(self._link)
break
else:
logger.info("No Crazyflies found")
def run(self):
while True:
if self.isConnected == False:
self._reconnect()
time.sleep(3)
time.sleep(0.5)