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)
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
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
