diff --git a/.gitignore b/.gitignore
index cde185cf2cea3df2ed46b7ded928641b730089a4..ac56614b7b9d2173ed98b14bada25995242f6595 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,11 @@ config.json
dist/*
build/*
cache
+src/cfclient.egg-info/*
+src/cfclient/third_party/*
+version.json
+win32install/*.exe
+win32install/cfclient.nsi
# PC client settings
conf/*
@@ -17,4 +22,4 @@ msvcp90.dll
# PyCharm
.idea/*
-.DS_Store
\ No newline at end of file
+.DS_Store
diff --git a/.travis.yml b/.travis.yml
index 08b53dc09743c88500d204cb8cc5488c3c5935ab..515c02b9e5c1e0757aa24c187bacc6a4336c6586 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -4,5 +4,7 @@ python:
- "2.7"
services:
- docker
+before_install:
+ - docker pull bitcraze/builder
script:
- docker run --rm -v ${PWD}:/module bitcraze/builder ./tools/build/build
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 72656533afda8f5577353acbee167fa1ce091fc6..7f1044fc60ee82e61598f085356720872cbd5251 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -23,8 +23,8 @@ The development in this repository aims to follow the [Git flow](http://nvie.com
- Test your changes and note what OS/version you have tested on
- Describe the change
- Refer to any issues it effects
-
-Out goal is to comply with PEP-8, but there's lots of code that's not up to standard. We try our best to comply but since we slack sometimes we can't really enforce it, but at least there's a few things we want to stick to:
+
+In your code
- Don't include name, date or information about the change in the code. That's what Git is for.
- CamelCase classes, but not functions and variables
@@ -32,8 +32,8 @@ Out goal is to comply with PEP-8, but there's lots of code that's not up to stan
- 4 spaces indentation
- When catching exceptions try to make it as specific as possible, it makes it harder for bugs to hide
- Short variable and function names are ok if the scope is small
+ - PEP8/flake8 compliant
## CI-server
We use https://travis-ci.org/bitcraze/crazyflie-clients-python for continuous integration.
-Initially we only check some PEP-8 properties, but the goal is to also add unit testing and integration testing. This is an ongoing effort.
\ No newline at end of file
diff --git a/LICENSE.txt b/LICENSE.txt
index 9f38dd479a03c143415698c8f790554915dd0de6..4baefd9a463d5521dcedf901fff69ec3933f62b8 100644
--- a/LICENSE.txt
+++ b/LICENSE.txt
@@ -1,350 +1,350 @@
- || ____ _ __
- +------+ / __ )(_) /_______________ _____ ___
- | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
- +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
- || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-
- Crazyflie client software
-
- Copyright (C) 2011-2013 Bitcraze AB
-
-
- GNU GENERAL PUBLIC LICENSE
- Version 2, June 1991
-
- Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
- 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
- Preamble
-
- The licenses for most software are designed to take away your
-freedom to share and change it. By contrast, the GNU General Public
-License is intended to guarantee your freedom to share and change free
-software--to make sure the software is free for all its users. This
-General Public License applies to most of the Free Software
-Foundation's software and to any other program whose authors commit to
-using it. (Some other Free Software Foundation software is covered by
-the GNU Lesser General Public License instead.) You can apply it to
-your programs, too.
-
- When we speak of free software, we are referring to freedom, not
-price. Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-this service if you wish), that you receive source code or can get it
-if you want it, that you can change the software or use pieces of it
-in new free programs; and that you know you can do these things.
-
- To protect your rights, we need to make restrictions that forbid
-anyone to deny you these rights or to ask you to surrender the rights.
-These restrictions translate to certain responsibilities for you if you
-distribute copies of the software, or if you modify it.
-
- For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must give the recipients all the rights that
-you have. You must make sure that they, too, receive or can get the
-source code. And you must show them these terms so they know their
-rights.
-
- We protect your rights with two steps: (1) copyright the software, and
-(2) offer you this license which gives you legal permission to copy,
-distribute and/or modify the software.
-
- Also, for each author's protection and ours, we want to make certain
-that everyone understands that there is no warranty for this free
-software. If the software is modified by someone else and passed on, we
-want its recipients to know that what they have is not the original, so
-that any problems introduced by others will not reflect on the original
-authors' reputations.
-
- Finally, any free program is threatened constantly by software
-patents. We wish to avoid the danger that redistributors of a free
-program will individually obtain patent licenses, in effect making the
-program proprietary. To prevent this, we have made it clear that any
-patent must be licensed for everyone's free use or not licensed at all.
-
- The precise terms and conditions for copying, distribution and
-modification follow.
-
- GNU GENERAL PUBLIC LICENSE
- TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
-
- 0. This License applies to any program or other work which contains
-a notice placed by the copyright holder saying it may be distributed
-under the terms of this General Public License. The "Program", below,
-refers to any such program or work, and a "work based on the Program"
-means either the Program or any derivative work under copyright law:
-that is to say, a work containing the Program or a portion of it,
-either verbatim or with modifications and/or translated into another
-language. (Hereinafter, translation is included without limitation in
-the term "modification".) Each licensee is addressed as "you".
-
-Activities other than copying, distribution and modification are not
-covered by this License; they are outside its scope. The act of
-running the Program is not restricted, and the output from the Program
-is covered only if its contents constitute a work based on the
-Program (independent of having been made by running the Program).
-Whether that is true depends on what the Program does.
-
- 1. You may copy and distribute verbatim copies of the Program's
-source code as you receive it, in any medium, provided that you
-conspicuously and appropriately publish on each copy an appropriate
-copyright notice and disclaimer of warranty; keep intact all the
-notices that refer to this License and to the absence of any warranty;
-and give any other recipients of the Program a copy of this License
-along with the Program.
-
-You may charge a fee for the physical act of transferring a copy, and
-you may at your option offer warranty protection in exchange for a fee.
-
- 2. You may modify your copy or copies of the Program or any portion
-of it, thus forming a work based on the Program, and copy and
-distribute such modifications or work under the terms of Section 1
-above, provided that you also meet all of these conditions:
-
- a) You must cause the modified files to carry prominent notices
- stating that you changed the files and the date of any change.
-
- b) You must cause any work that you distribute or publish, that in
- whole or in part contains or is derived from the Program or any
- part thereof, to be licensed as a whole at no charge to all third
- parties under the terms of this License.
-
- c) If the modified program normally reads commands interactively
- when run, you must cause it, when started running for such
- interactive use in the most ordinary way, to print or display an
- announcement including an appropriate copyright notice and a
- notice that there is no warranty (or else, saying that you provide
- a warranty) and that users may redistribute the program under
- these conditions, and telling the user how to view a copy of this
- License. (Exception: if the Program itself is interactive but
- does not normally print such an announcement, your work based on
- the Program is not required to print an announcement.)
-
-These requirements apply to the modified work as a whole. If
-identifiable sections of that work are not derived from the Program,
-and can be reasonably considered independent and separate works in
-themselves, then this License, and its terms, do not apply to those
-sections when you distribute them as separate works. But when you
-distribute the same sections as part of a whole which is a work based
-on the Program, the distribution of the whole must be on the terms of
-this License, whose permissions for other licensees extend to the
-entire whole, and thus to each and every part regardless of who wrote it.
-
-Thus, it is not the intent of this section to claim rights or contest
-your rights to work written entirely by you; rather, the intent is to
-exercise the right to control the distribution of derivative or
-collective works based on the Program.
-
-In addition, mere aggregation of another work not based on the Program
-with the Program (or with a work based on the Program) on a volume of
-a storage or distribution medium does not bring the other work under
-the scope of this License.
-
- 3. You may copy and distribute the Program (or a work based on it,
-under Section 2) in object code or executable form under the terms of
-Sections 1 and 2 above provided that you also do one of the following:
-
- a) Accompany it with the complete corresponding machine-readable
- source code, which must be distributed under the terms of Sections
- 1 and 2 above on a medium customarily used for software interchange; or,
-
- b) Accompany it with a written offer, valid for at least three
- years, to give any third party, for a charge no more than your
- cost of physically performing source distribution, a complete
- machine-readable copy of the corresponding source code, to be
- distributed under the terms of Sections 1 and 2 above on a medium
- customarily used for software interchange; or,
-
- c) Accompany it with the information you received as to the offer
- to distribute corresponding source code. (This alternative is
- allowed only for noncommercial distribution and only if you
- received the program in object code or executable form with such
- an offer, in accord with Subsection b above.)
-
-The source code for a work means the preferred form of the work for
-making modifications to it. For an executable work, complete source
-code means all the source code for all modules it contains, plus any
-associated interface definition files, plus the scripts used to
-control compilation and installation of the executable. However, as a
-special exception, the source code distributed need not include
-anything that is normally distributed (in either source or binary
-form) with the major components (compiler, kernel, and so on) of the
-operating system on which the executable runs, unless that component
-itself accompanies the executable.
-
-If distribution of executable or object code is made by offering
-access to copy from a designated place, then offering equivalent
-access to copy the source code from the same place counts as
-distribution of the source code, even though third parties are not
-compelled to copy the source along with the object code.
-
- 4. You may not copy, modify, sublicense, or distribute the Program
-except as expressly provided under this License. Any attempt
-otherwise to copy, modify, sublicense or distribute the Program is
-void, and will automatically terminate your rights under this License.
-However, parties who have received copies, or rights, from you under
-this License will not have their licenses terminated so long as such
-parties remain in full compliance.
-
- 5. You are not required to accept this License, since you have not
-signed it. However, nothing else grants you permission to modify or
-distribute the Program or its derivative works. These actions are
-prohibited by law if you do not accept this License. Therefore, by
-modifying or distributing the Program (or any work based on the
-Program), you indicate your acceptance of this License to do so, and
-all its terms and conditions for copying, distributing or modifying
-the Program or works based on it.
-
- 6. Each time you redistribute the Program (or any work based on the
-Program), the recipient automatically receives a license from the
-original licensor to copy, distribute or modify the Program subject to
-these terms and conditions. You may not impose any further
-restrictions on the recipients' exercise of the rights granted herein.
-You are not responsible for enforcing compliance by third parties to
-this License.
-
- 7. If, as a consequence of a court judgment or allegation of patent
-infringement or for any other reason (not limited to patent issues),
-conditions are imposed on you (whether by court order, agreement or
-otherwise) that contradict the conditions of this License, they do not
-excuse you from the conditions of this License. If you cannot
-distribute so as to satisfy simultaneously your obligations under this
-License and any other pertinent obligations, then as a consequence you
-may not distribute the Program at all. For example, if a patent
-license would not permit royalty-free redistribution of the Program by
-all those who receive copies directly or indirectly through you, then
-the only way you could satisfy both it and this License would be to
-refrain entirely from distribution of the Program.
-
-If any portion of this section is held invalid or unenforceable under
-any particular circumstance, the balance of the section is intended to
-apply and the section as a whole is intended to apply in other
-circumstances.
-
-It is not the purpose of this section to induce you to infringe any
-patents or other property right claims or to contest validity of any
-such claims; this section has the sole purpose of protecting the
-integrity of the free software distribution system, which is
-implemented by public license practices. Many people have made
-generous contributions to the wide range of software distributed
-through that system in reliance on consistent application of that
-system; it is up to the author/donor to decide if he or she is willing
-to distribute software through any other system and a licensee cannot
-impose that choice.
-
-This section is intended to make thoroughly clear what is believed to
-be a consequence of the rest of this License.
-
- 8. If the distribution and/or use of the Program is restricted in
-certain countries either by patents or by copyrighted interfaces, the
-original copyright holder who places the Program under this License
-may add an explicit geographical distribution limitation excluding
-those countries, so that distribution is permitted only in or among
-countries not thus excluded. In such case, this License incorporates
-the limitation as if written in the body of this License.
-
- 9. The Free Software Foundation may publish revised and/or new versions
-of the General Public License from time to time. Such new versions will
-be similar in spirit to the present version, but may differ in detail to
-address new problems or concerns.
-
-Each version is given a distinguishing version number. If the Program
-specifies a version number of this License which applies to it and "any
-later version", you have the option of following the terms and conditions
-either of that version or of any later version published by the Free
-Software Foundation. If the Program does not specify a version number of
-this License, you may choose any version ever published by the Free Software
-Foundation.
-
- 10. If you wish to incorporate parts of the Program into other free
-programs whose distribution conditions are different, write to the author
-to ask for permission. For software which is copyrighted by the Free
-Software Foundation, write to the Free Software Foundation; we sometimes
-make exceptions for this. Our decision will be guided by the two goals
-of preserving the free status of all derivatives of our free software and
-of promoting the sharing and reuse of software generally.
-
- NO WARRANTY
-
- 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
-FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
-OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
-PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
-OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
-MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
-TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
-PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
-REPAIR OR CORRECTION.
-
- 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
-WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
-REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
-INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
-OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
-TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
-YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
-PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGES.
-
- END OF TERMS AND CONDITIONS
-
- How to Apply These Terms to Your New Programs
-
- If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
- To do so, attach the following notices to the program. It is safest
-to attach them to the start of each source file to most effectively
-convey the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
-
- <one line to give the program's name and a brief idea of what it does.>
- Copyright (C) <year> <name of author>
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License along
- with this program; if not, write to the Free Software Foundation, Inc.,
- 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
-
-Also add information on how to contact you by electronic and paper mail.
-
-If the program is interactive, make it output a short notice like this
-when it starts in an interactive mode:
-
- Gnomovision version 69, Copyright (C) year name of author
- Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
- This is free software, and you are welcome to redistribute it
- under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License. Of course, the commands you use may
-be called something other than `show w' and `show c'; they could even be
-mouse-clicks or menu items--whatever suits your program.
-
-You should also get your employer (if you work as a programmer) or your
-school, if any, to sign a "copyright disclaimer" for the program, if
-necessary. Here is a sample; alter the names:
-
- Yoyodyne, Inc., hereby disclaims all copyright interest in the program
- `Gnomovision' (which makes passes at compilers) written by James Hacker.
-
- <signature of Ty Coon>, 1 April 1989
- Ty Coon, President of Vice
-
-This General Public License does not permit incorporating your program into
-proprietary programs. If your program is a subroutine library, you may
-consider it more useful to permit linking proprietary applications with the
-library. If this is what you want to do, use the GNU Lesser General
-Public License instead of this License.
+ || ____ _ __
+ +------+ / __ )(_) /_______________ _____ ___
+ | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+
+ Crazyflie client software
+
+ Copyright (C) 2011-2013 Bitcraze AB
+
+
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The licenses for most software are designed to take away your
+freedom to share and change it. By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users. This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it. (Some other Free Software Foundation software is covered by
+the GNU Lesser General Public License instead.) You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+this service if you wish), that you receive source code or can get it
+if you want it, that you can change the software or use pieces of it
+in new free programs; and that you know you can do these things.
+
+ To protect your rights, we need to make restrictions that forbid
+anyone to deny you these rights or to ask you to surrender the rights.
+These restrictions translate to certain responsibilities for you if you
+distribute copies of the software, or if you modify it.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must give the recipients all the rights that
+you have. You must make sure that they, too, receive or can get the
+source code. And you must show them these terms so they know their
+rights.
+
+ We protect your rights with two steps: (1) copyright the software, and
+(2) offer you this license which gives you legal permission to copy,
+distribute and/or modify the software.
+
+ Also, for each author's protection and ours, we want to make certain
+that everyone understands that there is no warranty for this free
+software. If the software is modified by someone else and passed on, we
+want its recipients to know that what they have is not the original, so
+that any problems introduced by others will not reflect on the original
+authors' reputations.
+
+ Finally, any free program is threatened constantly by software
+patents. We wish to avoid the danger that redistributors of a free
+program will individually obtain patent licenses, in effect making the
+program proprietary. To prevent this, we have made it clear that any
+patent must be licensed for everyone's free use or not licensed at all.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ GNU GENERAL PUBLIC LICENSE
+ TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+ 0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
+under the terms of this General Public License. The "Program", below,
+refers to any such program or work, and a "work based on the Program"
+means either the Program or any derivative work under copyright law:
+that is to say, a work containing the Program or a portion of it,
+either verbatim or with modifications and/or translated into another
+language. (Hereinafter, translation is included without limitation in
+the term "modification".) Each licensee is addressed as "you".
+
+Activities other than copying, distribution and modification are not
+covered by this License; they are outside its scope. The act of
+running the Program is not restricted, and the output from the Program
+is covered only if its contents constitute a work based on the
+Program (independent of having been made by running the Program).
+Whether that is true depends on what the Program does.
+
+ 1. You may copy and distribute verbatim copies of the Program's
+source code as you receive it, in any medium, provided that you
+conspicuously and appropriately publish on each copy an appropriate
+copyright notice and disclaimer of warranty; keep intact all the
+notices that refer to this License and to the absence of any warranty;
+and give any other recipients of the Program a copy of this License
+along with the Program.
+
+You may charge a fee for the physical act of transferring a copy, and
+you may at your option offer warranty protection in exchange for a fee.
+
+ 2. You may modify your copy or copies of the Program or any portion
+of it, thus forming a work based on the Program, and copy and
+distribute such modifications or work under the terms of Section 1
+above, provided that you also meet all of these conditions:
+
+ a) You must cause the modified files to carry prominent notices
+ stating that you changed the files and the date of any change.
+
+ b) You must cause any work that you distribute or publish, that in
+ whole or in part contains or is derived from the Program or any
+ part thereof, to be licensed as a whole at no charge to all third
+ parties under the terms of this License.
+
+ c) If the modified program normally reads commands interactively
+ when run, you must cause it, when started running for such
+ interactive use in the most ordinary way, to print or display an
+ announcement including an appropriate copyright notice and a
+ notice that there is no warranty (or else, saying that you provide
+ a warranty) and that users may redistribute the program under
+ these conditions, and telling the user how to view a copy of this
+ License. (Exception: if the Program itself is interactive but
+ does not normally print such an announcement, your work based on
+ the Program is not required to print an announcement.)
+
+These requirements apply to the modified work as a whole. If
+identifiable sections of that work are not derived from the Program,
+and can be reasonably considered independent and separate works in
+themselves, then this License, and its terms, do not apply to those
+sections when you distribute them as separate works. But when you
+distribute the same sections as part of a whole which is a work based
+on the Program, the distribution of the whole must be on the terms of
+this License, whose permissions for other licensees extend to the
+entire whole, and thus to each and every part regardless of who wrote it.
+
+Thus, it is not the intent of this section to claim rights or contest
+your rights to work written entirely by you; rather, the intent is to
+exercise the right to control the distribution of derivative or
+collective works based on the Program.
+
+In addition, mere aggregation of another work not based on the Program
+with the Program (or with a work based on the Program) on a volume of
+a storage or distribution medium does not bring the other work under
+the scope of this License.
+
+ 3. You may copy and distribute the Program (or a work based on it,
+under Section 2) in object code or executable form under the terms of
+Sections 1 and 2 above provided that you also do one of the following:
+
+ a) Accompany it with the complete corresponding machine-readable
+ source code, which must be distributed under the terms of Sections
+ 1 and 2 above on a medium customarily used for software interchange; or,
+
+ b) Accompany it with a written offer, valid for at least three
+ years, to give any third party, for a charge no more than your
+ cost of physically performing source distribution, a complete
+ machine-readable copy of the corresponding source code, to be
+ distributed under the terms of Sections 1 and 2 above on a medium
+ customarily used for software interchange; or,
+
+ c) Accompany it with the information you received as to the offer
+ to distribute corresponding source code. (This alternative is
+ allowed only for noncommercial distribution and only if you
+ received the program in object code or executable form with such
+ an offer, in accord with Subsection b above.)
+
+The source code for a work means the preferred form of the work for
+making modifications to it. For an executable work, complete source
+code means all the source code for all modules it contains, plus any
+associated interface definition files, plus the scripts used to
+control compilation and installation of the executable. However, as a
+special exception, the source code distributed need not include
+anything that is normally distributed (in either source or binary
+form) with the major components (compiler, kernel, and so on) of the
+operating system on which the executable runs, unless that component
+itself accompanies the executable.
+
+If distribution of executable or object code is made by offering
+access to copy from a designated place, then offering equivalent
+access to copy the source code from the same place counts as
+distribution of the source code, even though third parties are not
+compelled to copy the source along with the object code.
+
+ 4. You may not copy, modify, sublicense, or distribute the Program
+except as expressly provided under this License. Any attempt
+otherwise to copy, modify, sublicense or distribute the Program is
+void, and will automatically terminate your rights under this License.
+However, parties who have received copies, or rights, from you under
+this License will not have their licenses terminated so long as such
+parties remain in full compliance.
+
+ 5. You are not required to accept this License, since you have not
+signed it. However, nothing else grants you permission to modify or
+distribute the Program or its derivative works. These actions are
+prohibited by law if you do not accept this License. Therefore, by
+modifying or distributing the Program (or any work based on the
+Program), you indicate your acceptance of this License to do so, and
+all its terms and conditions for copying, distributing or modifying
+the Program or works based on it.
+
+ 6. Each time you redistribute the Program (or any work based on the
+Program), the recipient automatically receives a license from the
+original licensor to copy, distribute or modify the Program subject to
+these terms and conditions. You may not impose any further
+restrictions on the recipients' exercise of the rights granted herein.
+You are not responsible for enforcing compliance by third parties to
+this License.
+
+ 7. If, as a consequence of a court judgment or allegation of patent
+infringement or for any other reason (not limited to patent issues),
+conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot
+distribute so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you
+may not distribute the Program at all. For example, if a patent
+license would not permit royalty-free redistribution of the Program by
+all those who receive copies directly or indirectly through you, then
+the only way you could satisfy both it and this License would be to
+refrain entirely from distribution of the Program.
+
+If any portion of this section is held invalid or unenforceable under
+any particular circumstance, the balance of the section is intended to
+apply and the section as a whole is intended to apply in other
+circumstances.
+
+It is not the purpose of this section to induce you to infringe any
+patents or other property right claims or to contest validity of any
+such claims; this section has the sole purpose of protecting the
+integrity of the free software distribution system, which is
+implemented by public license practices. Many people have made
+generous contributions to the wide range of software distributed
+through that system in reliance on consistent application of that
+system; it is up to the author/donor to decide if he or she is willing
+to distribute software through any other system and a licensee cannot
+impose that choice.
+
+This section is intended to make thoroughly clear what is believed to
+be a consequence of the rest of this License.
+
+ 8. If the distribution and/or use of the Program is restricted in
+certain countries either by patents or by copyrighted interfaces, the
+original copyright holder who places the Program under this License
+may add an explicit geographical distribution limitation excluding
+those countries, so that distribution is permitted only in or among
+countries not thus excluded. In such case, this License incorporates
+the limitation as if written in the body of this License.
+
+ 9. The Free Software Foundation may publish revised and/or new versions
+of the General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+Each version is given a distinguishing version number. If the Program
+specifies a version number of this License which applies to it and "any
+later version", you have the option of following the terms and conditions
+either of that version or of any later version published by the Free
+Software Foundation. If the Program does not specify a version number of
+this License, you may choose any version ever published by the Free Software
+Foundation.
+
+ 10. If you wish to incorporate parts of the Program into other free
+programs whose distribution conditions are different, write to the author
+to ask for permission. For software which is copyrighted by the Free
+Software Foundation, write to the Free Software Foundation; we sometimes
+make exceptions for this. Our decision will be guided by the two goals
+of preserving the free status of all derivatives of our free software and
+of promoting the sharing and reuse of software generally.
+
+ NO WARRANTY
+
+ 11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
+PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
+OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
+REPAIR OR CORRECTION.
+
+ 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
+REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
+OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
+TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License along
+ with this program; if not, write to the Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+ Gnomovision version 69, Copyright (C) year name of author
+ Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary. Here is a sample; alter the names:
+
+ Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+ `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+ <signature of Ty Coon>, 1 April 1989
+ Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs. If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.
diff --git a/MANIFEST.in b/MANIFEST.in
index 7092f9064c808cbedf0f8c96268bcb7dd60fa913..2151a5f7a24b6d44211d506672a9b9552964dce5 100644
--- a/MANIFEST.in
+++ b/MANIFEST.in
@@ -1,2 +1,5 @@
+include README.md
recursive-include src/cfclient/configs *.json
recursive-include src/cfclient/ui *.ui
+recursive-include src/cfclient/resources *
+include src/cfclient/version.json
diff --git a/README.md b/README.md
index 58d20b85d4c39d84524f3b4ebb61756dc151724e..b579eb1d853c35e7fa5ebe704c3eb696b279476d 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,5 @@
-# Crazyflie PC client [](https://travis-ci.org/bitcraze/crazyflie-clients-python)
+# Crazyflie PC client [](https://travis-ci.org/bitcraze/crazyflie-clients-python) [](https://ci.appveyor.com/project/bitcraze/crazyflie-clients-python)
+
The Crazyflie PC client enables flashing and controlling the Crazyflie.
There's also a Python library that can be integrated into other applications
@@ -6,49 +7,75 @@ where you would like to use the Crazyflie.
For more info see our [wiki](http://wiki.bitcraze.se/ "Bitcraze Wiki").
-Installation
-------------
-
-## Linux
+Note. The project is currently being reorganized, which means that This
+documentation might become inacurate. You can track the reorganisation work in
+the ticket #227.
-To install the Crazyflie PC client in Linux, you can run the setup script with:
+Running from source
+-------------------
-```sudo setup_linux.sh```
+The Crazyflie client requires [cflib](https://github.com/bitcraze/crazyflie-lib-python).
+Follow the cflib readme to install it.
-This will install the Crazyflie PC client systemwide, create a udev entry for
-the Crazyradio and setup the permissions so that the current user can use the
-radio without root permissions after restarting the computer. For further
-instructions on how to run from source and [install dependencies](https://github.com/SteveClement/crazyflie-clients-python#dependencies) see bellow.
+## Windows (7/8/10)
-## Windows
+Running from source on Windows is tested using the [miniconda](http://conda.pydata.org/miniconda.html) python distribution. It is possible to run from any distribution as long as the required packages are installed. Building the windows installer requires Python 3.4 (because ```py2exe``` is not distributed for Python 3.5 yet). The following instructions assumes **Miniconda 32-bit** is installed.
-Follow these steps to install the binary distribution on Windows 7/8/10.
- - Download the latest release [here](https://github.com/bitcraze/crazyflie-clients-python/releases) (named cfclient-win32-install-*.exe)
- - Execute the installer. After the install the application will be added to the Start menu.
- - Install the Crazyradio drivers by following [these instructions](https://wiki.bitcraze.io/doc:crazyradio:install_windows_zadig)
+Open a command line windows and move to the crazyflie clients folder (the exact command depends of where the project is cloned):
+```
+cd crazyflie-clients-python
+```
-Running from source
--------------------
+Create and activate a Python 3.4 environment with numpy pyqt and pyqtgraph from conda (it is the packages we cannot easily install with pip):
+```
+conda create -y -n cfclient python=3.4 numpy=1.10.1 pyqt pyqtgraph
+activate cfclient
+```
-## Windows (7/8/10)
+Download the SDL2.dll windows library:
+```
+python tools\build\prep_windows
+```
-Install dependencies. With Windows installers (tested using only 32-bit installs on 64-bit OS):
- - [Python 3.4](https://www.python.org/downloads/windows/) (make sure the pip component is selected when installing)
- - [PyQT4 for Python 3.4](http://www.riverbankcomputing.com/software/pyqt/download)
- - [NumPy for Python 3.4](http://sourceforge.net/projects/numpy/files/NumPy)
- - [SDL2](https://www.libsdl.org/download-2.0.php) (copy SDL2.dll into the client source folder)
+Install the client in development mode:
+```
+pip install -e .[dev]
+```
-Then install PyUSB, PyZMQ, PySDL2 and PyQtGraph using pip
+You can now run the clients:
```
-C:\Users\bitcraze>\Python34\python.exe -m pip install pyusb==1.0.0b2 pyzmq pysdl2 pyqtgraph
+cfclient
+cfheadless
+cfloader
+cfzmq
```
-Finally you run the client using the following command
+**NOTE:** To use the Crazyradio you will have to [install the drivers](https://wiki.bitcraze.io/doc:crazyradio:install_windows_zadig)
+
+### Creating Windows installer
+
+When you are able to run from source, you can build the windows executable and installer.
+
+First build the executable
```
-\Python34\python bin\cfclient
+python setup.py py2exe
```
+**NOTE:** The first time the previous command will fail complaining about a ```PyQt4\uic\port_v2```
+folder. Remove this folder with ```rmdir \Q \S path\to\PyQt4\uic\port_v2```,
+you can copy-paste the folder path from the py2exe error message.
+
-**NOTE**: To use the Crazyradio you will have to [install the drivers](https://wiki.bitcraze.io/doc:crazyradio:install_windows_zadig)
+Now you can run the client with ```dist\cfclient.exe```.
+
+To generate the installer you need [nsis](http://nsis.sourceforge.net/) installed and in the path. If you
+are a user of [chocolatey](https://chocolatey.org/) you can install it with ```choco install nsis.portable -version 2.50```,
+otherwise you can just download it and install it manually.
+
+To create the installer:
+```
+python win32install\generate_nsis.py
+makensis win32install\cfclient.nsi
+```
## Mac OSX
@@ -56,7 +83,7 @@ Finally you run the client using the following command
**IMPORTANT NOTE**: The following will use
[Homebrew](http://brew.sh/) and its own Python distribution. If
you have a lot of other 3rd party python stuff already running on your system
-they might or might not affected of this.
+they might or might not be affected by this.
1. [Install the Command Line Tools](https://gist.github.com/derhuerst/1b15ff4652a867391f03#1--install-the-command-line-tools).
@@ -87,7 +114,14 @@ they might or might not affected of this.
```
brew install libusb
- pip3 install pysdl2 pyusb pyqtgraph
+ pip3 install pysdl2 pyusb pyqtgraph appdirs
+ ```
+
+1. Install cflib from https://github.com/bitcraze/crazyflie-lib-python
+
+1. Install cfclient to run it from source. From the source folder run:
+ ```
+ pip3 install -e .
```
1. You now have all the dependencies needed to run the client. From the source folder, run it with the following command:
@@ -114,12 +148,18 @@ they might or might not affected of this.
```
To install ```pyusb``` from ```pip```, use:
```
- sudo pip install pyusb
+ sudo pip install pyusb appdirs
```
To enable the plotter tab install pyqtgraph, this takes a lot of time:
```
sudo port install py34-pyqtgraph
```
+ Install cflib from https://github.com/bitcraze/crazyflie-lib-python
+
+ Install cfclient to run it from source. From the source folder run:
+ ```
+ pip install -e .
+ ```
You can now run the client from the source folder with
```
python bin/cfclient
@@ -142,10 +182,17 @@ they might or might not affected of this.
### Launching the GUI application
+Install cflib from https://github.com/bitcraze/crazyflie-lib-python
+
+Install cfclient to run it from source. From the source folder run (to install
+for your user only you can add ```--user``` to the command):
+```
+pip3 install -e .
+```
To launch the GUI application in the source folder type:
```python bin/cfclient```
-To launch the GUI after a systemwide installation, execute ```cfclient```.
+To launch the GUI after a systemwide installation, execute ```cfclient```.
### Dependencies
@@ -157,53 +204,41 @@ The Crazyflie PC client has the following dependencies:
* PyQtGraph
* ZMQ
* PyQt4
+* appdirs
Example commands to install these dependencies:
-* Fedora (tested for 16 to 18):
+* Fedora:
+
+ ```
+ TODO Please contribute
+ ```
- ```sudo yum install pysdl2 pyusb PyQt4```
+
+* Ubuntu (14.04):
+
+ ```
+ sudo apt-get install python3 python3-pip python3-pyqt4 python3-zmq
+ pip3 install pyusb==1.0.0b2
+ pip3 install pyqtgraph appdirs
+ ```
* Ubuntu (15.04):
```
sudo apt-get install python3 python3-pip python3-pyqt4 python3-zmq python3-pyqtgraph
sudo pip3 install pyusb==1.0.0b2
+ sudo pip3 install appdirs
```
-* OpenSUSE (tested for 11.3):
+* OpenSUSE:
- ```sudo zypper install python-pysdl2 libusb python-usb```
+ ```
+ TODO Please contribute
+ ```
### Setting udev permissions
-The following steps make it possible to use the USB Radio without being root.
-
-Note: If using a fresh Debian install, you may need to install sudo first
-(executing exit command to exit from root shell first):
-
-```
-su -
-apt-get install sudo
-```
-
-Now, with sudo installed, you should be able to do the following commands
-
-```
-sudo groupadd plugdev
-sudo usermod -a -G plugdev <username>
-```
-
-Create a file named ```/etc/udev/rules.d/99-crazyradio.rules``` and add the
-following:
-```
-SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"
-```
-
-To connect Crazyflie 2.0 via usb, create a file name ```/etc/udev/rules.d/99-crazyflie.rules``` and add the following:
-```
-SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE="0664", GROUP="plugdev"
-```
-
-Restart the computer and you are now able to access the USB radio dongle
-without being root.
+Using Crazyradio on Linux requires that you set udev permissions. See the cflib
+[readme](https://github.com/bitcraze/crazyflie-lib-python#setting-udev-permissions)
+for more information.
diff --git a/appveyor.yml b/appveyor.yml
new file mode 100644
index 0000000000000000000000000000000000000000..4c8d62bd0b92e4badd64f3a45c10cf1fc3bc1b10
--- /dev/null
+++ b/appveyor.yml
@@ -0,0 +1,26 @@
+version: 1.0.{build}
+init:
+- cmd: set PATH=C:\Miniconda35;C:\Miniconda35\scripts;%PATH%
+install:
+- cmd: >-
+ conda create -y -q -n cfclient python=3.4 numpy=1.10.1 pyqt pyqtgraph
+
+ activate cfclient
+
+ pip install -e .[dev]
+
+ rmdir /Q /S C:\Miniconda35\envs\cfclient\lib\site-packages\PyQt4\uic\port_v2
+
+ python tools\build\prep_windows
+
+ choco install -y nsis.portable -version 2.50
+build_script:
+- cmd: >-
+ python setup.py py2exe
+
+ python win32install\generate_nsis.py
+
+ makensis win32install\cfclient.nsi
+artifacts:
+- path: dist\
+- path: win32install\*.exe
diff --git a/bin/cfclient b/bin/cfclient
index 294e865043a5651b93ad43d3b7e8ab4020e86b49..4e34e85f64766a421843554ec196a6c3b14d02df 100755
--- a/bin/cfclient
+++ b/bin/cfclient
@@ -1,116 +1,5 @@
#!/usr/bin/env python3
+from cfclient.gui import main
-from __future__ import absolute_import
-
-import logging
-import os
-import os.path as _path
-from os.path import expanduser
-import sys
-
-APP_NAME = "cfclient"
-
-
-def init_config_path(isInSource):
- """
- Configure path for config files.
-
- If the program is started in the source folder, use a folder "conf" in the
- root source directory. Otherwise put it in a directory depending on system
- architecture and configuration. If the chosen directory does not exist,
- create it.
- """
-
- if isInSource:
- configPath = _path.join(sys.path[0], "..", "conf")
- else:
- prefix = expanduser("~")
-
- if sys.platform == "linux2":
- if _path.exists(_path.join(prefix, ".local")):
- configPath = _path.join(prefix, ".local", APP_NAME)
- else:
- configPath = _path.join(prefix, "." + APP_NAME)
- elif sys.platform == "win32":
- configPath = _path.join(os.environ['APPDATA'], APP_NAME)
- elif sys.platform == "darwin":
- from AppKit import NSSearchPathForDirectoriesInDomains
- # FIXME: Copy-pasted from StackOverflow, not tested!
- # http://developer.apple.com/DOCUMENTATION/Cocoa/Reference/Foundation/Miscellaneous/Foundation_Functions/Reference/reference.html#//apple_ref/c/func/NSSearchPathForDirectoriesInDomains
- # NSApplicationSupportDirectory = 14
- # NSUserDomainMask = 1
- # True for expanding the tilde into a fully qualified path
- configPath = _path.join(NSSearchPathForDirectoriesInDomains(
- 14, 1, True)[0], APP_NAME)
- else:
- # Unknown OS, I hope this is good enough
- configPath = _path.join(prefix, "." + APP_NAME)
-
- if not _path.exists(configPath):
- os.makedirs(configPath)
-
- return configPath
-
-
-def init_paths():
- """
- Make the app work in the source tree.
-
- This puts the root module folder in sys.path[0] and the config folder in
- sys.path[1]
- """
-
- inSource = False
-
- if hasattr(sys, "frozen"):
- if sys.frozen in ('dll', 'console_exe', 'windows_exe'):
- sys.path[0] = _path.normpath(
- _path.dirname(_path.realpath(sys.executable)))
- elif sys.frozen in ('macosx_app',):
- # FIXME: Copy-pasted from StackOverflow, not tested!
- # py2app:
- # Notes on how to find stuff on MAC, by an expert (Bob Ippolito):
- # http://mail.python.org/pipermail/pythonmac-sig/2004-November/012121.html
- approot = os.environ['RESOURCEPATH']
- else:
- prefix = _path.normpath(
- _path.join(
- _path.dirname(_path.realpath(__file__)), '..'))
-
- src_lib = _path.join(prefix, 'src')
- share_lib = prefix
- inSource = False
- for location in [src_lib, share_lib] + sys.path:
- main_ui = _path.join(location, 'cfclient', 'ui', 'main.ui')
- if _path.exists(main_ui):
- sys.path.insert(0, location)
- if location == src_lib:
- inSource = True
- break
-
- if sys.path[0] == "":
- raise Exception("Cannot find cfclient install folder!")
-
- if inSource:
- os.environ["PYSDL2_DLL_PATH"] = os.path.abspath(sys.path[0] + "\..")
- else:
- os.environ["PYSDL2_DLL_PATH"] = sys.path[0]
-
- sys.path.insert(1, init_config_path(inSource))
-
- # Add paths to modules.
- sys.path.append(_path.join(src_lib, 'cflib'))
-
-
-if __name__ == '__main__':
- if sys.version_info < (3,):
- print("The Crazyflie Python client only works with Python 3+, and "
- "you are running it using version {}.{}.{}".format(
- sys.version_info.major, sys.version_info.minor,
- sys.version_info.micro))
- print("Exiting!")
- sys.exit(1)
- init_paths()
- import cfclient
-
- cfclient.main()
+if __name__ == "__main__":
+ main()
diff --git a/bin/cfheadless b/bin/cfheadless
index 24bed2b1334381ec14ddcbce190a7e92792e0dac..5d88e4e130a92e5e12c338cb263607d9457f50af 100755
--- a/bin/cfheadless
+++ b/bin/cfheadless
@@ -1,93 +1,5 @@
#!/usr/bin/env python3
+from cfclient.headless import main
-from __future__ import absolute_import
-
-APP_NAME = "cfclient"
-
-
-def init_config_path(isInSource):
- import sys
- import os
- import os.path as _path
- from os.path import expanduser
-
- if isInSource:
- configPath = _path.join(sys.path[0], "..", "conf")
- else:
- prefix = expanduser("~")
-
- if sys.platform == "linux2":
- if _path.exists(_path.join(prefix, ".local")):
- configPath = _path.join(prefix, ".local", APP_NAME)
- else:
- configPath = _path.join(prefix, "." + APP_NAME)
- elif sys.platform == "win32":
- configPath = _path.join(os.environ['APPDATA'], APP_NAME)
- elif sys.platform == "darwin":
- from AppKit import NSSearchPathForDirectoriesInDomains
- # FIXME: Copy-pasted from StackOverflow, not tested!
- # http://developer.apple.com/DOCUMENTATION/Cocoa/Reference/Foundation/Miscellaneous/Foundation_Functions/Reference/reference.html#//apple_ref/c/func/NSSearchPathForDirectoriesInDomains
- # NSApplicationSupportDirectory = 14
- # NSUserDomainMask = 1
- # True for expanding the tilde into a fully qualified path
- configPath = path.join(
- NSSearchPathForDirectoriesInDomains(14, 1, True)[0], APPNAME)
- else:
- # Unknown OS, I hope this is good enough
- configPath = _path.join(prefix, "." + APP_NAME)
-
- if not _path.exists(configPath):
- os.makedirs(configPath)
-
- return configPath
-
-
-def init_paths():
- """Make the app work in the source tree.
- This puts the root module folder in path[0] and the config folder in
- path[1]"""
- import sys
- import os.path as _path
-
- sys.path = ["", ""] + sys.path
- inSource = False
-
- if hasattr(sys, "frozen"):
- if sys.frozen in ('dll', 'console_exe', 'windows_exe'):
- sys.path[0] = _path.normpath(
- _path.dirname(_path.realpath(sys.executable)))
- elif frozen in ('macosx_app',):
- # FIXME: Copy-pasted from StackOverflow, not tested!
- # py2app:
- # Notes on how to find stuff on MAC, by an expert (Bob Ippolito):
- # http://mail.python.org/pipermail/pythonmac-sig/2004-November/012121.html
- approot = os.environ['RESOURCEPATH']
- else:
- prefix = _path.normpath(
- _path.join(_path.dirname(_path.realpath(__file__)), '..'))
-
- src_lib = _path.join(prefix, 'src')
- share_lib = prefix
- inSource = False
- for location in [src_lib, share_lib] + sys.path:
- main_ui = _path.join(location, 'cfclient', 'ui', 'main.ui')
- if _path.exists(main_ui):
- sys.path[0] = location
- if location == src_lib:
- inSource = True
- break
-
- if sys.path[0] == "":
- raise Exception("Cannot find cfclient install folder!")
-
- sys.path[1] = init_config_path(inSource)
-
- # Add paths to modules.
- sys.path.append(_path.join(src_lib, 'cflib'))
-
-
-if __name__ == '__main__':
- init_paths()
- import cfheadless
-
- cfheadless.main()
+if __name__ == "__main__":
+ main()
diff --git a/bin/cfloader b/bin/cfloader
index 2b68dd209d71477ab2286f772d475bab32ad8276..0def9b718012121a6d6edbe0ca722414efb0644e 100755
--- a/bin/cfloader
+++ b/bin/cfloader
@@ -1,204 +1,5 @@
#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
+from cfloader import main
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-# Crazy Loader bootloader utility
-# Can reset bootload and reset back the bootloader
-
-import sys
-import os
-# Fix the path so imports works regardless from where it's run
-sys.path[0] = os.path.join(sys.path[0][:-4], "src/cflib")
-
-import cflib.crtp # noqa
-from cflib.bootloader import Bootloader # noqa
-from cflib.bootloader.boottypes import BootVersion, TargetTypes, Target # noqa
-
-# Initialise the CRTP link driver
-link = None
-cload = None
-try:
- cflib.crtp.init_drivers()
- link = cflib.crtp.get_link_driver("radio://")
-except Exception as e:
- print("Error: {}".format(str(e)))
- if link:
- link.close()
- sys.exit(-1)
-
-# Set the default parameters
-# Default to Arnaud's copter
-cpu_id = "32:00:6e:06:58:37:35:32:60:58:01:43"
-clink = None
-action = "info"
-boot = "cold"
-
-if len(sys.argv) < 2:
- print()
- print("==============================")
- print(" CrazyLoader Flash Utility")
- print("==============================")
- print()
- print(" Usage:", sys.argv[0], "[CRTP options] <action> [parameters]")
- print()
- print("The CRTP options are described above")
- print()
- print("Crazyload option:")
- print(" info : Print the info of the bootloader "
- "and quit.")
- print(" Will let the target in bootloader "
- "mode")
- print(" reset : Reset the device in firmware mode")
- print(" flash <file> [targets] : flash the <img> binary file from "
- "the first")
- print(" possible page in flash and reset "
- "to firmware")
- print(" mode.")
- if link:
- link.close()
- sys.exit(0)
-
-# Analyse the command line parameters
-sys.argv = sys.argv[1:]
-argv = []
-
-warm_uri = None
-
-i = 0
-while i < len(sys.argv):
- if sys.argv[i] == "-i":
- i += 1
- cpu_id = sys.argv[i]
- elif sys.argv[i] == "--cold-boot" or sys.argv[i] == "-c":
- boot = "cold"
- elif sys.argv[i] == "--warm-boot" or sys.argv[i] == "-w":
- boot = "reset"
- i += 1
- clink = sys.argv[i]
- else:
- argv += [sys.argv[i]]
- i += 1
-sys.argv = argv
-
-# Analyse the command
-if len(sys.argv) < 1:
- action = "info"
-elif sys.argv[0] == "info":
- action = "info"
-elif sys.argv[0] == "reset":
- action = "reset"
-elif sys.argv[0] == "flash":
- # print len(sys.argv)
- if len(sys.argv) < 2:
- print("The flash action require a file name.")
- link.close()
- sys.exit(-1)
- action = "flash"
- filename = sys.argv[1]
- targetnames = {}
- for t in sys.argv[2:]:
- [target, type] = t.split("-")
- if target in targetnames:
- targetnames[target] += (type,)
- else:
- targetnames[target] = (type,)
-else:
- print("Action", sys.argv[0], "unknown!")
- link.close()
- sys.exit(-1)
-
-# Currently there's two different targets available
-targets = ()
-
-try:
- # Initialise the bootloader lib
- bl = Bootloader(clink)
-
- #########################################
- # Get the connection with the bootloader
- #########################################
- # The connection is done by reseting to the bootloader (default)
- if boot == "reset":
- print("Reset to bootloader mode ..."),
- sys.stdout.flush()
- if bl.start_bootloader(warm_boot=True):
- print(" done!")
- else:
- print("Failed to warmboot")
- bl.close()
- sys.exit(-1)
- else: # The connection is done by a cold boot ...
- print("Restart the Crazyflie you want to bootload in the next"),
- print(" 10 seconds ..."),
-
- sys.stdout.flush()
- if bl.start_bootloader(warm_boot=False):
- print(" done!")
- else:
- print("Cannot connect the bootloader!")
- bl.close()
- sys.exit(-1)
-
- print("Connected to bootloader on {} (version=0x{:X})".format(
- BootVersion.to_ver_string(bl.protocol_version),
- bl.protocol_version))
-
- if bl.protocol_version == BootVersion.CF2_PROTO_VER:
- targets += (bl.get_target(TargetTypes.NRF51),)
- targets += (bl.get_target(TargetTypes.STM32),)
-
- ######################################
- # Doing something (hopefully) useful
- ######################################
-
- # Print information about the targets
- for target in targets:
- print(target)
- if action == "info":
- None # Already done ...
- elif action == "reset":
- print
- print("Reset in firmware mode ...")
- bl.reset_to_firmware()
- elif action == "flash":
- bl.flash(filename, targetnames)
- print("Reset in firmware mode ...")
- bl.reset_to_firmware()
- else:
- None
-except Exception as e:
- import traceback
-
- traceback.print_exc(file=sys.stdout)
- print(e)
-
-finally:
- #########################
- # Closing the connection
- #########################
- if bl:
- bl.close()
+if __name__ == "__main__":
+ main()
diff --git a/bin/cfzmq b/bin/cfzmq
index 3881a98a459f8d67e6201327ba94a93135496432..8cffe898d0d982f2232f06bb3f58fca75b795fec 100755
--- a/bin/cfzmq
+++ b/bin/cfzmq
@@ -1,93 +1,5 @@
#!/usr/bin/env python3
+from cfzmq import main
-from __future__ import absolute_import
-
-APP_NAME = "cfzmq"
-
-
-def init_config_path(isInSource):
- import sys
- import os
- import os.path as _path
- from os.path import expanduser
-
- if isInSource:
- configPath = _path.join(sys.path[0], "..", "conf")
- else:
- prefix = expanduser("~")
-
- if sys.platform == "linux2":
- if _path.exists(_path.join(prefix, ".local")):
- configPath = _path.join(prefix, ".local", APP_NAME)
- else:
- configPath = _path.join(prefix, "." + APP_NAME)
- elif sys.platform == "win32":
- configPath = _path.join(os.environ['APPDATA'], APP_NAME)
- elif sys.platform == "darwin":
- from AppKit import NSSearchPathForDirectoriesInDomains
- # FIXME: Copy-pasted from StackOverflow, not tested!
- # http://developer.apple.com/DOCUMENTATION/Cocoa/Reference/Foundation/Miscellaneous/Foundation_Functions/Reference/reference.html#//apple_ref/c/func/NSSearchPathForDirectoriesInDomains
- # NSApplicationSupportDirectory = 14
- # NSUserDomainMask = 1
- # True for expanding the tilde into a fully qualified path
- configPath = path.join(
- NSSearchPathForDirectoriesInDomains(14, 1, True)[0], APPNAME)
- else:
- # Unknown OS, I hope this is good enough
- configPath = _path.join(prefix, "." + APP_NAME)
-
- if not _path.exists(configPath):
- os.makedirs(configPath)
-
- return configPath
-
-
-def init_paths():
- """Make the app work in the source tree.
- This puts the root module folder in path[0] and the config folder in
- path[1]"""
- import sys
- import os.path as _path
-
- sys.path = ["", ""] + sys.path
- inSource = False
-
- if hasattr(sys, "frozen"):
- if sys.frozen in ('dll', 'console_exe', 'windows_exe'):
- sys.path[0] = _path.normpath(
- _path.dirname(_path.realpath(sys.executable)))
- elif frozen in ('macosx_app',):
- # FIXME: Copy-pasted from StackOverflow, not tested!
- # py2app:
- # Notes on how to find stuff on MAC, by an expert (Bob Ippolito):
- # http://mail.python.org/pipermail/pythonmac-sig/2004-November/012121.html
- approot = os.environ['RESOURCEPATH']
- else:
- prefix = _path.normpath(
- _path.join(_path.dirname(_path.realpath(__file__)), '..'))
-
- src_lib = _path.join(prefix, 'src')
- share_lib = prefix
- inSource = False
- for location in [src_lib, share_lib] + sys.path:
- main_ui = _path.join(location, 'cfclient', 'ui', 'main.ui')
- if _path.exists(main_ui):
- sys.path[0] = location
- if location == src_lib:
- inSource = True
- break
-
- if sys.path[0] == "":
- raise Exception("Cannot find cfclient install folder!")
-
- sys.path[1] = init_config_path(inSource)
-
- # Add paths to modules.
- sys.path.append(_path.join(src_lib, 'cflib'))
-
-
-if __name__ == '__main__':
- init_paths()
- import cfzmq
-
- cfzmq.main()
+if __name__ == "__main__":
+ main()
diff --git a/examples/basiclog.py b/examples/basiclog.py
index 95ac6a0424d4be329489a4b32c85d546715b9085..21a1f3019660a3df6d13d518c7d53b200f72cef3 100644
--- a/examples/basiclog.py
+++ b/examples/basiclog.py
@@ -19,19 +19,16 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
# MA 02110-1301, USA.
-
"""
Simple example that connects to the first Crazyflie found, logs the Stabilizer
and prints it to the console. After 10s the application disconnects and exits.
"""
-
-import sys
import logging
+import sys
import time
from threading import Timer
diff --git a/examples/flash-memory.py b/examples/flash-memory.py
index c3003215f85e84cf95f6b0f6868d628ebf6c10ed..da69d0ccd6d04fe97ce782169be0d5a9427cf560 100644
--- a/examples/flash-memory.py
+++ b/examples/flash-memory.py
@@ -39,6 +39,7 @@ class Flasher(object):
"""
A class that can flash the DS28E05 EEPROM via CRTP.
"""
+
def __init__(self, link_uri):
self._cf = Crazyflie()
self._link_uri = link_uri
diff --git a/examples/read-ow.py b/examples/read-ow.py
index 54911b3d433a4ed8058dc1cde7872884a7c566b7..94c714bd0e27eb451a78d554e83037a4812c2da9 100644
--- a/examples/read-ow.py
+++ b/examples/read-ow.py
@@ -33,7 +33,6 @@ Simple example that connects to the first Crazyflie found, looks for
import sys
import logging
import time
-from threading import Timer
sys.path.append("../src/cflib")
import cflib.crtp # noqa
diff --git a/examples/write-eeprom.py b/examples/write-eeprom.py
index bc455b2cb7780f359ac87fb37dd5d63cbd5b3e71..9097bb25e52586c58aa9136c31203c7a6fb171d3 100644
--- a/examples/write-eeprom.py
+++ b/examples/write-eeprom.py
@@ -19,21 +19,17 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
# MA 02110-1301, USA.
-
"""
Simple example that connects to the first Crazyflie found, looks for
EEPROM memories and writes the default values in it.
"""
-
-import sys
import logging
+import sys
import time
-from threading import Timer
sys.path.append("../src/cflib")
import cflib.crtp # noqa
@@ -92,8 +88,8 @@ class EEPROMExample:
mems[0].write_data(self._data_written)
def _data_written(self, mem, addr):
- print("Data written, reading back...")
- mem.update(self._data_updated)
+ print("Data written, reading back...")
+ mem.update(self._data_updated)
def _data_updated(self, mem):
print("Updated id={}".format(mem.id))
diff --git a/examples/write-ow.py b/examples/write-ow.py
index e4fb04117fc1a21211be73c2c973d56261ae1671..9f28271af42dfa81590335bc4fd9f4dbb2f587fc 100644
--- a/examples/write-ow.py
+++ b/examples/write-ow.py
@@ -33,7 +33,6 @@ EEPROM memories and lists its contents.
import sys
import logging
import time
-from threading import Timer
sys.path.append("../src/cflib")
import cflib.crtp # noqa
@@ -92,8 +91,8 @@ class EEPROMExample:
mems[0].write_data(self._data_written)
def _data_written(self, mem, addr):
- print("Data written, reading back...")
- mem.update(self._data_updated)
+ print("Data written, reading back...")
+ mem.update(self._data_updated)
def _data_updated(self, mem):
print("Updated id={}".format(mem.id))
diff --git a/examples/zmqclientinput.py b/examples/zmqclientinput.py
index 775f5dd5fdb9e269e5f9170f0b36e5319d22c215..e9667391959b93105f3d48dee8c1cc8f2908fd77 100644
--- a/examples/zmqclientinput.py
+++ b/examples/zmqclientinput.py
@@ -1,4 +1,5 @@
#!/usr/bin/env python
+# -*- coding: utf-8 -*-
# Original code from rshum19
diff --git a/examples/zmqclientparam.py b/examples/zmqclientparam.py
index c3560fee18ccf4bfebf6b90d383a1f8d4493f42c..13604eb0d20c05b7d93821fabc2e441069963992 100644
--- a/examples/zmqclientparam.py
+++ b/examples/zmqclientparam.py
@@ -20,12 +20,10 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
# USA.
-
"""
Test script to show how to use the ZMQ param backend for the Crazyflie
Python Client. The backend is started automatically in the client if ZMQ
@@ -34,7 +32,6 @@ is available.
The example will use the buzzer parameters (still testing firmware) and first
set the buzzer to on (at 4 kHz) for 3 seconds and then turn it off again.
"""
-
import time
try:
diff --git a/examples/zmqsrvtest.py b/examples/zmqsrvtest.py
index 985dcff090c2c1de557422f6a08849533415d669..100b2741c7f70de23086e67fd9a396bdbb304246 100644
--- a/examples/zmqsrvtest.py
+++ b/examples/zmqsrvtest.py
@@ -45,6 +45,7 @@ except ImportError as e:
class _LogThread(Thread):
+
def __init__(self, socket, *args):
super(_LogThread, self).__init__(*args)
self._socket = socket
@@ -65,6 +66,7 @@ class _LogThread(Thread):
class _ParamThread(Thread):
+
def __init__(self, socket, *args):
super(_ParamThread, self).__init__(*args)
self._socket = socket
@@ -76,6 +78,7 @@ class _ParamThread(Thread):
class _ConnThread(Thread):
+
def __init__(self, socket, *args):
super(_ConnThread, self).__init__(*args)
self._socket = socket
@@ -87,6 +90,7 @@ class _ConnThread(Thread):
class _CtrlThread(Thread):
+
def __init__(self, socket, *args):
super(_CtrlThread, self).__init__(*args)
self._socket = socket
diff --git a/setup.py b/setup.py
index deaa857b036067edb4271a5a86da99716dfb5484..e2fbf48c926376d258dbe8957367f6ae3d7ea582 100644
--- a/setup.py
+++ b/setup.py
@@ -1,122 +1,169 @@
#!/usr/bin/env python3
-
-from distutils.core import setup
-import glob
-import os
+# -*- coding: utf-8 -*-
+import subprocess
+from subprocess import PIPE, Popen
+from setuptools import setup, find_packages
+from glob import glob
+import json
+import codecs
import sys
-from subprocess import Popen, PIPE
-
+import os
-# Recover version from Git
try:
- process = Popen(["git", "describe", "--tags"], stdout=PIPE)
- (output, err) = process.communicate()
- exit_code = process.wait()
-except OSError:
- raise Exception("Cannot run git: Git is required to generate packages!")
+ import py2exe # noqa
+except:
+ pass
-VERSION = output.strip().decode("UTF-8")
+if sys.version_info < (3, 4):
+ raise "must use python 3.4 or greater"
-toplevel_data_files = ['README.md', 'LICENSE.txt']
-# Platform specific settings
-if sys.platform.startswith('win32'):
+# Recover version from Git.
+# Returns None if git is not installed or if we are running outside of the git
+# tree
+def get_version():
try:
- import py2exe
- except ImportError:
- print("Warning: py2exe not usable")
-
- setup_args = dict(
- console=[{
- "script": 'bin/cfclient',
- "icon_resources": [(1, "bitcraze.ico")]
- }],
- options={"py2exe": {
- "includes": [
- "sip", "PyQt4",
- "cfclient.ui.widgets",
- "cflib.bootloader.cloader",
- "cfclient.ui.toolboxes.*",
- "cfclient.ui.*",
- "cfclient.ui.tabs.*",
- "cfclient.ui.widgets.*",
- "cfclient.ui.dialogs.*",
- "cfclient.utils.input.inputreaders.*",
- "cfclient.utils.input.inputinterfaces.*",
- 'zmq.backend.cython'],
- "excludes": [
- "AppKit",
- 'zmq.libzmq'],
- 'dll_excludes': [
- 'libzmq.pyd'],
- "skip_archive": True}})
-
- toplevel_data_files.append('SDL2.dll')
+ process = Popen(["git", "describe", "--tags"], stdout=PIPE)
+ (output, err) = process.communicate()
+ process.wait()
+ except OSError:
+ return None
+
+ if process.returncode != 0:
+ return None
+
+ version = output.strip().decode("UTF-8")
+
+ if subprocess.call(["git", "diff-index", "--quiet", "HEAD"]) != 0:
+ version += "_modified"
+
+ return version
+
+
+def relative(lst, base=''):
+ return list(map(lambda x: base + os.path.basename(x), lst))
+
+VERSION = get_version()
+
+if not VERSION and not os.path.isfile('src/cfclient/version.json'):
+ sys.stderr.write("Git is required to install from source.\n" +
+ "Please clone the project with Git or use one of the\n" +
+ "release pachages (either from pip or a binary build).\n")
+ raise Exception("Git required.")
+
+if not VERSION:
+ versionfile = open('src/cfclient/version.json', 'r', encoding='utf8')
+ VERSION = json.loads(versionfile.read())['version']
else:
- setup_args = dict(
- scripts=['bin/cfclient', 'bin/cfheadless'])
+ with codecs.open('src/cfclient/version.json', 'w', encoding='utf8') as f:
+ f.write(json.dumps({'version': VERSION}))
+
+platform_requires = []
+platform_dev_requires = []
+if sys.platform == 'win32' or sys.platform == 'darwin':
+ platform_requires = ['pysdl2']
+if sys.platform == 'win32':
+ platform_dev_requires = ['py2exe', 'jinja2']
+
+# Make a special case when running py2exe to be able to access resources
+if sys.platform == 'win32' and sys.argv[1] == 'py2exe':
+ package_data = {}
+ data_files = [
+ ('', ['README.md', 'src/cfclient/version.json']),
+ ('ui', glob('src/cfclient/ui/*.ui')),
+ ('ui/tabs', glob('src/cfclient/ui/tabs/*.ui')),
+ ('ui/widgets', glob('src/cfclient/ui/widgets/*.ui')),
+ ('ui/toolboxes', glob('src/cfclient/ui/toolboxes/*.ui')),
+ ('ui/dialogs', glob('src/cfclient/ui/dialogs/*.ui')),
+ ('configs', glob('src/cfclient/configs/*.json')),
+ ('configs/input', glob('src/cfclient/configs/input/*.json')),
+ ('configs/log', glob('src/cfclient/configs/log/*.json')),
+ ('', glob('src/cfclient/*.png')),
+ ('resources', glob('src/cfclient/resources/*')),
+ ('third_party', glob('src/cfclient/third_party/*')),
+ ]
+else:
+ package_data = {
+ 'cfclient.ui': relative(glob('src/cfclient/ui/*.ui')),
+ 'cfclient.ui.tabs': relative(glob('src/cfclient/ui/tabs/*.ui')),
+ 'cfclient.ui.widgets': relative(glob('src/cfclient/ui/widgets/*.ui')),
+ 'cfclient.ui.toolboxes': relative(glob('src/cfclient/ui/toolboxes/*.ui')), # noqa
+ 'cfclient.ui.dialogs': relative(glob('src/cfclient/ui/dialogs/*.ui')),
+ 'cfclient': relative(glob('src/cfclient/configs/*.json'), 'configs/') + # noqa
+ relative(glob('src/cfclient/configs/input/*.json'), 'configs/input/') + # noqa
+ relative(glob('src/cfclient/configs/log/*.json'), 'configs/log/') + # noqa
+ relative(glob('src/cfclient/resources/*'), 'resources/') +
+ relative(glob('src/cfclient/*.png')),
+ '': ['README.md']
+ }
+ data_files = [
+ ('third_party', glob('src/cfclient/third_party/*')),
+ ]
+
# Initial parameters
-setup_args = dict(name='cfclient',
- description='Bitcraze Cazyflie nano quadcopter client',
- version=VERSION,
- author='Bitcraze team',
- author_email='contact@bitcraze.se',
- url='http://www.bitcraze.se',
- package_dir={'': 'lib'},
- packages=['cfclient', 'cfclient.ui', 'cfclient.ui.tabs',
- 'cfclient.ui.toolboxes', 'cfclient.ui.widgets',
- 'cfclient.utils', 'cfclient.ui.dialogs', 'cflib',
- 'cflib.bootloader', 'cflib.crazyflie',
- 'cflib.drivers',
- 'cflib.utils', 'cflib.crtp',
- 'cfclient.utils.input',
- 'cfclient.utils.input.inputinterfaces',
- 'cfclient.utils.input.mux',
- 'cfclient.utils.input.inputreaders'],
- data_files=[('', toplevel_data_files),
- ('cfclient/ui',
- glob.glob('src/cfclient/ui/*.ui')),
- ('cfclient/ui/tabs',
- glob.glob('src/cfclient/ui/tabs/*.ui')),
- ('cfclient/ui/widgets',
- glob.glob('src/cfclient/ui/widgets/*.ui')),
- ('cfclient/ui/toolboxes',
- glob.glob('src/cfclient/ui/toolboxes/*.ui')),
- ('cfclient/ui/dialogs',
- glob.glob('src/cfclient/ui/dialogs/*.ui')),
- ('cfclient/configs',
- glob.glob('src/cfclient/configs/*.json')),
- ('cflib/cache',
- glob.glob('src/cflib/cache/*.json')),
- ('cfclient/configs/input',
- glob.glob('src/cfclient/configs/input/*.json')),
- ('cfclient/configs/log',
- glob.glob('src/cfclient/configs/log/*.json')),
- ('cfclient',
- glob.glob('src/cfclient/*.png'))],
- **setup_args)
-
-
-# Fetch values from package.xml when using catkin
-if os.getenv('CATKIN_TEST_RESULTS_DIR'):
- from catkin_pkg.python_setup import generate_distutils_setup
- # Delete keys which should not match catkin packaged variant
- for k in ('version', 'url'):
- setup_args.pop(k, None)
- setup_args = generate_distutils_setup(**setup_args)
-
-
-# Write a temp file to pass verision into script
-version_file = os.path.join(os.path.dirname(__file__),
- "lib", "cfclient", "version.py")
-try:
- with open(version_file, "w") as versionpy:
- versionpy.write("VERSION='{}'".format(VERSION))
-except:
- print("Warning: Version file cannot be written.")
+setup(
+ name='cfclient',
+ description='Bitcraze Cazyflie quadcopter client',
+ version=VERSION,
+ author='Bitcraze team',
+ author_email='contact@bitcraze.se',
+ url='http://www.bitcraze.io',
+
+ classifiers=[
+ 'License :: OSI Approved :: GNU General Public License v2 or later (GPLv2+)', # noqa
+ 'Programming Language :: Python :: 3.4',
+ 'Programming Language :: Python :: 3.5',
+ ],
+
+ keywords='quadcopter crazyflie',
+
+ package_dir={'': 'src'},
+ packages=find_packages('src'),
+
+ entry_points={
+ 'console_scripts': [
+ 'cfclient=cfclient.gui:main',
+ 'cfheadless=cfclient.headless:main',
+ 'cfloader=cfloader:main',
+ 'cfzmq=cfzmq:main'
+ ],
+ },
+
+ install_requires=platform_requires + ['cflib==0.1.0', 'appdirs==1.4.0',
+ 'pyzmq'],
+
+ # List of dev dependencies
+ # You can install them by running
+ # $ pip install -e .[dev]
+ extras_require={
+ 'dev': platform_dev_requires + []
+ },
+
+ package_data=package_data,
+
+ # Py2exe options
+ console=[
+ {
+ 'script': 'bin/cfclient',
+ 'icon_resources': [(0, 'bitcraze.ico')]
+ }
+ ],
+ options={
+ "py2exe": {
+ 'includes': ['cfclient.ui.widgets.hexspinbox',
+ 'zmq.backend.cython'],
+ 'bundle_files': 3,
+ 'skip_archive': True,
+ },
+ },
-setup(**setup_args)
+ data_files=data_files
+)
-if (os.path.isfile(version_file)):
- os.remove(version_file)
+# Fixing the zmq lib in the windows binary dist folder
+if sys.platform == 'win32' and sys.argv[1] == 'py2exe':
+ print("Renaming zmq dll")
+ if os.path.isfile('dist/zmq.libzmq.pyd') and \
+ not os.path.isfile('dist/libzmq.pyd'):
+ os.rename('dist/zmq.libzmq.pyd', 'dist/libzmq.pyd')
diff --git a/setup_linux.sh b/setup_linux.sh
deleted file mode 100755
index 648265d533075a717f332a153f8dbf214a9a1bfa..0000000000000000000000000000000000000000
--- a/setup_linux.sh
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/bin/bash
-# Install the Crazyflie PC client and set up permissions so that it can be used
-# by the current user immediately
-# Caution! This installs the Crazyflie PC client as root to your Python
-# site-packages directory. If you wish to install it as a normal user, use the
-# instructions on the Wiki at
-# http://wiki.bitcraze.se/projects:crazyflie:pc_utils:install
-# After installation, the Crazyflie PC client can be started with `cfclient`.
-# @author Daniel Lee 2013
-
-# Allow user to use USB radio without root permission
-groupadd plugdev
-usermod -a -G plugdev $USER
-echo SUBSYSTEM==\"usb\", ATTRS{idVendor}==\"1915\", ATTRS{idProduct}==\"7777\", \
-MODE=\"0664\", GROUP=\"plugdev\" > /etc/udev/rules.d/99-crazyradio.rules
-echo SUBSYSTEM==\"usb\", ATTRS{idVendor}==\"0483\", ATTRS{idProduct}==\"5740\", \
-MODE=\"0664\", GROUP=\"plugdev\" > /etc/udev/rules.d/99-crazyflie.rules
-
-# Install Crazyflie PC client
-python3 setup.py install
-
diff --git a/src/cfclient/__init__.py b/src/cfclient/__init__.py
index a9b1b5711ab4853df14e42efd489721c75e37dba..bedfb2dc2eff582226b43b7d50c2a4a9789e10fb 100644
--- a/src/cfclient/__init__.py
+++ b/src/cfclient/__init__.py
@@ -24,24 +24,28 @@
# this program; if not, write to the Free Software Foundation, Inc., 51
# Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-from .cfclient import main
+import os
+from appdirs import AppDirs
+import sys
-try:
- from .version import VERSION
-except:
- try:
- import subprocess
+# Path used all over the application
+if not hasattr(sys, 'frozen'):
+ module_path = os.path.dirname(__file__)
+else:
+ module_path = os.path.dirname(sys.executable)
+config_path = AppDirs("cfclient", "Bitcraze").user_config_dir
- VERSION = subprocess.check_output(["git", "describe"]).encode('utf-8')
- except:
- VERSION = "dev"
+# Locate the sdl2 lib on Windows (should be in cfclient/thirst_party/)
+if os.name == 'nt':
+ os.environ["PYSDL2_DLL_PATH"] = os.path.join(module_path, "third_party")
+if not hasattr(sys, 'frozen'):
+ import pkg_resources
try:
- import subprocess
-
- ret = subprocess.call(["git", "diff", "--quiet", "HEAD"]
- ).encode('utf-8')
- if ret > 0:
- VERSION += "+"
- except:
- VERSION += "+"
+ VERSION = pkg_resources.require("cfclient")[0].version
+ except pkg_resources.DistributionNotFound:
+ VERSION = "dev"
+else:
+ import json
+ with open(os.path.join(module_path, "version.json")) as f:
+ VERSION = json.load(f)['version']
diff --git a/src/cfclient/configs/config.json b/src/cfclient/configs/config.json
index c78d5b0e7948a211fd64f5867b3268ad50c42bf8..bb92591efe544bc86c28072ab1592b17e5516745 100644
--- a/src/cfclient/configs/config.json
+++ b/src/cfclient/configs/config.json
@@ -1,16 +1,16 @@
{
"writable" : {
- "input_device": "",
- "link_uri": "",
- "flightmode": "Normal",
- "open_tabs": "Flight Control",
- "trim_pitch": 0.0,
- "slew_limit": 45,
- "slew_rate": 30,
- "trim_roll": 0.0,
- "max_thrust": 80,
- "min_thrust": 25,
- "max_yaw": 200,
+ "input_device": "",
+ "link_uri": "",
+ "flightmode": "Normal",
+ "open_tabs": "Flight Control",
+ "trim_pitch": 0.0,
+ "slew_limit": 45,
+ "slew_rate": 30,
+ "trim_roll": 0.0,
+ "max_thrust": 80,
+ "min_thrust": 25,
+ "max_yaw": 200,
"max_rp": 30,
"client_side_xmode": false,
"auto_reconnect": false,
@@ -21,11 +21,11 @@
"enable_zmq_input": false
},
"read-only" : {
- "normal_slew_limit": 45,
- "normal_slew_rate": 30,
- "normal_max_thrust": 80,
- "normal_min_thrust": 25,
- "normal_max_yaw": 200,
+ "normal_slew_limit": 45,
+ "normal_slew_rate": 30,
+ "normal_max_thrust": 80,
+ "normal_min_thrust": 25,
+ "normal_max_yaw": 200,
"normal_max_rp": 30,
"default_cf_channel": 10,
"default_cf_speed": 0,
diff --git a/src/cfclient/configs/input/Joystick.json b/src/cfclient/configs/input/Joystick.json
index 00e1a5edcc90034168d368d62ee81c1a51bfe799..42299c4a3d2e53e8a072b12cabf7d2cc793872a5 100644
--- a/src/cfclient/configs/input/Joystick.json
+++ b/src/cfclient/configs/input/Joystick.json
@@ -1,95 +1,95 @@
-{
- "inputconfig": {
- "inputdevice": {
- "updateperiod": 10,
- "springythrottle": false,
- "name": "Joystick",
- "axis": [
- {
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 3,
- "key": "thrust",
- "name": "thrust"
- },
- {
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 2,
- "key": "yaw",
- "name": "yaw"
- },
- {
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 0,
- "key": "roll",
- "name": "roll"
- },
- {
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "pitch",
- "name": "pitch"
- },
- {
- "scale": 1.0,
- "type": "Input.HAT",
- "id": 0,
- "key": "trim",
- "name": "trim"
- },
- {
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 4,
- "key": "pitchNeg",
- "name": "pitchNeg"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 5,
- "key": "pitchPos",
- "name": "pitchPos"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 1,
- "key": "estop",
- "name": "killswitch"
- },
- {
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 2,
- "key": "rollNeg",
- "name": "rollNeg"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 3,
- "key": "rollPos",
- "name": "rollPos"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 0,
- "key": "althold",
- "name": "althold"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 6,
- "key": "exit",
- "name": "exitapp"
- }
- ]
- }
- }
-}
+{
+ "inputconfig": {
+ "inputdevice": {
+ "updateperiod": 10,
+ "springythrottle": false,
+ "name": "Joystick",
+ "axis": [
+ {
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 3,
+ "key": "thrust",
+ "name": "thrust"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 2,
+ "key": "yaw",
+ "name": "yaw"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 0,
+ "key": "roll",
+ "name": "roll"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "pitch",
+ "name": "pitch"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.HAT",
+ "id": 0,
+ "key": "trim",
+ "name": "trim"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 4,
+ "key": "pitchNeg",
+ "name": "pitchNeg"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 5,
+ "key": "pitchPos",
+ "name": "pitchPos"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 1,
+ "key": "estop",
+ "name": "killswitch"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 2,
+ "key": "rollNeg",
+ "name": "rollNeg"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 3,
+ "key": "rollPos",
+ "name": "rollPos"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 0,
+ "key": "althold",
+ "name": "althold"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 6,
+ "key": "exit",
+ "name": "exitapp"
+ }
+ ]
+ }
+ }
+}
diff --git a/src/cfclient/configs/input/PS3_Mode_3.json b/src/cfclient/configs/input/PS3_Mode_3.json
index 18fea8441bbb5dd03427ce8fde66516c725eac68..2a55cb989ae1bccce38274fc5aaf743ec72177d8 100644
--- a/src/cfclient/configs/input/PS3_Mode_3.json
+++ b/src/cfclient/configs/input/PS3_Mode_3.json
@@ -1,83 +1,83 @@
{
"inputconfig": {
"inputdevice": {
- "updateperiod": 10,
- "name": "PS3_Mode_3",
+ "updateperiod": 10,
+ "name": "PS3_Mode_3",
"axis": [
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "thrust",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "thrust",
"name": "thrust"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
+ "scale": 1.0,
+ "type": "Input.AXIS",
"ids": [
- 12,
+ 12,
13
- ],
- "key": "yaw",
+ ],
+ "key": "yaw",
"name": "yaw"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 2,
- "key": "roll",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 2,
+ "key": "roll",
"name": "roll"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 3,
- "key": "pitch",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 3,
+ "key": "pitch",
"name": "pitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 6,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 6,
"key": "pitchNeg",
"name": "pitchNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 4,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 4,
"key": "pitchPos",
"name": "pitchPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 14,
- "key": "estop",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 14,
+ "key": "estop",
"name": "killswitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 7,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 7,
"key": "rollNeg",
"name": "rollNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 5,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 5,
"key": "rollPos",
"name": "rollPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 12,
- "key": "exit",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 12,
+ "key": "exit",
"name": "exitapp"
}
]
}
}
-}
\ No newline at end of file
+}
diff --git a/src/cfclient/configs/input/PS4_Mode_1.json b/src/cfclient/configs/input/PS4_Mode_1.json
index 15e0010d2107c7e468bcb406b57ab8dd03d624fe..d8c5882570e45450d034d940de953614c1717a4b 100644
--- a/src/cfclient/configs/input/PS4_Mode_1.json
+++ b/src/cfclient/configs/input/PS4_Mode_1.json
@@ -1,87 +1,87 @@
{
"inputconfig": {
"inputdevice": {
- "updateperiod": 10,
- "name": "PS4_Mode_1",
+ "updateperiod": 10,
+ "name": "PS4_Mode_1",
"axis": [
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 5,
- "key": "thrust",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 5,
+ "key": "thrust",
"name": "thrust"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 2,
- "key": "yaw",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 2,
+ "key": "yaw",
"name": "yaw"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 0,
- "key": "roll",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 0,
+ "key": "roll",
"name": "roll"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "pitch",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "pitch",
"name": "pitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 1,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 1,
"key": "pitchNeg",
"name": "pitchNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 3,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 3,
"key": "pitchPos",
"name": "pitchPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 12,
- "key": "estop",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 12,
+ "key": "estop",
"name": "killswitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 0,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 0,
"key": "rollNeg",
"name": "rollNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 2,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 2,
"key": "rollPos",
"name": "rollPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 5,
- "key": "althold",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 5,
+ "key": "althold",
"name": "althold"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 8,
- "key": "exit",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 8,
+ "key": "exit",
"name": "exitapp"
}
]
}
}
-}
\ No newline at end of file
+}
diff --git a/src/cfclient/configs/input/PS4_Mode_2.json b/src/cfclient/configs/input/PS4_Mode_2.json
index f369ebdc43d38d99b62872dab2273800f4cd9cac..6b9ef6a15f0510e61deb473b914d81f04e8b2156 100644
--- a/src/cfclient/configs/input/PS4_Mode_2.json
+++ b/src/cfclient/configs/input/PS4_Mode_2.json
@@ -1,87 +1,87 @@
{
"inputconfig": {
"inputdevice": {
- "updateperiod": 10,
- "name": "PS4_Mode_2",
+ "updateperiod": 10,
+ "name": "PS4_Mode_2",
"axis": [
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "thrust",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "thrust",
"name": "thrust"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 0,
- "key": "yaw",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 0,
+ "key": "yaw",
"name": "yaw"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 2,
- "key": "roll",
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 2,
+ "key": "roll",
"name": "roll"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 5,
- "key": "pitch",
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 5,
+ "key": "pitch",
"name": "pitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 1,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 1,
"key": "pitchNeg",
"name": "pitchNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 3,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 3,
"key": "pitchPos",
"name": "pitchPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 7,
- "key": "estop",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 7,
+ "key": "estop",
"name": "killswitch"
- },
+ },
{
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": 0,
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": 0,
"key": "rollNeg",
"name": "rollNeg"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 2,
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 2,
"key": "rollPos",
"name": "rollPos"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 4,
- "key": "althold",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 4,
+ "key": "althold",
"name": "althold"
- },
+ },
{
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 8,
- "key": "exit",
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 8,
+ "key": "exit",
"name": "exitapp"
}
]
}
}
-}
\ No newline at end of file
+}
diff --git a/src/cfclient/configs/input/xbox360_mode1.json b/src/cfclient/configs/input/xbox360_mode1.json
index 0ca5d032a0763a09979b57d9803a219fefac02a0..5769145688fe4fcbcb93a5449fc83974eededa9a 100644
--- a/src/cfclient/configs/input/xbox360_mode1.json
+++ b/src/cfclient/configs/input/xbox360_mode1.json
@@ -1,87 +1,87 @@
-{
- "inputconfig": {
- "inputdevice": {
- "updateperiod": 10,
- "name": "xbox360_mode1_linux",
- "axis": [
- {
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 4,
- "key": "thrust",
- "name": "thrust"
- },
- {
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 3,
- "key": "yaw",
- "name": "yaw"
- },
- {
- "scale": 1.0,
- "type": "Input.AXIS",
- "id": 0,
- "key": "roll",
- "name": "roll"
- },
- {
- "scale": -1.0,
- "type": "Input.AXIS",
- "id": 1,
- "key": "pitch",
- "name": "pitch"
- },
- {
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "pitchNeg",
- "name": "pitchNeg"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "pitchPos",
- "name": "pitchPos"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "estop",
- "name": "killswitch"
- },
- {
- "scale": -1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "rollNeg",
- "name": "rollNeg"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "rollPos",
- "name": "rollPos"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": 5,
- "key": "althold",
- "name": "althold"
- },
- {
- "scale": 1.0,
- "type": "Input.BUTTON",
- "id": -1,
- "key": "exit",
- "name": "exitapp"
- }
- ]
- }
- }
-}
\ No newline at end of file
+{
+ "inputconfig": {
+ "inputdevice": {
+ "updateperiod": 10,
+ "name": "xbox360_mode1_linux",
+ "axis": [
+ {
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 4,
+ "key": "thrust",
+ "name": "thrust"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 3,
+ "key": "yaw",
+ "name": "yaw"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.AXIS",
+ "id": 0,
+ "key": "roll",
+ "name": "roll"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.AXIS",
+ "id": 1,
+ "key": "pitch",
+ "name": "pitch"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "pitchNeg",
+ "name": "pitchNeg"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "pitchPos",
+ "name": "pitchPos"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "estop",
+ "name": "killswitch"
+ },
+ {
+ "scale": -1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "rollNeg",
+ "name": "rollNeg"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "rollPos",
+ "name": "rollPos"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": 5,
+ "key": "althold",
+ "name": "althold"
+ },
+ {
+ "scale": 1.0,
+ "type": "Input.BUTTON",
+ "id": -1,
+ "key": "exit",
+ "name": "exitapp"
+ }
+ ]
+ }
+ }
+}
diff --git a/src/cfclient/cfclient.py b/src/cfclient/gui.py
similarity index 93%
rename from src/cfclient/cfclient.py
rename to src/cfclient/gui.py
index 901234ab5f03b8df027261756292b68a5bbdad6c..ce27791f061750848fb3304e328d995de8f668a5 100644
--- a/src/cfclient/cfclient.py
+++ b/src/cfclient/gui.py
@@ -33,8 +33,10 @@ import datetime
import logging
+import cfclient
+
__author__ = 'Bitcraze AB'
-__all__ = ['']
+__all__ = []
def main():
@@ -56,7 +58,7 @@ def main():
help="set debug level "
"[minimal, info, debug, debugfile]")
args = parser.parse_args()
- globals().update(vars(args))
+ debug = args.debug
cflogger = logging.getLogger('')
@@ -80,25 +82,25 @@ def main():
logger = logging.getLogger(__name__)
- logger.debug("Using config path {}".format(sys.path[1]))
+ logger.debug("Using config path {}".format(cfclient.config_path))
logger.debug("sys.path={}".format(sys.path))
# Try all the imports used in the project here to control what happens....
try:
- import usb
+ import usb # noqa
except ImportError:
logger.critical("No pyusb installation found, exiting!")
sys.exit(1)
if not sys.platform.startswith('linux'):
try:
- import sdl2
+ import sdl2 # noqa
except ImportError:
logger.critical("No pysdl2 installation found, exiting!")
sys.exit(1)
try:
- import PyQt4
+ import PyQt4 # noqa
except ImportError:
logger.critical("No PyQT4 installation found, exiting!")
sys.exit(1)
@@ -135,7 +137,7 @@ def main():
app = QApplication(sys.argv)
- app.setWindowIcon(QIcon(sys.path[0] + "/cfclient/icon-256.png"))
+ app.setWindowIcon(QIcon(cfclient.module_path + "/icon-256.png"))
# Make sure the right icon is set in Windows 7+ taskbar
if os.name == 'nt':
import ctypes
@@ -150,3 +152,6 @@ def main():
main_window = MainUI()
main_window.show()
sys.exit(app.exec_())
+
+if __name__ == "__main__":
+ main()
diff --git a/src/cfheadless.py b/src/cfclient/headless.py
similarity index 95%
rename from src/cfheadless.py
rename to src/cfclient/headless.py
index af359911cc22ba52314d195e9a7b08cec62e2d8b..a4e76b6a437231c45147d12c25d0227e1230547b 100644
--- a/src/cfheadless.py
+++ b/src/cfclient/headless.py
@@ -19,26 +19,22 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
# MA 02110-1301, USA.
-
"""
Headless client for the Crazyflie.
"""
-
-import sys
-import os
import logging
+import os
import signal
+import sys
-import cflib.crtp
-from cflib.crazyflie import Crazyflie
import cfclient.utils
+import cflib.crtp
from cfclient.utils.input import JoystickReader
-from cfclient.utils.config import Config
+from cflib.crazyflie import Crazyflie
if os.name == 'posix':
print('Disabling standard output for libraries!')
@@ -60,8 +56,8 @@ class HeadlessClient():
self._jr = JoystickReader(do_device_discovery=False)
- self._cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
- rw_cache=sys.path[1] + "/cache")
+ self._cf = Crazyflie(ro_cache=None,
+ rw_cache=cfclient.config_path + "/cache")
signal.signal(signal.SIGINT, signal.SIG_DFL)
@@ -78,7 +74,7 @@ class HeadlessClient():
if (xmode):
self._cf.commander.set_client_xmode(xmode)
- devs = self._jr.available_devices()
+ devs = self._jr.available_devices() # noqa, is this a bug?
print("Will use [%s] for input" % self._devs[input_device])
self._jr.start_input(self._devs[input_device])
self._jr.set_input_map(self._devs[input_device], input_config)
@@ -93,7 +89,7 @@ class HeadlessClient():
for i, dev in enumerate(self._devs):
print(" - Controller #{}: {}".format(i, dev))
print("\nAvailable input mapping:")
- for map in os.listdir(sys.path[1] + '/input'):
+ for map in os.listdir(cfclient.config_path + '/input'):
print(" - " + map.split(".json")[0])
def connect_crazyflie(self, link_uri):
@@ -171,3 +167,6 @@ def main():
headless.connect_crazyflie(link_uri=args.uri)
else:
print("No input-device connected, exiting!")
+
+if __name__ == "__main__":
+ main()
diff --git a/src/cfclient/ui/dialogs/about.py b/src/cfclient/ui/dialogs/about.py
index 77fd4fe34bbbf84a7245c58f953b6942f3f2cdc6..21aba7403b4cb865f3c103df0c8db9dcc0854eb3 100644
--- a/src/cfclient/ui/dialogs/about.py
+++ b/src/cfclient/ui/dialogs/about.py
@@ -20,32 +20,29 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
The about dialog.
"""
import sys
-from PyQt4 import Qt, QtCore, QtGui, uic
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-from PyQt4.Qt import *
-
import cfclient
-
import cflib.crtp
+from PyQt4 import QtGui
+from PyQt4 import uic
+from PyQt4.Qt import * # noqa
+from PyQt4.QtCore import * # noqa
+from PyQt4.QtGui import * # noqa
__author__ = 'Bitcraze AB'
__all__ = ['AboutDialog']
(about_widget_class,
- about_widget_base_class) = (uic.loadUiType(sys.path[0] +
- '/cfclient/ui/dialogs/about.ui'))
+ about_widget_base_class) = (uic.loadUiType(cfclient.module_path +
+ '/ui/dialogs/about.ui'))
DEBUG_INFO_FORMAT = """
<b>Cfclient</b><br>
@@ -128,7 +125,7 @@ class AboutDialog(QtGui.QWidget, about_widget_class):
# Open the Credits file and show it in the UI
credits = ""
try:
- with open("CREDITS.txt", 'r') as f:
+ with open("CREDITS.txt", encoding='utf-8', mode='r') as f:
for line in f:
credits += "{}<br>".format(line)
except IOError:
diff --git a/src/cfclient/ui/dialogs/bootloader.py b/src/cfclient/ui/dialogs/bootloader.py
index 41f17fbbea5cff9c583ec7a3e7a4cfa6a4713867..a10f3c60b795b34d5a89917b310e46bce2188b30 100644
--- a/src/cfclient/ui/dialogs/bootloader.py
+++ b/src/cfclient/ui/dialogs/bootloader.py
@@ -31,28 +31,20 @@ read/write the configuration block in the Crazyflie flash.
"""
from cflib.bootloader import Bootloader
-import struct
-import sys
-import time
-
import logging
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
-
-from cfclient.ui.tab import Tab
-
-import cflib.crtp
+from PyQt4 import QtGui, uic
+from PyQt4.QtCore import pyqtSlot, pyqtSignal, QThread
-from cflib.bootloader.cloader import Cloader
+import cfclient
__author__ = 'Bitcraze AB'
__all__ = ['BootloaderDialog']
logger = logging.getLogger(__name__)
-service_dialog_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/dialogs/bootloader.ui")[0]
+service_dialog_class = uic.loadUiType(cfclient.module_path +
+ "/ui/dialogs/bootloader.ui")[0]
class UIState:
diff --git a/src/cfclient/ui/dialogs/cf1config.py b/src/cfclient/ui/dialogs/cf1config.py
index 752d47845b3b07cc7b29ce4c7934ccb87bd8d9cc..de1ba8b745299a7fff9b6e6eb36b4acbfa39e4f7 100644
--- a/src/cfclient/ui/dialogs/cf1config.py
+++ b/src/cfclient/ui/dialogs/cf1config.py
@@ -31,14 +31,14 @@ read/write the configuration block in the Crazyflie flash.
"""
import struct
-import sys
from cflib.bootloader import Bootloader
import logging
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from PyQt4 import QtGui, uic
+from PyQt4.QtCore import pyqtSlot, pyqtSignal, QThread
+import cfclient
from cfclient.utils.config import Config
from functools import reduce
@@ -47,8 +47,8 @@ __all__ = ['Cf1ConfigDialog']
logger = logging.getLogger(__name__)
-service_dialog_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/dialogs/cf1config.ui")[0]
+service_dialog_class = uic.loadUiType(cfclient.module_path +
+ "/ui/dialogs/cf1config.ui")[0]
class UIState:
diff --git a/src/cfclient/ui/dialogs/cf2config.py b/src/cfclient/ui/dialogs/cf2config.py
index 1f3716fa719473e328fa989a1e9dae9ebbd929de..8ec6ba4e7fb8c4a332fbcfc2fdeeff3282e4c8a0 100644
--- a/src/cfclient/ui/dialogs/cf2config.py
+++ b/src/cfclient/ui/dialogs/cf2config.py
@@ -20,30 +20,29 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
The bootloader dialog is used to update the Crazyflie firmware and to
read/write the configuration block in the Crazyflie flash.
"""
-
-import sys
import logging
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+import cfclient
from cflib.crazyflie.mem import MemoryElement
+from PyQt4 import QtGui
+from PyQt4 import uic
+from PyQt4.QtCore import pyqtSignal
+
__author__ = 'Bitcraze AB'
-__all__ = ['CfConfig']
+__all__ = ['Cf2ConfigDialog']
logger = logging.getLogger(__name__)
-service_dialog_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/dialogs/cf2config.ui")[0]
+service_dialog_class = uic.loadUiType(cfclient.module_path +
+ "/ui/dialogs/cf2config.ui")[0]
class Cf2ConfigDialog(QtGui.QWidget, service_dialog_class):
diff --git a/src/cfclient/ui/dialogs/inputconfigdialogue.py b/src/cfclient/ui/dialogs/inputconfigdialogue.py
index c45a1bf802961f7982fd7750d28c87438ca2c53b..8e119f47a53eaaccca3c8d6d7e463169ff5a499e 100644
--- a/src/cfclient/ui/dialogs/inputconfigdialogue.py
+++ b/src/cfclient/ui/dialogs/inputconfigdialogue.py
@@ -20,29 +20,24 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
Dialogue used to select and configure an inputdevice. This includes mapping
buttons and axis to match controls for the Crazyflie.
"""
-
-import sys
import json
import logging
+import cfclient
from cfclient.utils.config_manager import ConfigManager
-from cflib.crtp.exceptions import CommunicationException
-
-from PyQt4 import Qt, QtCore, QtGui, uic
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-from PyQt4.Qt import *
-
-from cfclient.utils.input import JoystickReader
+from PyQt4 import Qt
+from PyQt4 import QtGui
+from PyQt4 import uic
+from PyQt4.Qt import * # noqa
+from PyQt4.QtCore import * # noqa
+from PyQt4.QtGui import * # noqa
__author__ = 'Bitcraze AB'
__all__ = ['InputConfigDialogue']
@@ -50,11 +45,12 @@ __all__ = ['InputConfigDialogue']
logger = logging.getLogger(__name__)
(inputconfig_widget_class, connect_widget_base_class) = (
- uic.loadUiType(sys.path[0] + '/cfclient/ui/dialogs/inputconfigdialogue.ui')
+ uic.loadUiType(cfclient.module_path + '/ui/dialogs/inputconfigdialogue.ui')
)
class InputConfigDialogue(QtGui.QWidget, inputconfig_widget_class):
+
def __init__(self, joystickReader, *args):
super(InputConfigDialogue, self).__init__(*args)
self.setupUi(self)
diff --git a/src/cfclient/ui/dialogs/logconfigdialogue.py b/src/cfclient/ui/dialogs/logconfigdialogue.py
index 56300c3566bf548ba58ee7a91281de7462d2f55d..83d2c8f80db1fe4be3dcd2f38d82a9fa3d20ab70 100644
--- a/src/cfclient/ui/dialogs/logconfigdialogue.py
+++ b/src/cfclient/ui/dialogs/logconfigdialogue.py
@@ -31,16 +31,15 @@ enable logging of data from the Crazyflie. These can then be used in different
views in the UI.
"""
-import sys
-import os
import logging
-from PyQt4 import Qt, QtCore, QtGui, uic
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-from PyQt4.Qt import *
+import cfclient
+from PyQt4 import Qt, QtGui, uic
+from PyQt4.QtCore import * # noqa
+from PyQt4.QtGui import * # noqa
+from PyQt4.Qt import * # noqa
-from cflib.crazyflie.log import Log, LogVariable, LogConfig
+from cflib.crazyflie.log import LogConfig
__author__ = 'Bitcraze AB'
__all__ = ['LogConfigDialogue']
@@ -48,7 +47,7 @@ __all__ = ['LogConfigDialogue']
logger = logging.getLogger(__name__)
(logconfig_widget_class, connect_widget_base_class) = (
- uic.loadUiType(sys.path[0] + '/cfclient/ui/dialogs/logconfigdialogue.ui'))
+ uic.loadUiType(cfclient.module_path + '/ui/dialogs/logconfigdialogue.ui'))
NAME_FIELD = 0
ID_FIELD = 1
@@ -57,6 +56,7 @@ CTYPE_FIELD = 3
class LogConfigDialogue(QtGui.QWidget, logconfig_widget_class):
+
def __init__(self, helper, *args):
super(LogConfigDialogue, self).__init__(*args)
self.setupUi(self)
diff --git a/src/cfclient/ui/main.py b/src/cfclient/ui/main.py
index 421309356e0c5f271fc2eebced0274c168e6074f..bbca85d0216c819b6b7c8a9072ff148c425e45b3 100644
--- a/src/cfclient/ui/main.py
+++ b/src/cfclient/ui/main.py
@@ -20,47 +20,48 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc., 51
# Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
The main file for the Crazyflie control application.
"""
-
-import sys
import logging
+import sys
-import PyQt4
-from PyQt4 import QtGui, uic
-from PyQt4.QtCore import pyqtSignal, Qt, pyqtSlot, QDir, QUrl, QThread
-from PyQt4.QtGui import QLabel, QActionGroup, QMessageBox, QAction, \
- QDesktopServices, QMenu
-
-from .dialogs.inputconfigdialogue import InputConfigDialogue
-from .dialogs.cf2config import Cf2ConfigDialog
-from .dialogs.cf1config import Cf1ConfigDialog
-from cflib.crazyflie import Crazyflie
-from .dialogs.logconfigdialogue import LogConfigDialogue
-
-from cfclient.utils.input import JoystickReader
-from cfclient.utils.zmq_param import ZMQParamAccess
-from cfclient.utils.zmq_led_driver import ZMQLEDDriver
-from cfclient.utils.config import Config
-from cfclient.utils.logconfigreader import LogConfigReader
-from cfclient.utils.config_manager import ConfigManager
-
-import cfclient.ui.toolboxes
+import cfclient
import cfclient.ui.tabs
+import cfclient.ui.toolboxes
import cflib.crtp
-
-from cflib.crazyflie.log import Log, LogVariable, LogConfig
-
-from cfclient.ui.dialogs.bootloader import BootloaderDialog
from cfclient.ui.dialogs.about import AboutDialog
-
+from cfclient.ui.dialogs.bootloader import BootloaderDialog
+from cfclient.utils.config import Config
+from cfclient.utils.config_manager import ConfigManager
+from cfclient.utils.input import JoystickReader
+from cfclient.utils.logconfigreader import LogConfigReader
+from cfclient.utils.zmq_led_driver import ZMQLEDDriver
+from cfclient.utils.zmq_param import ZMQParamAccess
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.log import LogConfig
from cflib.crazyflie.mem import MemoryElement
+from PyQt4 import QtGui
+from PyQt4 import uic
+from PyQt4.QtCore import pyqtSignal
+from PyQt4.QtCore import pyqtSlot
+from PyQt4.QtCore import QDir
+from PyQt4.QtCore import QThread
+from PyQt4.QtCore import QUrl
+from PyQt4.QtGui import QAction
+from PyQt4.QtGui import QActionGroup
+from PyQt4.QtGui import QDesktopServices
+from PyQt4.QtGui import QLabel
+from PyQt4.QtGui import QMenu
+from PyQt4.QtGui import QMessageBox
+
+from .dialogs.cf1config import Cf1ConfigDialog
+from .dialogs.cf2config import Cf2ConfigDialog
+from .dialogs.inputconfigdialogue import InputConfigDialogue
+from .dialogs.logconfigdialogue import LogConfigDialogue
__author__ = 'Bitcraze AB'
__all__ = ['MainUI']
@@ -70,8 +71,8 @@ logger = logging.getLogger(__name__)
INTERFACE_PROMPT_TEXT = 'Select an interface'
(main_window_class,
- main_windows_base_class) = (uic.loadUiType(sys.path[0] +
- '/cfclient/ui/main.ui'))
+ main_windows_base_class) = (uic.loadUiType(cfclient.module_path +
+ '/ui/main.ui'))
class MyDockWidget(QtGui.QDockWidget):
@@ -164,8 +165,8 @@ class MainUI(QtGui.QMainWindow, main_window_class):
######################################################
- self.cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
- rw_cache=sys.path[1] + "/cache")
+ self.cf = Crazyflie(ro_cache=None,
+ rw_cache=cfclient.config_path + "/cache")
cflib.crtp.init_drivers(enable_debug_driver=Config()
.get("enable_debug_driver"))
@@ -785,8 +786,9 @@ class MainUI(QtGui.QMainWindow, main_window_class):
self._update_input_device_footer()
def _open_config_folder(self):
- QDesktopServices.openUrl(QUrl("file:///" +
- QDir.toNativeSeparators(sys.path[1])))
+ QDesktopServices.openUrl(
+ QUrl("file:///" +
+ QDir.toNativeSeparators(cfclient.config_path)))
def closeAppRequest(self):
self.close()
diff --git a/src/cfclient/ui/tab.py b/src/cfclient/ui/tab.py
index f31d85eeb534c4f6a8b050102320ce324fdde549..ff49c22e290a0658fbf197fa665487f6602763de 100644
--- a/src/cfclient/ui/tab.py
+++ b/src/cfclient/ui/tab.py
@@ -31,8 +31,8 @@ Superclass for all tabs that implements common functions.
import logging
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from PyQt4 import QtGui
+from PyQt4.QtCore import pyqtSlot
from cfclient.utils.config import Config
@@ -61,7 +61,7 @@ class Tab(QtGui.QWidget):
s = Config().get("open_tabs")
if (len(s) > 0):
s += ","
- except Exception as e:
+ except Exception:
logger.warning("Exception while adding tab to config and "
"reading tab config")
# Check this since tabs in config are opened when app is started
@@ -73,7 +73,7 @@ class Tab(QtGui.QWidget):
self.tabWidget.removeTab(self.tabWidget.indexOf(self))
try:
parts = Config().get("open_tabs").split(",")
- except Exception as e:
+ except Exception:
logger.warning("Exception while removing tab from config and "
"reading tab config")
parts = []
diff --git a/src/cfclient/ui/tabs/ConsoleTab.py b/src/cfclient/ui/tabs/ConsoleTab.py
index 29a77bd6990ec74bff96eaad2bca801829bae231..fe0c01aa9b607f9f80d3e158cd1a99ac489fda4a 100644
--- a/src/cfclient/ui/tabs/ConsoleTab.py
+++ b/src/cfclient/ui/tabs/ConsoleTab.py
@@ -29,14 +29,12 @@
The console tab is used as a console for printouts from the Crazyflie.
"""
-import time
-import sys
-
import logging
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import pyqtSlot, pyqtSignal
+from PyQt4 import uic
+from PyQt4.QtCore import pyqtSignal
+import cfclient
from cfclient.ui.tab import Tab
__author__ = 'Bitcraze AB'
@@ -44,8 +42,8 @@ __all__ = ['ConsoleTab']
logger = logging.getLogger(__name__)
-console_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/consoleTab.ui")[0]
+console_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/consoleTab.ui")[0]
class ConsoleTab(Tab, console_tab_class):
diff --git a/src/cfclient/ui/tabs/ExampleTab.py b/src/cfclient/ui/tabs/ExampleTab.py
index 16936bbe29018055812293e0a9e570bfc8c4e703..dd1ff4754f646c0accd1c7c0902c247ff6fce348 100644
--- a/src/cfclient/ui/tabs/ExampleTab.py
+++ b/src/cfclient/ui/tabs/ExampleTab.py
@@ -33,24 +33,21 @@ connects the connected/disconnected callbacks.
"""
import logging
-import sys
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import pyqtSlot, pyqtSignal, QThread, Qt
+from PyQt4 import uic
+from PyQt4.QtCore import pyqtSignal
from PyQt4.QtGui import QMessageBox
+import cfclient
from cfclient.ui.tab import Tab
-from cflib.crazyflie.log import LogConfig, Log
-from cflib.crazyflie.param import Param
-
__author__ = 'Bitcraze AB'
__all__ = ['ExampleTab']
logger = logging.getLogger(__name__)
-example_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/exampleTab.ui")[0]
+example_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/exampleTab.ui")[0]
class ExampleTab(Tab, example_tab_class):
diff --git a/src/cfclient/ui/tabs/FlightTab.py b/src/cfclient/ui/tabs/FlightTab.py
index b2ec43983bf9d3d2323b5ad96bd2d759a467a67c..8a49cf27f5915ed2dfc8a6180dca45327b53672b 100644
--- a/src/cfclient/ui/tabs/FlightTab.py
+++ b/src/cfclient/ui/tabs/FlightTab.py
@@ -29,34 +29,30 @@
The flight control tab shows telemetry data and flight settings.
"""
-import sys
-
import logging
-from time import time
-
-from PyQt4 import QtCore, QtGui, uic
+from PyQt4 import uic
from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal
from PyQt4.QtGui import QMessageBox
-from cflib.crazyflie import Crazyflie
-
+import cfclient
from cfclient.ui.widgets.ai import AttitudeIndicator
from cfclient.utils.config import Config
-from cflib.crazyflie.log import Log, LogVariable, LogConfig
+from cflib.crazyflie.log import LogConfig
from cfclient.ui.tab import Tab
-from cflib.crazyflie.mem import MemoryElement
+PARAM_NAME_ALT_HOLD_TARGET = "posCtlAlt.targetZ"
+PARAM_NAME_ESTIMATED_Z = "posEstimatorAlt.estimatedZ"
__author__ = 'Bitcraze AB'
__all__ = ['FlightTab']
logger = logging.getLogger(__name__)
-flight_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/flightTab.ui")[0]
+flight_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/flightTab.ui")[0]
MAX_THRUST = 65365.0
@@ -264,12 +260,13 @@ class FlightTab(Tab, flight_tab_class):
def _baro_data_received(self, timestamp, data, logconf):
if self.isVisible():
- self.actualASL.setText(("%.2f" % data["baro.aslLong"]))
- self.ai.setBaro(data["baro.aslLong"])
+ estimated_z = data[PARAM_NAME_ESTIMATED_Z]
+ self.actualASL.setText(("%.2f" % estimated_z))
+ self.ai.setBaro(estimated_z)
def _althold_data_received(self, timestamp, data, logconf):
if self.isVisible():
- target = data["altHold.target"]
+ target = data[PARAM_NAME_ALT_HOLD_TARGET]
if target > 0:
if not self.targetASL.isEnabled():
self.targetASL.setEnabled(True)
@@ -340,7 +337,7 @@ class FlightTab(Tab, flight_tab_class):
if (not self.logBaro and not self.logAltHold):
# The sensor is available, set up the logging
self.logBaro = LogConfig("Baro", 200)
- self.logBaro.add_variable("baro.aslLong", "float")
+ self.logBaro.add_variable(PARAM_NAME_ESTIMATED_Z, "float")
try:
self.helper.cf.log.add_config(self.logBaro)
@@ -354,7 +351,8 @@ class FlightTab(Tab, flight_tab_class):
except AttributeError as e:
logger.warning(str(e))
self.logAltHold = LogConfig("AltHold", 200)
- self.logAltHold.add_variable("altHold.target", "float")
+ self.logAltHold.add_variable(PARAM_NAME_ALT_HOLD_TARGET,
+ "float")
try:
self.helper.cf.log.add_config(self.logAltHold)
@@ -510,11 +508,9 @@ class FlightTab(Tab, flight_tab_class):
def alt1_updated(self, state):
if state:
- self._ring_effect += 1
- if self._ring_effect > self._ledring_nbr_effects:
- self._ring_effect = 0
+ new_index = (self._ring_effect+1) % (self._ledring_nbr_effects+1)
self.helper.cf.param.set_value("ring.effect",
- str(self._ring_effect))
+ str(new_index))
def alt2_updated(self, state):
self.helper.cf.param.set_value("ring.headlightEnable", str(state))
@@ -526,6 +522,10 @@ class FlightTab(Tab, flight_tab_class):
except KeyError:
return
+ # Used only in alt1_updated function
+ self._ring_effect = current
+ self._ledring_nbr_effects = nbr
+
hardcoded_names = {0: "Off",
1: "White spinner",
2: "Color spinner",
@@ -538,7 +538,8 @@ class FlightTab(Tab, flight_tab_class):
9: "Battery status",
10: "Boat lights",
11: "Alert",
- 12: "Gravity"}
+ 12: "Gravity",
+ 13: "LED tab"}
for i in range(nbr + 1):
name = "{}: ".format(i)
@@ -557,6 +558,7 @@ class FlightTab(Tab, flight_tab_class):
self._led_ring_headlight.setEnabled(True)
def _ring_effect_changed(self, index):
+ self._ring_effect = index
if index > -1:
i = self._led_ring_effect.itemData(index)
logger.info("Changed effect to {}".format(i))
diff --git a/src/cfclient/ui/tabs/GpsTab.py b/src/cfclient/ui/tabs/GpsTab.py
index ad75fcef900648c2c5c6a4947f2450a954e7cd9a..669a4820604d918d56a541fd931a70d665843aa9 100644
--- a/src/cfclient/ui/tabs/GpsTab.py
+++ b/src/cfclient/ui/tabs/GpsTab.py
@@ -20,34 +20,34 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
# USA.
-
"""
This tab plots different logging data defined by configurations that has been
pre-configured.
"""
-import math
-
import logging
-import sys
-from PyQt4 import QtCore, QtGui, uic, QtWebKit, QtNetwork
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-from cflib.crazyflie.log import LogConfig
+import cfclient
from cfclient.ui.tab import Tab
+from cflib.crazyflie.log import LogConfig
+from PyQt4 import QtCore
+from PyQt4 import QtGui
+from PyQt4 import QtNetwork
+from PyQt4 import QtWebKit
+from PyQt4 import uic
+from PyQt4.QtCore import * # noqa
+from PyQt4.QtGui import * # noqa
__author__ = 'Bitcraze AB'
__all__ = ['GpsTab']
logger = logging.getLogger(__name__)
-gps_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/gpsTab.ui")[0]
+gps_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/gpsTab.ui")[0]
class GpsTab(Tab, gps_tab_class):
@@ -74,13 +74,13 @@ class GpsTab(Tab, gps_tab_class):
view = self.view = QtWebKit.QWebView()
cache = QtNetwork.QNetworkDiskCache()
- cache.setCacheDirectory("cache")
+ cache.setCacheDirectory(cfclient.config_path + "/cache")
view.page().networkAccessManager().setCache(cache)
view.page().networkAccessManager()
view.page().mainFrame().addToJavaScriptWindowObject("MainWindow", self)
view.page().setLinkDelegationPolicy(QtWebKit.QWebPage.DelegateAllLinks)
- view.load(QtCore.QUrl(sys.path[0] + "/cfclient/resources/map.html"))
+ view.load(QtCore.QUrl(cfclient.module_path + "/resources/map.html"))
view.loadFinished.connect(self.onLoadFinished)
view.linkClicked.connect(QtGui.QDesktopServices.openUrl)
@@ -103,7 +103,7 @@ class GpsTab(Tab, gps_tab_class):
self._max_speed = 0.0
def onLoadFinished(self):
- with open(sys.path[0] + "/cfclient/resources/map.js", 'r') as f:
+ with open(cfclient.module_path + "/resources/map.js", 'r') as f:
frame = self.view.page().mainFrame()
frame.evaluateJavaScript(f.read())
@@ -159,8 +159,8 @@ class GpsTab(Tab, gps_tab_class):
def _log_data_received(self, timestamp, data, logconf):
"""Callback when the log layer receives new data"""
- long = float(data["gps.lon"])/10000000.0
- lat = float(data["gps.lat"])/10000000.0
+ long = float(data["gps.lon"]) / 10000000.0
+ lat = float(data["gps.lat"]) / 10000000.0
self._long.setText("{:.6f}".format(long))
self._lat.setText("{:.6f}".format(lat))
self._nbr_locked_sats.setText(str(data["gps.nsat"]))
diff --git a/src/cfclient/ui/tabs/LEDTab.py b/src/cfclient/ui/tabs/LEDTab.py
index 5751a278fbced482294b09c949e9f03cafd380d5..452b6c22503e9c912d1d8dbf24d14e71a392a5a3 100644
--- a/src/cfclient/ui/tabs/LEDTab.py
+++ b/src/cfclient/ui/tabs/LEDTab.py
@@ -31,12 +31,11 @@ Basic tab to be able to set (and test) colors in the LED-ring.
"""
import logging
-import sys
from PyQt4 import QtGui, uic
from PyQt4.QtCore import pyqtSignal
-from PyQt4.QtGui import QColorDialog
+import cfclient
from cfclient.ui.tab import Tab
from cflib.crazyflie.mem import MemoryElement
@@ -46,8 +45,8 @@ __all__ = ['LEDTab']
logger = logging.getLogger(__name__)
-led_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/ledTab.ui")[0]
+led_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/ledTab.ui")[0]
class LEDTab(Tab, led_tab_class):
@@ -115,8 +114,14 @@ class LEDTab(Tab, led_tab_class):
self._intensity_slider.setValue)
def _select(self, nbr):
- col = QColorDialog()
- col = QtGui.QColorDialog.getColor()
+ col = QtGui.QColor() # default to invalid
+
+ if self._mem:
+ led = self._mem.leds[nbr]
+ col = QtGui.QColor.fromRgb(led.r, led.g, led.b)
+
+ col = QtGui.QColorDialog.getColor(col)
+
if col.isValid() and self._mem:
logger.info(col.red())
self._mem.leds[nbr].set(r=col.red(), g=col.green(), b=col.blue())
diff --git a/src/cfclient/ui/tabs/LogBlockDebugTab.py b/src/cfclient/ui/tabs/LogBlockDebugTab.py
index 17abd4ed81d248f1e3714ed7a7a2f9d2fb49aa24..f827db03fe3bc81794b2b9a7f98f5fed52da016b 100644
--- a/src/cfclient/ui/tabs/LogBlockDebugTab.py
+++ b/src/cfclient/ui/tabs/LogBlockDebugTab.py
@@ -30,19 +30,17 @@ Shows all the parameters available in the Crazyflie and also gives the ability
to edit them.
"""
-import time
-import sys
-
from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from PyQt4.QtCore import Qt, pyqtSignal
+import cfclient
from cfclient.ui.tab import Tab
__author__ = 'Bitcraze AB'
-__all__ = ['LogBlockTab']
+__all__ = ['LogBlockDebugTab']
-logblock_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/logBlockDebugTab.ui")[0]
+logblock_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/logBlockDebugTab.ui")[0]
class LogBlockDebugTab(Tab, logblock_tab_class):
diff --git a/src/cfclient/ui/tabs/LogBlockTab.py b/src/cfclient/ui/tabs/LogBlockTab.py
index a210102fb5d54eac49f9a2b3c3f0a6a7c7a3c826..4094375732729e46b548ea271a9046881cb64d8c 100644
--- a/src/cfclient/ui/tabs/LogBlockTab.py
+++ b/src/cfclient/ui/tabs/LogBlockTab.py
@@ -31,19 +31,16 @@ This tab shows all log blocks that are registered and can be used to start the
logging and also to write the logging data to file.
"""
-import sys
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from PyQt4 import uic
+from PyQt4.QtCore import Qt, pyqtSignal
+import cfclient
from cfclient.ui.tab import Tab
import logging
from PyQt4.QtGui import QApplication, QStyledItemDelegate, QAbstractItemView
from PyQt4.QtGui import QStyleOptionButton, QStyle
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import pyqtSlot, pyqtSignal, QThread
from PyQt4.QtCore import QAbstractItemModel, QModelIndex
from cfclient.utils.logdatawriter import LogWriter
@@ -52,7 +49,7 @@ __author__ = 'Bitcraze AB'
__all__ = ['LogBlockTab']
logblock_tab_class = uic.loadUiType(
- sys.path[0] + "/cfclient/ui/tabs/logBlockTab.ui")[0]
+ cfclient.module_path + "/ui/tabs/logBlockTab.ui")[0]
logger = logging.getLogger(__name__)
@@ -167,6 +164,7 @@ class LogBlockItem(object):
class LogBlockModel(QAbstractItemModel):
+
def __init__(self, view, parent=None):
super(LogBlockModel, self).__init__(parent)
self._nodes = []
diff --git a/src/cfclient/ui/tabs/LogTab.py b/src/cfclient/ui/tabs/LogTab.py
index 5a173c27ba74d77bdf002e0bc18fb0e3344eb943..760d2f83d3d1974c71ecb13f6e9d832849f754c9 100644
--- a/src/cfclient/ui/tabs/LogTab.py
+++ b/src/cfclient/ui/tabs/LogTab.py
@@ -20,30 +20,26 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
Shows the Log TOC of available variables in the Crazyflie.
"""
-import time
-import sys
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
-
-from cflib.crazyflie import Crazyflie
-
+import cfclient
from cfclient.ui.tab import Tab
+from PyQt4 import QtGui
+from PyQt4 import uic
+from PyQt4.QtCore import pyqtSignal
+from PyQt4.QtCore import pyqtSlot
+from PyQt4.QtCore import Qt
__author__ = 'Bitcraze AB'
__all__ = ['LogTab']
-param_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/logTab.ui")[0]
+param_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/logTab.ui")[0]
class LogTab(Tab, param_tab_class):
diff --git a/src/cfclient/ui/tabs/ParamTab.py b/src/cfclient/ui/tabs/ParamTab.py
index 23e295e7eda48bff8c9ae07f597a61fcecfc03f7..4ac4dc817a628949a4b202a53083b1c4b828316d 100644
--- a/src/cfclient/ui/tabs/ParamTab.py
+++ b/src/cfclient/ui/tabs/ParamTab.py
@@ -30,23 +30,21 @@ Shows all the parameters available in the Crazyflie and also gives the ability
to edit them.
"""
-import sys
import logging
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from PyQt4 import uic
+from PyQt4.QtCore import Qt, pyqtSignal
from PyQt4.QtCore import QAbstractItemModel, QModelIndex
-from PyQt4.QtGui import QApplication, QStyledItemDelegate, QAbstractItemView, \
- QBrush, QColor
-from PyQt4.QtGui import QSortFilterProxyModel
+from PyQt4.QtGui import QBrush, QColor
+import cfclient
from cfclient.ui.tab import Tab
__author__ = 'Bitcraze AB'
__all__ = ['ParamTab']
param_tab_class = uic.loadUiType(
- sys.path[0] + "/cfclient/ui/tabs/paramTab.ui")[0]
+ cfclient.module_path + "/ui/tabs/paramTab.ui")[0]
logger = logging.getLogger(__name__)
diff --git a/src/cfclient/ui/tabs/PlotTab.py b/src/cfclient/ui/tabs/PlotTab.py
index 93a169c244e162e9ecb4aa27f8dac17aae224279..6477b254d7bced2465b4e4f355bc1880fa930a0f 100644
--- a/src/cfclient/ui/tabs/PlotTab.py
+++ b/src/cfclient/ui/tabs/PlotTab.py
@@ -20,44 +20,34 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
This tab plots different logging data defined by configurations that has been
pre-configured.
"""
-import glob
-import json
import logging
-import os
-import sys
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import pyqtSlot, pyqtSignal, QThread, Qt
-from PyQt4.QtGui import QMessageBox
-from PyQt4.QtGui import QApplication, QStyledItemDelegate, QAbstractItemView
-from PyQt4.QtCore import QAbstractItemModel, QModelIndex
-
-from pprint import pprint
-import datetime
+from cfclient.ui.tab import Tab
from cfclient.ui.widgets.plotwidget import PlotWidget
+from PyQt4 import uic
+from PyQt4.QtCore import pyqtSignal
+from PyQt4.QtCore import QAbstractItemModel
+from PyQt4.QtCore import QModelIndex
+from PyQt4.QtCore import Qt
+from PyQt4.QtGui import QMessageBox
-from cflib.crazyflie.log import Log
-
-from cfclient.ui.tab import Tab
+import cfclient
__author__ = 'Bitcraze AB'
__all__ = ['PlotTab']
logger = logging.getLogger(__name__)
-plot_tab_class = uic.loadUiType(sys.path[0] +
- "/cfclient/ui/tabs/plotTab.ui")[0]
+plot_tab_class = uic.loadUiType(cfclient.module_path +
+ "/ui/tabs/plotTab.ui")[0]
class LogConfigModel(QAbstractItemModel):
@@ -87,7 +77,7 @@ class LogConfigModel(QAbstractItemModel):
"""Re-implemented method to get the number of rows for a given index"""
parent_item = parent.internalPointer()
if parent.isValid():
- parent_item = parent.internalPointer()
+ parent_item = parent.internalPointer() # noqa
return 0
else:
return len(self._nodes)
@@ -106,7 +96,7 @@ class LogConfigModel(QAbstractItemModel):
def data(self, index, role):
"""Re-implemented method to get the data for a given index and role"""
- node = index.internalPointer()
+ node = index.internalPointer() # noqa
if not index.isValid() or not 0 <= index.row() < len(self._nodes):
return None
if role == Qt.DisplayRole:
diff --git a/src/cfclient/ui/tabs/__init__.py b/src/cfclient/ui/tabs/__init__.py
index c11b4da6fc7cc92ce1fc0aff69a7a38e0c00568c..7eb126ac69e4be83a2571b868f30a0bc1045d1f4 100644
--- a/src/cfclient/ui/tabs/__init__.py
+++ b/src/cfclient/ui/tabs/__init__.py
@@ -20,11 +20,9 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
Find all the available tabs so they can be loaded.
@@ -32,26 +30,27 @@ Dropping a new .py file into this directory will automatically list and load
it into the UI when it is started.
"""
-import os
-import glob
-import logging
+from .ConsoleTab import ConsoleTab
+# from .ExampleTab import ExampleTab
+from .FlightTab import FlightTab
+from .GpsTab import GpsTab
+from .LEDTab import LEDTab
+from .LogBlockTab import LogBlockTab
+from .LogTab import LogTab
+from .ParamTab import ParamTab
+from .PlotTab import PlotTab
__author__ = 'Bitcraze AB'
__all__ = []
-logger = logging.getLogger(__name__)
-
-found_tabs = [os.path.splitext(os.path.basename(f))[0] for
- f in glob.glob(os.path.dirname(__file__) + "/[A-Za-z]*Tab.py")]
-if len(found_tabs) == 0:
- found_tabs = [os.path.splitext(os.path.basename(f))[0] for
- f in glob.glob(os.path.dirname(__file__) +
- "/[A-Za-z]*Tab.pyc")]
-
-logger.debug("Found tabs: %s", found_tabs)
-
-available = []
-
-for tab in found_tabs:
- tabModule = __import__(tab, globals(), locals(), [tab], 1)
- available.append(getattr(tabModule, tab))
+available = [
+ ConsoleTab,
+ # ExampleTab,
+ FlightTab,
+ GpsTab,
+ LEDTab,
+ LogBlockTab,
+ LogTab,
+ ParamTab,
+ PlotTab,
+]
diff --git a/src/cfclient/ui/toolboxes/ConsoleToolbox.py b/src/cfclient/ui/toolboxes/ConsoleToolbox.py
index ce6659e08c8219fba78311c4f7af6bca8e92e37f..82faa3cc58aef0742f0a12b9ee52e4f242ee7166 100644
--- a/src/cfclient/ui/toolboxes/ConsoleToolbox.py
+++ b/src/cfclient/ui/toolboxes/ConsoleToolbox.py
@@ -20,25 +20,24 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
A detachable toolbox for showing console printouts from the Crazyflie
"""
+from PyQt4 import QtGui
+from PyQt4 import uic
+from PyQt4.QtCore import pyqtSignal
+from PyQt4.QtCore import Qt
-import sys
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal
+import cfclient
__author__ = 'Bitcraze AB'
__all__ = ['ConsoleToolbox']
console_class = uic.loadUiType(
- sys.path[0] + "/cfclient/ui/toolboxes/consoleToolbox.ui")[0]
+ cfclient.module_path + "/ui/toolboxes/consoleToolbox.ui")[0]
class ConsoleToolbox(QtGui.QWidget, console_class):
diff --git a/src/cfclient/ui/toolboxes/CrtpSharkToolbox.py b/src/cfclient/ui/toolboxes/CrtpSharkToolbox.py
index 0941d8f294f7f1fcd3f6b200cb356969ab78acc2..fbbf0a03cae3379e55c3abfb35ca1fa461ac7b0f 100644
--- a/src/cfclient/ui/toolboxes/CrtpSharkToolbox.py
+++ b/src/cfclient/ui/toolboxes/CrtpSharkToolbox.py
@@ -20,28 +20,29 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
Toolbox for showing packets that is sent via the communication link when
debugging.
"""
-
-import sys
import os
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
from time import time
+from PyQt4 import QtGui
+from PyQt4 import uic
+from PyQt4.QtCore import pyqtSignal
+from PyQt4.QtCore import pyqtSlot
+from PyQt4.QtCore import Qt
+
+import cfclient
+
__author__ = 'Bitcraze AB'
-__all__ = ['CrtpSharkBoolbox']
+__all__ = ['CrtpSharkToolbox']
param_tab_class = uic.loadUiType(
- sys.path[0] + "/cfclient/ui/toolboxes/crtpSharkToolbox.ui")[0]
+ cfclient.module_path + "/ui/toolboxes/crtpSharkToolbox.ui")[0]
class CrtpSharkToolbox(QtGui.QWidget, param_tab_class):
@@ -113,7 +114,7 @@ class CrtpSharkToolbox(QtGui.QWidget, param_tab_class):
return Qt.RightDockWidgetArea
def _save_data(self):
- dir = os.path.join(sys.path[1], "logdata")
+ dir = os.path.join(cfclient.config_path, "logdata")
fname = os.path.join(dir, "shark_data.csv")
if not os.path.exists(dir):
os.makedirs(dir)
diff --git a/src/cfclient/ui/toolboxes/DebugDriverToolbox.py b/src/cfclient/ui/toolboxes/DebugDriverToolbox.py
index b48174a30651dcaa1119cc61e6eef4a8c287ce7f..9a1185e3490494c713a994bcd443c6862ccc9ef9 100644
--- a/src/cfclient/ui/toolboxes/DebugDriverToolbox.py
+++ b/src/cfclient/ui/toolboxes/DebugDriverToolbox.py
@@ -20,31 +20,30 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License along with
# this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
Toolbox used to interact with the DebugDriver using a designated port. It's
intended to be used for debugging.
"""
-
-import time
-import sys
-
import struct
-from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, SIGNAL
+from cflib.crtp.crtpstack import CRTPPacket
+from cflib.crtp.crtpstack import CRTPPort
+from PyQt4 import QtGui
+from PyQt4 import uic
+from PyQt4.QtCore import pyqtSignal
+from PyQt4.QtCore import Qt
+
+import cfclient
__author__ = 'Bitcraze AB'
__all__ = ['DebugDriverToolbox']
debugdriver_tab_class = uic.loadUiType(
- sys.path[0] +
- "/cfclient/ui/toolboxes/debugDriverToolbox.ui")[0]
+ cfclient.module_path +
+ "/ui/toolboxes/debugDriverToolbox.ui")[0]
class DebugDriverToolbox(QtGui.QWidget, debugdriver_tab_class):
diff --git a/src/cfclient/ui/toolboxes/__init__.py b/src/cfclient/ui/toolboxes/__init__.py
index 1bf745c71202358824650c546ad567fd3fa8c580..5919562ab258c34efcea5075b980d845d1738b1e 100644
--- a/src/cfclient/ui/toolboxes/__init__.py
+++ b/src/cfclient/ui/toolboxes/__init__.py
@@ -31,28 +31,15 @@ List all the available toolboxes so they can be used by the UI.
Dropping a new .py file into this directory will automatically list and load
it into the UI when it is started.
"""
-
-import os
-import glob
-import logging
+from .ConsoleToolbox import ConsoleToolbox
+from .CrtpSharkToolbox import CrtpSharkToolbox
+from .DebugDriverToolbox import DebugDriverToolbox
__author__ = 'Bitcraze AB'
__all__ = []
-logger = logging.getLogger(__name__)
-
-foundToolboxes = [os.path.splitext(os.path.basename(f))[0] for f in
- glob.glob(os.path.dirname(__file__) +
- "/[A-Za-z]*Toolbox.py")]
-if len(foundToolboxes) == 0:
- foundToolboxes = [os.path.splitext(os.path.basename(f))[0] for f in
- glob.glob(os.path.dirname(__file__) +
- "/[A-Za-z]*Toolbox.pyc")]
-
-logger.debug("Found toolboxes: %s", foundToolboxes)
-
-toolboxes = []
-
-for tb in foundToolboxes:
- tbModule = __import__(tb, globals(), locals(), [tb], 1)
- toolboxes.append(getattr(tbModule, tb))
+toolboxes = [
+ ConsoleToolbox,
+ CrtpSharkToolbox,
+ DebugDriverToolbox
+]
diff --git a/src/cfclient/ui/widgets/__init__.py b/src/cfclient/ui/widgets/__init__.py
index 532a061dbad4d4396822fbd8fac801ae2119aeb2..97dc2b09aa126593fdddc153621bce199891b153 100644
--- a/src/cfclient/ui/widgets/__init__.py
+++ b/src/cfclient/ui/widgets/__init__.py
@@ -28,3 +28,6 @@
"""
Custom widgets used by the user interface.
"""
+
+# This is required to show an hidden import to py2exe
+from .hexspinbox import HexSpinBox as _HexSpinBox # noqa
diff --git a/src/cfclient/ui/widgets/ai.py b/src/cfclient/ui/widgets/ai.py
index ffb27859b9c51560863d94006cd77018bab39eba..2bf317a851b0aa3ce3a22901dcac3940cd728ff3 100644
--- a/src/cfclient/ui/widgets/ai.py
+++ b/src/cfclient/ui/widgets/ai.py
@@ -254,9 +254,8 @@ if __name__ == "__main__":
self.wid.repaint()
def main():
-
app = QtGui.QApplication(sys.argv)
- ex = Example()
+ Example()
sys.exit(app.exec_())
if __name__ == '__main__':
diff --git a/src/cfclient/ui/widgets/hexspinbox.py b/src/cfclient/ui/widgets/hexspinbox.py
index 703867e88b20324869bca1e00c840a85366af963..d75b3957a65b88f7d1ced93a7a75793ec11a27bd 100644
--- a/src/cfclient/ui/widgets/hexspinbox.py
+++ b/src/cfclient/ui/widgets/hexspinbox.py
@@ -38,6 +38,7 @@ __all__ = ['HexSpinBox']
class HexSpinBox(QAbstractSpinBox):
+
def __init__(self, *args):
QAbstractSpinBox.__init__(self, *args)
regexp = QtCore.QRegExp('^0x[0-9A-Fa-f]{1,10}$')
diff --git a/src/cfclient/ui/widgets/plotwidget.py b/src/cfclient/ui/widgets/plotwidget.py
index 7c3cadc58e0ba40b5ba02befd57dffec35c3e410..774f85c04cebd828516c755e61a2fc6fc7fcfbb7 100644
--- a/src/cfclient/ui/widgets/plotwidget.py
+++ b/src/cfclient/ui/widgets/plotwidget.py
@@ -32,23 +32,18 @@ and manipulating the plot.
For more advanced plotting save the data and use an external application.
"""
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import Qt, pyqtSlot, pyqtSignal, QThread, QLine, QPoint, \
- QPointF, QSize, QRectF
+from PyQt4 import QtGui, uic
from time import time
-import math
import logging
-import sys
-
-from PyQt4 import Qt, QtCore, QtGui, uic
from PyQt4.QtGui import QButtonGroup
-from PyQt4.QtCore import *
-from PyQt4.QtGui import *
-from PyQt4.Qt import *
-from time import time
+from PyQt4.QtCore import * # noqa
+from PyQt4.QtGui import * # noqa
+from PyQt4.Qt import * # noqa
+
+import cfclient
__author__ = 'Bitcraze AB'
__all__ = ['PlotWidget']
@@ -56,15 +51,14 @@ __all__ = ['PlotWidget']
logger = logging.getLogger(__name__)
(plot_widget_class, connect_widget_base_class) = (
- uic.loadUiType(sys.path[0] + '/cfclient/ui/widgets/plotter.ui'))
+ uic.loadUiType(cfclient.module_path + '/ui/widgets/plotter.ui'))
# Try the imports for PyQtGraph to see if it is installed
try:
import pyqtgraph as pg
from pyqtgraph import ViewBox
- from pyqtgraph.Qt import QtCore, QtGui
- import pyqtgraph.console
- import numpy as np
+ import pyqtgraph.console # noqa
+ import numpy as np # noqa
_pyqtgraph_found = True
except Exception:
@@ -78,9 +72,9 @@ except Exception:
# Windows. But for Linux this is not required and might not be installed with
# the PyQtGraph package.
try:
- from scipy.stats import futil
- from scipy.sparse.csgraph import _validation
- from scipy.special import _ufuncs_cxx
+ from scipy.stats import futil # noqa
+ from scipy.sparse.csgraph import _validation # noqa
+ from scipy.special import _ufuncs_cxx # noqa
except Exception:
pass
diff --git a/src/cfclient/utils/config.py b/src/cfclient/utils/config.py
index cbbe3ef2e460123e72e93a0f902e367a24095fa3..2bfe88af00037e1518de1f70f2ef051d97f13cd8 100644
--- a/src/cfclient/utils/config.py
+++ b/src/cfclient/utils/config.py
@@ -29,12 +29,12 @@
"""
Gives access for reading and writing application configuration parameters
"""
-
-import sys
import json
import logging
from .singleton import Singleton
+import cfclient
+
__author__ = 'Bitcraze AB'
__all__ = ['Config']
@@ -46,8 +46,8 @@ class Config(metaclass=Singleton):
def __init__(self):
""" Initializes the singleton and reads the config files """
- self._dist_config = sys.path[0] + "/cfclient/configs/config.json"
- self._config = sys.path[1] + "/config.json"
+ self._dist_config = cfclient.module_path + "/configs/config.json"
+ self._config = cfclient.config_path + "/config.json"
[self._readonly, self._data] = self._read_distfile()
diff --git a/src/cfclient/utils/config_manager.py b/src/cfclient/utils/config_manager.py
index f92414054d8836ef3cd3ccb71c738e91945702ee..d2cc88cce0f050bb2fd7aad11f8ec1fe3198f393 100644
--- a/src/cfclient/utils/config_manager.py
+++ b/src/cfclient/utils/config_manager.py
@@ -31,7 +31,6 @@
Manager for loading/accesing input device mappings.
"""
-import sys
import json
import logging
import glob
@@ -41,6 +40,8 @@ import copy
from .singleton import Singleton
from cflib.utils.callbacks import Caller
+import cfclient
+
__author__ = 'Bitcraze AB/Allyn Bauer'
__all__ = ['ConfigManager']
@@ -50,7 +51,7 @@ logger = logging.getLogger(__name__)
class ConfigManager(metaclass=Singleton):
""" Singleton class for managing input processing """
conf_needs_reload = Caller()
- configs_dir = sys.path[1] + "/input"
+ configs_dir = cfclient.config_path + "/input"
def __init__(self):
"""Initialize and create empty config list"""
diff --git a/src/cfclient/utils/input/__init__.py b/src/cfclient/utils/input/__init__.py
index ccb06c3262ddb3786dad9037d25dee95803da7ab..562472f798fbde4ea62a5d2e92343185ed2494b0 100644
--- a/src/cfclient/utils/input/__init__.py
+++ b/src/cfclient/utils/input/__init__.py
@@ -38,8 +38,6 @@ Windows drivers.
The input device's axes and buttons are mapped to software inputs using a
configuration file.
"""
-
-import sys
import os
import re
import glob
@@ -50,13 +48,12 @@ import shutil
from . import inputreaders as readers
from . import inputinterfaces as interfaces
+import cfclient
from cfclient.utils.config import Config
from cfclient.utils.config_manager import ConfigManager
from cfclient.utils.periodictimer import PeriodicTimer
from cflib.utils.callbacks import Caller
-from . import mux
-from .mux import InputMux
from .mux.nomux import NoMux
from .mux.takeovermux import TakeOverMux
from .mux.takeoverselectivemux import TakeOverSelectiveMux
@@ -144,7 +141,7 @@ class JoystickReader(object):
os.makedirs(ConfigManager().configs_dir)
for f in glob.glob(
- sys.path[0] + "/cfclient/configs/input/[A-Za-z]*.json"):
+ cfclient.module_path + "/configs/input/[A-Za-z]*.json"):
dest = os.path.join(ConfigManager().
configs_dir, os.path.basename(f))
if not os.path.isfile(dest):
diff --git a/src/cfclient/utils/input/inputinterfaces/__init__.py b/src/cfclient/utils/input/inputinterfaces/__init__.py
index 2947eb4b6c76f4270c6d55cd1204d7341e93b328..cf61c77ef7e50de42d210331d7b402b9c0a80120 100644
--- a/src/cfclient/utils/input/inputinterfaces/__init__.py
+++ b/src/cfclient/utils/input/inputinterfaces/__init__.py
@@ -75,6 +75,7 @@ def devices():
class InputInterface(InputReaderInterface):
+
def __init__(self, dev_name, dev_id, dev_reader):
super(InputInterface, self).__init__(dev_name, dev_id, dev_reader)
diff --git a/src/cfclient/utils/input/inputinterfaces/leapmotion.py b/src/cfclient/utils/input/inputinterfaces/leapmotion.py
index 048e7e8c343940c698a2444f2d7640713be088ec..09b65dd947ed745488da4a6439e689307beb1f33 100644
--- a/src/cfclient/utils/input/inputinterfaces/leapmotion.py
+++ b/src/cfclient/utils/input/inputinterfaces/leapmotion.py
@@ -34,14 +34,11 @@ more info.
try:
import leapsdk.Leap as Leap
- from leapsdk.Leap import CircleGesture, KeyTapGesture, ScreenTapGesture, \
- SwipeGesture
except Exception as e:
raise Exception(
"Leap Motion library probably not installed ({})".format(e))
import logging
-import time
__author__ = 'Bitcraze AB'
__all__ = ['LeapmotionReader']
@@ -53,6 +50,7 @@ MODULE_NAME = "Leap Motion"
class LeapListener(Leap.Listener):
+
def set_data_callback(self, callback):
self._dcb = callback
self._nbr_of_fingers = 0
diff --git a/src/cfclient/utils/input/inputinterfaces/wiimote.py b/src/cfclient/utils/input/inputinterfaces/wiimote.py
index c9cdeec2f3b8f13ec44d40130295dec3cee94610..d0696009a067b25e0b15c49ec02312983c3e18b8 100644
--- a/src/cfclient/utils/input/inputinterfaces/wiimote.py
+++ b/src/cfclient/utils/input/inputinterfaces/wiimote.py
@@ -1,3 +1,4 @@
+# -*- coding: utf-8 -*-
import logging
from threading import Thread
import time
@@ -20,6 +21,7 @@ class _Reader(object):
# - limit_thrust
# - limit_yaw
# - open
+
def devices(self):
"""List all the available connections"""
raise NotImplemented()
@@ -53,6 +55,7 @@ PLUS = 4096
class HandleWiimote(Thread):
+
def __init__(self, reader, wii, *args):
super(HandleWiimote, self).__init__(*args)
self.reader = reader
diff --git a/src/cfclient/utils/input/inputinterfaces/zmqpull.py b/src/cfclient/utils/input/inputinterfaces/zmqpull.py
index 07cbae361fa1f59a147c4d47cc9da6c0a59805c5..66fe24dd8d39e55ebd2ff99851285454ca47f2b5 100644
--- a/src/cfclient/utils/input/inputinterfaces/zmqpull.py
+++ b/src/cfclient/utils/input/inputinterfaces/zmqpull.py
@@ -31,8 +31,6 @@ Input interface that supports receiving commands via ZMQ.
"""
import logging
-import time
-import pprint
from threading import Thread
from cfclient.utils.config import Config
@@ -57,6 +55,7 @@ MODULE_NAME = "ZMQ"
class _PullReader(Thread):
+
def __init__(self, receiver, callback, *args):
super(_PullReader, self).__init__(*args)
self._receiver = receiver
diff --git a/src/cfclient/utils/input/inputreaderinterface.py b/src/cfclient/utils/input/inputreaderinterface.py
index 2f42d5c3f3ac4d80932a6b9e2d714854e94b4595..4857d51f02a0b9bc3088e0d51c7056ce0434b883 100644
--- a/src/cfclient/utils/input/inputreaderinterface.py
+++ b/src/cfclient/utils/input/inputreaderinterface.py
@@ -37,6 +37,7 @@ logger = logging.getLogger(__name__)
class _ToggleState(dict):
+
def __getattr__(self, attr):
return self.get(attr)
@@ -45,6 +46,7 @@ class _ToggleState(dict):
class InputData:
+
def __init__(self):
# self._toggled = {}
self._axes = ("roll", "pitch", "yaw", "thrust")
@@ -95,6 +97,7 @@ class InputData:
class InputReaderInterface(object):
+
def __init__(self, dev_name, dev_id, dev_reader):
"""Initialize the reader"""
# Set if the device supports mapping and can be configured
diff --git a/src/cfclient/utils/input/inputreaders/__init__.py b/src/cfclient/utils/input/inputreaders/__init__.py
index a5d5d15dd867dde1896fb99e1e71ff2ff3e08886..a60e1d1164be627838291cbb1f0e4fbd0d4b4ad7 100644
--- a/src/cfclient/utils/input/inputreaders/__init__.py
+++ b/src/cfclient/utils/input/inputreaders/__init__.py
@@ -78,6 +78,7 @@ def devices():
class InputDevice(InputReaderInterface):
+
def __init__(self, dev_name, dev_id, dev_reader):
super(InputDevice, self).__init__(dev_name, dev_id, dev_reader)
diff --git a/src/cfclient/utils/input/inputreaders/linuxjsdev.py b/src/cfclient/utils/input/inputreaders/linuxjsdev.py
index 0e707e45e676768f9448dc060ba345a2e6b8f7a9..bbf9a1b7d988a5e5d6f366da060f2322413991e5 100644
--- a/src/cfclient/utils/input/inputreaders/linuxjsdev.py
+++ b/src/cfclient/utils/input/inputreaders/linuxjsdev.py
@@ -1,4 +1,4 @@
-# -*- coding: utf8 -*-
+# -*- coding: utf-8 -*-
# ||
# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
@@ -22,20 +22,18 @@
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software Foundation,
# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
"""
Linux joystick driver using the Linux input_joystick subsystem. Requires sysfs
to be mounted on /sys and /dev/input/js* to be readable.
This module is very linux specific but should work on any CPU platform
"""
-
-import sys
-import struct
-import glob
-import os
import ctypes
+import glob
import logging
+import os
+import struct
+import sys
if not sys.platform.startswith('linux'):
raise Exception("Only supported on Linux")
@@ -88,6 +86,7 @@ TYPE_AXIS = 2
class _JS():
+
def __init__(self, num, name):
self.num = num
self.name = name
diff --git a/src/cfclient/utils/input/inputreaders/pysdl2.py b/src/cfclient/utils/input/inputreaders/pysdl2.py
index 9ae86a94f04927531aa526d60bdd2d879fb7f932..a0e8c06a74c1b7a93890b358cecd01583e186138 100644
--- a/src/cfclient/utils/input/inputreaders/pysdl2.py
+++ b/src/cfclient/utils/input/inputreaders/pysdl2.py
@@ -20,22 +20,20 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
# USA.
-
"""
Driver for reading data from the PySDL2 API. Used from Inpyt.py for reading
input data.
"""
-
+import logging
import sys
+import time
from threading import Thread
+
from queue import Queue
-import time
-import logging
if sys.platform.startswith('linux'):
raise Exception("No SDL2 support on Linux")
diff --git a/src/cfclient/utils/input/mux/__init__.py b/src/cfclient/utils/input/mux/__init__.py
index 68d8aae111fe9bf67b9ce346b9760a8e4b77fe45..48f9a473c8fed1c85e3f175ad50affdc5d7e0447 100644
--- a/src/cfclient/utils/input/mux/__init__.py
+++ b/src/cfclient/utils/input/mux/__init__.py
@@ -20,7 +20,6 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
@@ -29,7 +28,6 @@
The mux is used to open one or more devices and mix the inputs from all
of them into one "input" for the Crazyflie and UI.
"""
-
import logging
__author__ = 'Bitcraze AB'
@@ -39,6 +37,7 @@ logger = logging.getLogger(__name__)
class InputMux(object):
+
def __init__(self, input_layer):
self._devs = {"Device": None}
self.name = "N/A"
diff --git a/src/cfclient/utils/input/mux/nomux.py b/src/cfclient/utils/input/mux/nomux.py
index 06059720928e4f11d3bfa76980e71615a5da5d90..ba4d51f05e5696d9c3f6934a54685c2c49069876 100644
--- a/src/cfclient/utils/input/mux/nomux.py
+++ b/src/cfclient/utils/input/mux/nomux.py
@@ -20,7 +20,6 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
@@ -28,9 +27,9 @@
"""
This mux will only use one device and not mix it with any other input.
"""
+import logging
from . import InputMux
-import logging
__author__ = 'Bitcraze AB'
__all__ = ['NoMux']
@@ -39,6 +38,7 @@ logger = logging.getLogger(__name__)
class NoMux(InputMux):
+
def __init__(self, *args):
super(NoMux, self).__init__(*args)
self.name = "Normal"
diff --git a/src/cfclient/utils/input/mux/takeovermux.py b/src/cfclient/utils/input/mux/takeovermux.py
index 1816ffac7cfa65b66bda26073698dbff1159381a..b3aa6345a9e4d9abbd801320b44f38eba1ea2514 100644
--- a/src/cfclient/utils/input/mux/takeovermux.py
+++ b/src/cfclient/utils/input/mux/takeovermux.py
@@ -20,7 +20,6 @@
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
-
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
@@ -30,18 +29,18 @@ Mux for giving control to one device (slave/student) for all axis (roll/pitch/
yaw/thrust) with the ability to take over all of them from a second device
(master/teacher).
"""
-
import logging
from .takeoverselectivemux import TakeOverSelectiveMux
__author__ = 'Bitcraze AB'
-__all__ = ['SelectiveMux']
+__all__ = ['TakeOverMux']
logger = logging.getLogger(__name__)
class TakeOverMux(TakeOverSelectiveMux):
+
def __init__(self, *args):
super(TakeOverMux, self).__init__(*args)
self.name = "Teacher (RPYT)"
diff --git a/src/cfclient/utils/input/mux/takeoverselectivemux.py b/src/cfclient/utils/input/mux/takeoverselectivemux.py
index ed137e84aa24aee394185bfd4f81d392b16f9577..4531e8cb4deb068cc278dd04d55df16aafef41eb 100644
--- a/src/cfclient/utils/input/mux/takeoverselectivemux.py
+++ b/src/cfclient/utils/input/mux/takeoverselectivemux.py
@@ -42,6 +42,7 @@ logger = logging.getLogger(__name__)
class TakeOverSelectiveMux(InputMux):
+
def __init__(self, *args):
super(TakeOverSelectiveMux, self).__init__(*args)
self._master = "Teacher"
diff --git a/src/cfclient/utils/logconfigreader.py b/src/cfclient/utils/logconfigreader.py
index 36d539266053db1c173bbaf5ac2d06c5676f32e3..c548dcf4658a4db454851808e57fdc396a769b90 100644
--- a/src/cfclient/utils/logconfigreader.py
+++ b/src/cfclient/utils/logconfigreader.py
@@ -40,15 +40,12 @@ import json
import logging
import os
import shutil
-import sys
-
-from PyQt4 import QtCore, QtGui, uic
-from PyQt4.QtCore import pyqtSlot, pyqtSignal
+import cfclient
from cflib.crazyflie.log import LogVariable, LogConfig
__author__ = 'Bitcraze AB'
-__all__ = ['LogVariable', 'LogConfigReader', 'LogConfigRemoveThis']
+__all__ = ['LogVariable', 'LogConfigReader']
logger = logging.getLogger(__name__)
@@ -59,24 +56,25 @@ class LogConfigReader():
def __init__(self, crazyflie):
self.dsList = []
# Check if user config exists, otherwise copy files
- if (not os.path.exists(sys.path[1] + "/log")):
+ if (not os.path.exists(cfclient.config_path + "/log")):
logger.info("No user config found, copying dist files")
- os.makedirs(sys.path[1] + "/log")
+ os.makedirs(cfclient.config_path + "/log")
for f in glob.glob(
- sys.path[0] + "/cfclient/configs/log/[A-Za-z]*.json"):
- shutil.copy2(f, sys.path[1] + "/log")
+ cfclient.module_path + "/configs/log/[A-Za-z]*.json"):
+ shutil.copy2(f, cfclient.config_path + "/log")
self._cf = crazyflie
self._cf.connected.add_callback(self._connected)
def _read_config_files(self):
"""Read and parse log configurations"""
configsfound = [os.path.basename(f) for f in
- glob.glob(sys.path[1] + "/log/[A-Za-z_-]*.json")]
+ glob.glob(cfclient.config_path +
+ "/log/[A-Za-z_-]*.json")]
new_dsList = []
for conf in configsfound:
try:
logger.info("Parsing [%s]", conf)
- json_data = open(sys.path[1] + "/log/%s" % conf)
+ json_data = open(cfclient.config_path + "/log/%s" % conf)
self.data = json.load(json_data)
infoNode = self.data["logconfig"]["logblock"]
@@ -115,7 +113,7 @@ class LogConfigReader():
def saveLogConfigFile(self, logconfig):
"""Save a log configuration to file"""
- filename = sys.path[1] + "/log/" + logconfig.name + ".json"
+ filename = cfclient.config_path + "/log/" + logconfig.name + ".json"
logger.info("Saving config for [%s]", filename)
# Build tree for JSON
diff --git a/src/cfclient/utils/logdatawriter.py b/src/cfclient/utils/logdatawriter.py
index 3a7d365d30c2cedf313131c5ffb1cdb022d8bf7b..0f305fa19461dcb59794f2b1654140a0ce5ef1da 100644
--- a/src/cfclient/utils/logdatawriter.py
+++ b/src/cfclient/utils/logdatawriter.py
@@ -31,14 +31,11 @@ Used to write log data to files.
"""
import os
-import sys
import datetime
import logging
-from cflib.crazyflie.log import LogConfig
-
-import traceback
+import cfclient
__author__ = 'Bitcraze AB'
__all__ = ['LogWriter']
@@ -55,7 +52,7 @@ class LogWriter():
self._dir = directory
self._connected_ts = connected_ts
- self._dir = os.path.join(sys.path[1], "logdata",
+ self._dir = os.path.join(cfclient.config_path, "logdata",
connected_ts.strftime("%Y%m%dT%H-%M-%S"))
self._file = None
self._header_written = False
diff --git a/src/cfclient/utils/periodictimer.py b/src/cfclient/utils/periodictimer.py
index bb889113d35182695db0a4dca2beca9d61b33142..7ba3063d63a34b6f880feb0ee8c89863839c6957 100644
--- a/src/cfclient/utils/periodictimer.py
+++ b/src/cfclient/utils/periodictimer.py
@@ -68,6 +68,7 @@ class PeriodicTimer:
class _PeriodicTimerThread(Thread):
+
def __init__(self, period, caller):
super(_PeriodicTimerThread, self).__init__()
self._period = period
diff --git a/src/cfclient/utils/zmq_led_driver.py b/src/cfclient/utils/zmq_led_driver.py
index 79632836508513f83672f3dc27dfd76bd7e8dff8..e639b0921c4aea26e88a7075c0d39cd35549333b 100644
--- a/src/cfclient/utils/zmq_led_driver.py
+++ b/src/cfclient/utils/zmq_led_driver.py
@@ -30,8 +30,6 @@
Give access to the LED driver memory via ZMQ.
"""
-import cflib
-import cflib.crazyflie
from cflib.crazyflie.mem import MemoryElement
import logging
diff --git a/src/cfclient/utils/zmq_param.py b/src/cfclient/utils/zmq_param.py
index 16b105632442100d5062fda700f36eaa3d792b6a..da221b6bebfd9f818ebcb4e6a67f1aa4160f4ab8 100644
--- a/src/cfclient/utils/zmq_param.py
+++ b/src/cfclient/utils/zmq_param.py
@@ -47,6 +47,7 @@ except Exception as e:
class _PullReader(Thread):
+
def __init__(self, receiver, callback, *args):
super(_PullReader, self).__init__(*args)
self._receiver = receiver
@@ -89,7 +90,7 @@ class ZMQParamAccess:
self._receiver.send_json(response)
self._receiver_thread.lock.release()
if data["cmd"] == "set":
- resp = {"version": 1}
+ resp = {"version": 1} # noqa
group = data["name"].split(".")[0]
name = data["name"].split(".")[1]
self._cf.param.add_update_callback(group=group, name=name,
diff --git a/src/cflib/cflib/__init__.py b/src/cflib/cflib/__init__.py
deleted file mode 100644
index 536acc1111695aade66f938f03689f8a10d71d4c..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/__init__.py
+++ /dev/null
@@ -1,56 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-The Crazyflie Micro Quadcopter library API used to communicate with the
-Crazyflie Micro Quadcopter via a communication link.
-
-The API takes care of scanning, opening and closing the communication link
-as well as sending/receiving data from the Crazyflie.
-
-A link is described using an URI of the following format:
- <interface>://<interface defined data>.
-See each link for the data that can be included in the URI for that interface.
-
-The two main uses-cases are scanning for Crazyflies available on a
-communication link and opening a communication link to a Crazyflie.
-
-Example of scanning for available Crazyflies on all communication links:
-cflib.crtp.init_drivers()
-available = cflib.crtp.scan_interfaces()
-for i in available:
- print "Found Crazyflie on URI [%s] with comment [%s]"
- % (available[0], available[1])
-
-Example of connecting to a Crazyflie with know URI (radio dongle 0 and
-radio channel 125):
-cf = Crazyflie()
-cf.open_link("radio://0/125")
-...
-cf.close_link()
-"""
diff --git a/src/cflib/cflib/bootloader/__init__.py b/src/cflib/cflib/bootloader/__init__.py
deleted file mode 100644
index 4e6bec5ca53592c658692e144dd7035a6e7c9c98..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/bootloader/__init__.py
+++ /dev/null
@@ -1,388 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Bootloading utilities for the Crazyflie.
-"""
-
-from cflib.utils.callbacks import Caller
-from .cloader import Cloader
-from .boottypes import BootVersion, TargetTypes, Target
-import zipfile
-import json
-import sys
-import time
-import logging
-
-logger = logging.getLogger(__name__)
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Bootloader']
-
-
-class Bootloader:
- """Bootloader utility for the Crazyflie"""
-
- def __init__(self, clink=None):
- """Init the communication class by starting to communicate with the
- link given. clink is the link address used after resetting to the
- bootloader.
-
- The device is actually considered in firmware mode.
- """
- self.clink = clink
- self.in_loader = False
-
- self.page_size = 0
- self.buffer_pages = 0
- self.flash_pages = 0
- self.start_page = 0
- self.cpuid = "N/A"
- self.error_code = 0
- self.protocol_version = 0
-
- # Outgoing callbacks for progress
- # int
- self.progress_cb = None
- # msg
- self.error_cb = None
- # bool
- self.in_bootloader_cb = None
- # Target
- self.dev_info_cb = None
-
- # self.dev_info_cb.add_callback(self._dev_info)
- # self.in_bootloader_cb.add_callback(self._bootloader_info)
-
- self._boot_plat = None
-
- self._cload = Cloader(clink,
- info_cb=self.dev_info_cb,
- in_boot_cb=self.in_bootloader_cb)
-
- def start_bootloader(self, warm_boot=False):
- if warm_boot:
- self._cload.open_bootloader_uri(self.clink)
- started = self._cload.reset_to_bootloader(TargetTypes.NRF51)
- if started:
- started = self._cload.check_link_and_get_info()
- else:
- uri = self._cload.scan_for_bootloader()
-
- # Workaround for libusb on Windows (open/close too fast)
- time.sleep(1)
-
- if uri:
- self._cload.open_bootloader_uri(uri)
- started = self._cload.check_link_and_get_info()
- else:
- started = False
-
- if started:
- self.protocol_version = self._cload.protocol_version
-
- if (self.protocol_version == BootVersion.CF1_PROTO_VER_0 or
- self.protocol_version == BootVersion.CF1_PROTO_VER_1):
- # Nothing more to do
- pass
- elif self.protocol_version == BootVersion.CF2_PROTO_VER:
- self._cload.request_info_update(TargetTypes.NRF51)
- else:
- print("Bootloader protocol 0x{:X} not "
- "supported!".self.protocol_version)
-
- return started
-
- def get_target(self, target_id):
- return self._cload.request_info_update(target_id)
-
- def read_cf1_config(self):
- """Read a flash page from the specified target"""
- target = self._cload.targets[0xFF]
- config_page = target.flash_pages - 1
-
- return self._cload.read_flash(addr=0xFF, page=config_page)
-
- def write_cf1_config(self, data):
- target = self._cload.targets[0xFF]
- config_page = target.flash_pages - 1
-
- to_flash = {"target": target, "data": data, "type": "CF1 config",
- "start_page": config_page}
-
- self._internal_flash(target=to_flash)
-
- def flash(self, filename, targets):
- for target in targets:
- if TargetTypes.from_string(target) not in self._cload.targets:
- print("Target {} not found by bootloader".format(target))
- return False
-
- files_to_flash = ()
- if zipfile.is_zipfile(filename):
- # Read the manifest (don't forget to check so there is one!)
- try:
- zf = zipfile.ZipFile(filename)
- js = zf.read("manifest.json").decode("UTF-8")
- j = json.loads(js)
- files = j["files"]
- platform_id = self._get_platform_id()
- files_for_platform = self._filter_platform(files, platform_id)
- if len(targets) == 0:
- targets = self._extract_targets_from_manifest_files(
- files_for_platform)
-
- zip_targets = self._extract_zip_targets(files_for_platform)
- except KeyError as e:
- print(e)
- print("No manifest.json in {}".format(filename))
- return
-
- try:
- # Match and create targets
- for target in targets:
- t = targets[target]
- for type in t:
- file_to_flash = {}
- current_target = "{}-{}".format(target, type)
- file_to_flash["type"] = type
- # Read the data, if this fails we bail
- file_to_flash["target"] = self._cload.targets[
- TargetTypes.from_string(target)]
- file_to_flash["data"] = zf.read(
- zip_targets[target][type]["filename"])
- file_to_flash["start_page"] = file_to_flash[
- "target"].start_page
- files_to_flash += (file_to_flash,)
- except KeyError as e:
- print("Could not find a file for {} in {}".format(
- current_target, filename))
- return False
-
- else:
- if len(targets) != 1:
- print("Not an archive, must supply one target to flash")
- else:
- file_to_flash = {}
- file_to_flash["type"] = "binary"
- f = open(filename, 'rb')
- for t in targets:
- file_to_flash["target"] = self._cload.targets[
- TargetTypes.from_string(t)]
- file_to_flash["type"] = targets[t][0]
- file_to_flash["start_page"] = file_to_flash[
- "target"].start_page
- file_to_flash["data"] = f.read()
- f.close()
- files_to_flash += (file_to_flash,)
-
- if not self.progress_cb:
- print("")
-
- file_counter = 0
- for target in files_to_flash:
- file_counter += 1
- self._internal_flash(target, file_counter, len(files_to_flash))
-
- def _filter_platform(self, files, platform_id):
- result = {}
- for file in files:
- file_info = files[file]
- file_platform = file_info["platform"]
- if platform_id == file_platform:
- result[file] = file_info
- return result
-
- def _extract_zip_targets(self, files):
- zip_targets = {}
- for file in files:
- file_name = file
- file_info = files[file]
- file_target = file_info["target"]
- file_type = file_info["type"]
- if file_target not in zip_targets:
- zip_targets[file_target] = {}
- zip_targets[file_target][file_type] = {
- "filename": file_name}
- return zip_targets
-
- def _extract_targets_from_manifest_files(self, files):
- targets = {}
- for file in files:
- file_info = files[file]
- file_target = file_info["target"]
- file_type = file_info["type"]
- if file_target in targets:
- targets[file_target] += (file_type,)
- else:
- targets[file_target] = (file_type,)
-
- return targets
-
- def reset_to_firmware(self):
- if self._cload.protocol_version == BootVersion.CF2_PROTO_VER:
- self._cload.reset_to_firmware(TargetTypes.NRF51)
- else:
- self._cload.reset_to_firmware(TargetTypes.STM32)
-
- def close(self):
- if self._cload:
- self._cload.close()
-
- def _internal_flash(self, target, current_file_number=1, total_files=1):
-
- image = target["data"]
- t_data = target["target"]
-
- start_page = target["start_page"]
-
- # If used from a UI we need some extra things for reporting progress
- factor = (100.0 * t_data.page_size) / len(image)
- progress = 0
-
- if self.progress_cb:
- self.progress_cb(
- "({}/{}) Starting...".format(current_file_number, total_files),
- int(progress))
- else:
- sys.stdout.write(
- "Flashing {} of {} to {} ({}): ".format(
- current_file_number, total_files,
- TargetTypes.to_string(t_data.id), target["type"]))
- sys.stdout.flush()
-
- if len(image) > ((t_data.flash_pages - start_page) *
- t_data.page_size):
- if self.progress_cb:
- self.progress_cb(
- "Error: Not enough space to flash the image file.",
- int(progress))
- else:
- print("Error: Not enough space to flash the image file.")
- raise Exception()
-
- if not self.progress_cb:
- logger.info(("%d bytes (%d pages) " % (
- (len(image) - 1), int(len(image) / t_data.page_size) + 1)))
- sys.stdout.write(("%d bytes (%d pages) " % (
- (len(image) - 1), int(len(image) / t_data.page_size) + 1)))
- sys.stdout.flush()
-
- # For each page
- ctr = 0 # Buffer counter
- for i in range(0, int((len(image) - 1) / t_data.page_size) + 1):
- # Load the buffer
- if ((i + 1) * t_data.page_size) > len(image):
- self._cload.upload_buffer(
- t_data.addr, ctr, 0, image[i * t_data.page_size:])
- else:
- self._cload.upload_buffer(
- t_data.addr, ctr, 0,
- image[i * t_data.page_size: (i + 1) * t_data.page_size])
-
- ctr += 1
-
- if self.progress_cb:
- progress += factor
- self.progress_cb("({}/{}) Uploading buffer to {}...".format(
- current_file_number,
- total_files,
- TargetTypes.to_string(t_data.id)),
-
- int(progress))
- else:
- sys.stdout.write(".")
- sys.stdout.flush()
-
- # Flash when the complete buffers are full
- if ctr >= t_data.buffer_pages:
- if self.progress_cb:
- self.progress_cb("({}/{}) Writing buffer to {}...".format(
- current_file_number,
- total_files,
- TargetTypes.to_string(t_data.id)),
-
- int(progress))
- else:
- sys.stdout.write("%d" % ctr)
- sys.stdout.flush()
- if not self._cload.write_flash(t_data.addr, 0,
- start_page + i - (ctr - 1),
- ctr):
- if self.progress_cb:
- self.progress_cb(
- "Error during flash operation (code %d)".format(
- self._cload.error_code),
- int(progress))
- else:
- print("\nError during flash operation (code %d). "
- "Maybe wrong radio link?" %
- self._cload.error_code)
- raise Exception()
-
- ctr = 0
-
- if ctr > 0:
- if self.progress_cb:
- self.progress_cb("({}/{}) Writing buffer to {}...".format(
- current_file_number,
- total_files,
- TargetTypes.to_string(t_data.id)),
- int(progress))
- else:
- sys.stdout.write("%d" % ctr)
- sys.stdout.flush()
- if not self._cload.write_flash(
- t_data.addr, 0,
- (start_page + (int((len(image) - 1) / t_data.page_size)) -
- (ctr - 1)), ctr):
- if self.progress_cb:
- self.progress_cb(
- "Error during flash operation (code %d)".format(
- self._cload.error_code),
- int(progress))
- else:
- print("\nError during flash operation (code %d). Maybe"
- " wrong radio link?" % self._cload.error_code)
- raise Exception()
-
- if self.progress_cb:
- self.progress_cb(
- "({}/{}) Flashing done!".format(current_file_number,
- total_files),
- int(100))
- else:
- print("")
-
- def _get_platform_id(self):
- """Get platform identifier used in the zip manifest for curr copter"""
- identifier = "cf1"
- if (BootVersion.is_cf2(self.protocol_version)):
- identifier = "cf2"
-
- return identifier
diff --git a/src/cflib/cflib/bootloader/boottypes.py b/src/cflib/cflib/bootloader/boottypes.py
deleted file mode 100644
index b637e98abfe1c16d62b0186d3e28ffb90a57ae34..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/bootloader/boottypes.py
+++ /dev/null
@@ -1,97 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Bootloading utilities for the Crazyflie.
-"""
-
-__author__ = 'Bitcraze AB'
-__all__ = ['BootVersion', 'TargetTypes', 'Target']
-
-
-class BootVersion:
- CF1_PROTO_VER_0 = 0x00
- CF1_PROTO_VER_1 = 0x01
- CF2_PROTO_VER = 0x10
-
- @staticmethod
- def to_ver_string(ver):
- if (ver == BootVersion.CF1_PROTO_VER_0 or ver == BootVersion.
- CF1_PROTO_VER_1):
- return "Crazyflie Nano Quadcopter (1.0)"
- if ver == BootVersion.CF2_PROTO_VER:
- return "Crazyflie 2.0"
- return "Unknown"
-
- @staticmethod
- def is_cf2(ver):
- return ver == BootVersion.CF2_PROTO_VER
-
-
-class TargetTypes:
- STM32 = 0xFF
- NRF51 = 0xFE
-
- @staticmethod
- def to_string(target):
- if target == TargetTypes.STM32:
- return "stm32"
- if target == TargetTypes.NRF51:
- return "nrf51"
- return "Unknown"
-
- @staticmethod
- def from_string(name):
- if name == "stm32":
- return TargetTypes.STM32
- if name == "nrf51":
- return TargetTypes.NRF51
- return 0
-
-
-class Target:
- def __init__(self, id):
- self.id = id
- self.protocol_version = 0xFF
- self.page_size = 0
- self.buffer_pages = 0
- self.flash_pages = 0
- self.start_page = 0
- self.cpuid = ""
- self.data = None
-
- def __str__(self):
- ret = ""
- ret += "Target info: {} (0x{:X})\n".format(
- TargetTypes.to_string(self.id), self.id)
- ret += "Flash pages: %d | Page size: %d | Buffer pages: %d |" \
- " Start page: %d\n" % (self.flash_pages, self.page_size,
- self.buffer_pages, self.start_page)
- ret += "%d KBytes of flash available for firmware image." % (
- (self.flash_pages - self.start_page) * self.page_size / 1024)
- return ret
diff --git a/src/cflib/cflib/bootloader/cloader.py b/src/cflib/cflib/bootloader/cloader.py
deleted file mode 100644
index 1bffeb15bfd1b741f8960920deb587550ec9ff73..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/bootloader/cloader.py
+++ /dev/null
@@ -1,423 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Crazyflie radio bootloader for flashing firmware.
-"""
-
-import logging
-
-import time
-import struct
-import math
-import random
-
-import cflib.crtp
-from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
-
-from .boottypes import TargetTypes, Target
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Cloader']
-
-logger = logging.getLogger(__name__)
-
-
-class Cloader:
- """Bootloader utility for the Crazyflie"""
-
- def __init__(self, link, info_cb=None, in_boot_cb=None):
- """Init the communication class by starting to communicate with the
- link given. clink is the link address used after resetting to the
- bootloader.
-
- The device is actually considered in firmware mode.
- """
- self.link = None
- self.uri = link
- self.in_loader = False
-
- self.page_size = 0
- self.buffer_pages = 0
- self.flash_pages = 0
- self.start_page = 0
- self.cpuid = "N/A"
- self.error_code = 0
- self.protocol_version = 0xFF
-
- self._info_cb = info_cb
- self._in_boot_cb = in_boot_cb
-
- self.targets = {}
- self.mapping = None
- self._available_boot_uri = ("radio://0/110/2M", "radio://0/0/2M")
-
- def close(self):
- """ Close the link """
- if self.link:
- self.link.close()
-
- def scan_for_bootloader(self):
- link = cflib.crtp.get_link_driver("radio://0")
- ts = time.time()
- res = ()
- while len(res) == 0 and (time.time() - ts) < 10:
- res = link.scan_selected(self._available_boot_uri)
-
- link.close()
-
- if len(res) > 0:
- return res[0]
- return None
-
- 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 reset_to_bootloader1(self, cpu_id):
- """ Reset to the bootloader
- The parameter cpuid shall correspond to the device to reset.
-
- Return true if the reset has been done and the contact with the
- bootloader is established.
- """
- # Send an echo request and wait for the answer
- # Mainly aim to bypass a bug of the crazyflie firmware that prevents
- # reset before normal CRTP communication
- pk = CRTPPacket()
- pk.port = CRTPPort.LINKCTRL
- pk.data = (1, 2, 3) + cpu_id
- self.link.send_packet(pk)
-
- pk = None
- while True:
- pk = self.link.receive_packet(2)
- if not pk:
- return False
-
- if pk.port == CRTPPort.LINKCTRL:
- break
-
- # Send the reset to bootloader request
- pk = CRTPPacket()
- pk.set_header(0xFF, 0xFF)
- pk.data = (0xFF, 0xFE) + 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.port == 0xFF and tuple(pk.data) == (0xFF, 0xFE) + cpu_id:
- pk.data = (0xFF, 0xF0) + cpu_id
- self.link.send_packet(pk)
- break
-
- time.sleep(0.1)
- self.link.close()
- self.link = cflib.crtp.get_link_driver(self.clink_address)
- # time.sleep(0.1)
-
- return self._update_info()
-
- 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
- """
- # The fake CPU ID is legacy from the Crazyflie 1.0
- # In order to reset the CPU id had to be sent, but this
- # was removed before launching it. But the length check is
- # still in the bootloader. So to work around this bug so
- # some extra data needs to be sent.
- 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)):
- # Difference in CF1 and CF2 (CPU ID)
- if target_id == 0xFE:
- pk.data = (target_id, 0xF0, 0x01)
- else:
- pk.data = (target_id, 0xF0) + fake_cpu_id
- self.link.send_packet(pk)
- break
-
- time.sleep(0.1)
-
- def open_bootloader_uri(self, uri=None):
- if self.link:
- self.link.close()
- if uri:
- self.link = cflib.crtp.get_link_driver(uri)
- else:
- self.link = cflib.crtp.get_link_driver(self.clink_address)
-
- def check_link_and_get_info(self, target_id=0xFF):
- """Try to get a connection with the bootloader by requesting info
- 5 times. This let roughly 10 seconds to boot the copter ..."""
- for _ in range(0, 5):
- if self._update_info(target_id):
- if self._in_boot_cb:
- self._in_boot_cb.call(True, self.targets[
- target_id].protocol_version)
- if self._info_cb:
- self._info_cb.call(self.targets[target_id])
- if self.protocol_version != 1:
- return True
- # Set radio link to a random address
- addr = [0xbc] + [random.randint(0, 255) for x in range(4)]
- return self._set_address(addr)
- return False
-
- def _set_address(self, new_address):
- """ Change copter radio address.
- This function works only with crazyradio CRTP link.
- """
-
- logging.debug("Setting bootloader radio address to"
- " {}".format(new_address))
-
- if len(new_address) != 5:
- raise Exception("Radio address should be 5 bytes long")
-
- self.link.pause()
-
- for _ in range(10):
- logging.debug("Trying to set new radio address")
- self.link.cradio.set_address((0xE7,) * 5)
- pkdata = (0xFF, 0xFF, 0x11) + tuple(new_address)
- self.link.cradio.send_packet(pkdata)
- self.link.cradio.set_address(tuple(new_address))
- if self.link.cradio.send_packet((0xff,)).ack:
- logging.info("Bootloader set to radio address"
- " {}".format(new_address))
- self.link.restart()
- return True
-
- self.link.restart()
- return False
-
- def request_info_update(self, target_id):
- if target_id not in self.targets:
- self._update_info(target_id)
- if self._info_cb:
- self._info_cb.call(self.targets[target_id])
- return self.targets[target_id]
-
- def _update_info(self, target_id):
- """ 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 = (target_id, 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]) ==
- (target_id, 0x10)):
- tab = struct.unpack("BBHHHH", pk.data[0:10])
- cpuid = struct.unpack("B" * 12, pk.data[10:22])
- if target_id not in self.targets:
- self.targets[target_id] = Target(target_id)
- self.targets[target_id].addr = target_id
- if len(pk.data) > 22:
- self.targets[target_id].protocol_version = pk.datat[22]
- self.protocol_version = pk.datat[22]
- self.targets[target_id].page_size = tab[2]
- self.targets[target_id].buffer_pages = tab[3]
- self.targets[target_id].flash_pages = tab[4]
- self.targets[target_id].start_page = tab[5]
- self.targets[target_id].cpuid = "%02X" % cpuid[0]
- for i in cpuid[1:]:
- self.targets[target_id].cpuid += ":%02X" % i
-
- if (self.protocol_version == 0x10 and
- target_id == TargetTypes.STM32):
- self._update_mapping(target_id)
-
- return True
-
- return False
-
- def _update_mapping(self, target_id):
- pk = CRTPPacket()
- pk.set_header(0xff, 0xff)
- pk.data = (target_id, 0x12)
- self.link.send_packet(pk)
-
- pk = self.link.receive_packet(2)
-
- if (pk and pk.header == 0xFF and struct.unpack("<BB", pk.data[0:2]) ==
- (target_id, 0x12)):
- m = pk.datat[2:]
-
- if (len(m) % 2) != 0:
- raise Exception("Malformed flash mapping packet")
-
- self.mapping = []
- page = 0
- for i in range(int(len(m) / 2)):
- for j in range(m[2 * i]):
- self.mapping.append(page)
- page += m[(2 * i) + 1]
-
- 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)):
- pk.data.append(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)
-
- self.link.send_packet(pk)
-
- 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 write_flash(self, addr, page_buffer, target_page, page_count):
- """Initiate 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 = pk.data[3]
-
- return pk.data[2] == 1
-
- def decode_cpu_id(self, cpuid):
- """Decode the CPU id into a string"""
- ret = ()
- for i in cpuid.split(':'):
- ret += (eval("0x" + i),)
-
- return ret
diff --git a/src/cflib/cflib/cache/27A2C4BA.json b/src/cflib/cflib/cache/27A2C4BA.json
deleted file mode 100644
index b71d9c655880540900b4577694ccadb68934003a..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/cache/27A2C4BA.json
+++ /dev/null
@@ -1,257 +0,0 @@
-{
- "sensorfusion6": {
- "ki": {
- "ident": 24,
- "group": "sensorfusion6",
- "name": "ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "kp": {
- "ident": 23,
- "group": "sensorfusion6",
- "name": "kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "cpu": {
- "flash": {
- "ident": 1,
- "group": "cpu",
- "name": "flash",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "id2": {
- "ident": 4,
- "group": "cpu",
- "name": "id2",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 0
- },
- "id0": {
- "ident": 2,
- "group": "cpu",
- "name": "id0",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 0
- },
- "id1": {
- "ident": 3,
- "group": "cpu",
- "name": "id1",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 0
- }
- },
- "version": {
- "revision0": {
- "ident": 25,
- "group": "version",
- "name": "revision0",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 0
- },
- "revision1": {
- "ident": 26,
- "group": "version",
- "name": "revision1",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 0
- }
- },
- "pid_rate": {
- "yaw_kp": {
- "ident": 11,
- "group": "pid_rate",
- "name": "yaw_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kd": {
- "ident": 7,
- "group": "pid_rate",
- "name": "roll_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kp": {
- "ident": 8,
- "group": "pid_rate",
- "name": "pitch_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_ki": {
- "ident": 6,
- "group": "pid_rate",
- "name": "roll_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_ki": {
- "ident": 9,
- "group": "pid_rate",
- "name": "pitch_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kp": {
- "ident": 5,
- "group": "pid_rate",
- "name": "roll_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_kd": {
- "ident": 13,
- "group": "pid_rate",
- "name": "yaw_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_ki": {
- "ident": 12,
- "group": "pid_rate",
- "name": "yaw_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kd": {
- "ident": 10,
- "group": "pid_rate",
- "name": "pitch_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "pid_attitude": {
- "yaw_kp": {
- "ident": 20,
- "group": "pid_attitude",
- "name": "yaw_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kd": {
- "ident": 16,
- "group": "pid_attitude",
- "name": "roll_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kp": {
- "ident": 17,
- "group": "pid_attitude",
- "name": "pitch_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_ki": {
- "ident": 15,
- "group": "pid_attitude",
- "name": "roll_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_ki": {
- "ident": 18,
- "group": "pid_attitude",
- "name": "pitch_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kp": {
- "ident": 14,
- "group": "pid_attitude",
- "name": "roll_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_kd": {
- "ident": 22,
- "group": "pid_attitude",
- "name": "yaw_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_ki": {
- "ident": 21,
- "group": "pid_attitude",
- "name": "yaw_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kd": {
- "ident": 19,
- "group": "pid_attitude",
- "name": "pitch_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "imu_acc_lpf": {
- "factor": {
- "ident": 0,
- "group": "imu_acc_lpf",
- "name": "factor",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 0
- }
- }
-}
\ No newline at end of file
diff --git a/src/cflib/cflib/cache/81204C68.json b/src/cflib/cflib/cache/81204C68.json
deleted file mode 100644
index bf0d26da7b36bb2d494b68b27975266918273b8d..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/cache/81204C68.json
+++ /dev/null
@@ -1,317 +0,0 @@
-{
- "acc": {
- "y": {
- "ident": 26,
- "group": "acc",
- "name": "y",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "x": {
- "ident": 25,
- "group": "acc",
- "name": "x",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "z": {
- "ident": 27,
- "group": "acc",
- "name": "z",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "zw": {
- "ident": 28,
- "group": "acc",
- "name": "zw",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "gyro": {
- "y": {
- "ident": 4,
- "group": "gyro",
- "name": "y",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "x": {
- "ident": 3,
- "group": "gyro",
- "name": "x",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "z": {
- "ident": 5,
- "group": "gyro",
- "name": "z",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "sys": {
- "canfly": {
- "ident": 2,
- "group": "sys",
- "name": "canfly",
- "pytype": "<b",
- "__class__": "LogTocElement",
- "ctype": "int8_t",
- "access": 0
- }
- },
- "stabilizer": {
- "thrust": {
- "ident": 9,
- "group": "stabilizer",
- "name": "thrust",
- "pytype": "<H",
- "__class__": "LogTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "yaw": {
- "ident": 8,
- "group": "stabilizer",
- "name": "yaw",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll": {
- "ident": 6,
- "group": "stabilizer",
- "name": "roll",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch": {
- "ident": 7,
- "group": "stabilizer",
- "name": "pitch",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "motor": {
- "m4": {
- "ident": 21,
- "group": "motor",
- "name": "m4",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- },
- "m1": {
- "ident": 22,
- "group": "motor",
- "name": "m1",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- },
- "m3": {
- "ident": 24,
- "group": "motor",
- "name": "m3",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- },
- "m2": {
- "ident": 23,
- "group": "motor",
- "name": "m2",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- }
- },
- "altHold": {
- "vSpeed": {
- "ident": 18,
- "group": "altHold",
- "name": "vSpeed",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "target": {
- "ident": 16,
- "group": "altHold",
- "name": "target",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "err": {
- "ident": 15,
- "group": "altHold",
- "name": "err",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedASL": {
- "ident": 19,
- "group": "altHold",
- "name": "vSpeedASL",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedAcc": {
- "ident": 20,
- "group": "altHold",
- "name": "vSpeedAcc",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "zSpeed": {
- "ident": 17,
- "group": "altHold",
- "name": "zSpeed",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "vpid": {
- "i": {
- "ident": 31,
- "group": "vpid",
- "name": "i",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "p": {
- "ident": 30,
- "group": "vpid",
- "name": "p",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "pid": {
- "ident": 29,
- "group": "vpid",
- "name": "pid",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "d": {
- "ident": 32,
- "group": "vpid",
- "name": "d",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "baro": {
- "aslRaw": {
- "ident": 11,
- "group": "baro",
- "name": "aslRaw",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "aslLong": {
- "ident": 12,
- "group": "baro",
- "name": "aslLong",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "pressure": {
- "ident": 14,
- "group": "baro",
- "name": "pressure",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "temp": {
- "ident": 13,
- "group": "baro",
- "name": "temp",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "asl": {
- "ident": 10,
- "group": "baro",
- "name": "asl",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "pm": {
- "state": {
- "ident": 1,
- "group": "pm",
- "name": "state",
- "pytype": "<b",
- "__class__": "LogTocElement",
- "ctype": "int8_t",
- "access": 0
- },
- "vbat": {
- "ident": 0,
- "group": "pm",
- "name": "vbat",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- }
-}
\ No newline at end of file
diff --git a/src/cflib/cflib/cache/892049D2.json b/src/cflib/cflib/cache/892049D2.json
deleted file mode 100644
index 7de8289371fc71c20c9c28d0b3fe5e0ecc9d3945..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/cache/892049D2.json
+++ /dev/null
@@ -1,89 +0,0 @@
-{
- "stabilizer": {
- "thrust": {
- "ident": 4,
- "group": "stabilizer",
- "name": "thrust",
- "pytype": "<H",
- "__class__": "LogTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "yaw": {
- "ident": 3,
- "group": "stabilizer",
- "name": "yaw",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll": {
- "ident": 1,
- "group": "stabilizer",
- "name": "roll",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch": {
- "ident": 2,
- "group": "stabilizer",
- "name": "pitch",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "motor": {
- "m4": {
- "ident": 5,
- "group": "motor",
- "name": "m4",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- },
- "m1": {
- "ident": 6,
- "group": "motor",
- "name": "m1",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- },
- "m3": {
- "ident": 8,
- "group": "motor",
- "name": "m3",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- },
- "m2": {
- "ident": 7,
- "group": "motor",
- "name": "m2",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- }
- },
- "pm": {
- "vbat": {
- "ident": 0,
- "group": "pm",
- "name": "vbat",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- }
-}
\ No newline at end of file
diff --git a/src/cflib/cflib/cache/9E5F2E7D.json b/src/cflib/cflib/cache/9E5F2E7D.json
deleted file mode 100644
index 9c5467ac90ae5bfcce962e7c5fd82976199a1634..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/cache/9E5F2E7D.json
+++ /dev/null
@@ -1,355 +0,0 @@
-{
- "acc": {
- "y": {
- "ident": 4,
- "group": "acc",
- "name": "y",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "x": {
- "ident": 3,
- "group": "acc",
- "name": "x",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "z": {
- "ident": 5,
- "group": "acc",
- "name": "z",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "zw": {
- "ident": 6,
- "group": "acc",
- "name": "zw",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "mag2": {
- "ident": 7,
- "group": "acc",
- "name": "mag2",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "mag": {
- "y": {
- "ident": 35,
- "group": "mag",
- "name": "y",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "x": {
- "ident": 34,
- "group": "mag",
- "name": "x",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "z": {
- "ident": 36,
- "group": "mag",
- "name": "z",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "gyro": {
- "y": {
- "ident": 28,
- "group": "gyro",
- "name": "y",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "x": {
- "ident": 27,
- "group": "gyro",
- "name": "x",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "z": {
- "ident": 29,
- "group": "gyro",
- "name": "z",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "sys": {
- "canfly": {
- "ident": 2,
- "group": "sys",
- "name": "canfly",
- "pytype": "<b",
- "__class__": "LogTocElement",
- "ctype": "int8_t",
- "access": 0
- }
- },
- "stabilizer": {
- "thrust": {
- "ident": 20,
- "group": "stabilizer",
- "name": "thrust",
- "pytype": "<H",
- "__class__": "LogTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "yaw": {
- "ident": 19,
- "group": "stabilizer",
- "name": "yaw",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll": {
- "ident": 17,
- "group": "stabilizer",
- "name": "roll",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch": {
- "ident": 18,
- "group": "stabilizer",
- "name": "pitch",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "motor": {
- "m4": {
- "ident": 13,
- "group": "motor",
- "name": "m4",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- },
- "m1": {
- "ident": 14,
- "group": "motor",
- "name": "m1",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- },
- "m3": {
- "ident": 16,
- "group": "motor",
- "name": "m3",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- },
- "m2": {
- "ident": 15,
- "group": "motor",
- "name": "m2",
- "pytype": "<i",
- "__class__": "LogTocElement",
- "ctype": "int32_t",
- "access": 0
- }
- },
- "altHold": {
- "vSpeed": {
- "ident": 24,
- "group": "altHold",
- "name": "vSpeed",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "target": {
- "ident": 22,
- "group": "altHold",
- "name": "target",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "err": {
- "ident": 21,
- "group": "altHold",
- "name": "err",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedASL": {
- "ident": 25,
- "group": "altHold",
- "name": "vSpeedASL",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedAcc": {
- "ident": 26,
- "group": "altHold",
- "name": "vSpeedAcc",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "zSpeed": {
- "ident": 23,
- "group": "altHold",
- "name": "zSpeed",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "vpid": {
- "i": {
- "ident": 32,
- "group": "vpid",
- "name": "i",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "p": {
- "ident": 31,
- "group": "vpid",
- "name": "p",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "pid": {
- "ident": 30,
- "group": "vpid",
- "name": "pid",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "d": {
- "ident": 33,
- "group": "vpid",
- "name": "d",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "baro": {
- "aslRaw": {
- "ident": 9,
- "group": "baro",
- "name": "aslRaw",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "aslLong": {
- "ident": 10,
- "group": "baro",
- "name": "aslLong",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "pressure": {
- "ident": 12,
- "group": "baro",
- "name": "pressure",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "temp": {
- "ident": 11,
- "group": "baro",
- "name": "temp",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- },
- "asl": {
- "ident": 8,
- "group": "baro",
- "name": "asl",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "pm": {
- "state": {
- "ident": 1,
- "group": "pm",
- "name": "state",
- "pytype": "<b",
- "__class__": "LogTocElement",
- "ctype": "int8_t",
- "access": 0
- },
- "vbat": {
- "ident": 0,
- "group": "pm",
- "name": "vbat",
- "pytype": "<f",
- "__class__": "LogTocElement",
- "ctype": "float",
- "access": 0
- }
- }
-}
\ No newline at end of file
diff --git a/src/cflib/cflib/cache/E20076B8.json b/src/cflib/cflib/cache/E20076B8.json
deleted file mode 100644
index ca46a4a32a276732106252199be7b54d2283d214..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/cache/E20076B8.json
+++ /dev/null
@@ -1,499 +0,0 @@
-{
- "imu_sensors": {
- "HMC5883L": {
- "ident": 3,
- "group": "imu_sensors",
- "name": "HMC5883L",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- },
- "MS5611": {
- "ident": 4,
- "group": "imu_sensors",
- "name": "MS5611",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- }
- },
- "sensorfusion6": {
- "ki": {
- "ident": 30,
- "group": "sensorfusion6",
- "name": "ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "kp": {
- "ident": 29,
- "group": "sensorfusion6",
- "name": "kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "flightmode": {
- "althold": {
- "ident": 10,
- "group": "flightmode",
- "name": "althold",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 0
- }
- },
- "firmware": {
- "revision0": {
- "ident": 50,
- "group": "firmware",
- "name": "revision0",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 1
- },
- "revision1": {
- "ident": 51,
- "group": "firmware",
- "name": "revision1",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 1
- },
- "modified": {
- "ident": 52,
- "group": "firmware",
- "name": "modified",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- }
- },
- "cpu": {
- "flash": {
- "ident": 6,
- "group": "cpu",
- "name": "flash",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 1
- },
- "id2": {
- "ident": 9,
- "group": "cpu",
- "name": "id2",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 1
- },
- "id0": {
- "ident": 7,
- "group": "cpu",
- "name": "id0",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 1
- },
- "id1": {
- "ident": 8,
- "group": "cpu",
- "name": "id1",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 1
- }
- },
- "pid_rate": {
- "yaw_kp": {
- "ident": 17,
- "group": "pid_rate",
- "name": "yaw_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kd": {
- "ident": 13,
- "group": "pid_rate",
- "name": "roll_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kp": {
- "ident": 14,
- "group": "pid_rate",
- "name": "pitch_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_ki": {
- "ident": 12,
- "group": "pid_rate",
- "name": "roll_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_ki": {
- "ident": 15,
- "group": "pid_rate",
- "name": "pitch_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kp": {
- "ident": 11,
- "group": "pid_rate",
- "name": "roll_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_kd": {
- "ident": 19,
- "group": "pid_rate",
- "name": "yaw_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_ki": {
- "ident": 18,
- "group": "pid_rate",
- "name": "yaw_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kd": {
- "ident": 16,
- "group": "pid_rate",
- "name": "pitch_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "pid_attitude": {
- "yaw_kp": {
- "ident": 26,
- "group": "pid_attitude",
- "name": "yaw_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kd": {
- "ident": 22,
- "group": "pid_attitude",
- "name": "roll_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kp": {
- "ident": 23,
- "group": "pid_attitude",
- "name": "pitch_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_ki": {
- "ident": 21,
- "group": "pid_attitude",
- "name": "roll_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_ki": {
- "ident": 24,
- "group": "pid_attitude",
- "name": "pitch_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kp": {
- "ident": 20,
- "group": "pid_attitude",
- "name": "roll_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_kd": {
- "ident": 28,
- "group": "pid_attitude",
- "name": "yaw_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_ki": {
- "ident": 27,
- "group": "pid_attitude",
- "name": "yaw_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kd": {
- "ident": 25,
- "group": "pid_attitude",
- "name": "pitch_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "altHold": {
- "vSpeedAccFac": {
- "ident": 43,
- "group": "altHold",
- "name": "vSpeedAccFac",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedASLDeadband": {
- "ident": 44,
- "group": "altHold",
- "name": "vSpeedASLDeadband",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "errDeadband": {
- "ident": 33,
- "group": "altHold",
- "name": "errDeadband",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "altHoldErrMax": {
- "ident": 35,
- "group": "altHold",
- "name": "altHoldErrMax",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "kd": {
- "ident": 36,
- "group": "altHold",
- "name": "kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pidAslFac": {
- "ident": 40,
- "group": "altHold",
- "name": "pidAslFac",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "maxThrust": {
- "ident": 48,
- "group": "altHold",
- "name": "maxThrust",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "ki": {
- "ident": 37,
- "group": "altHold",
- "name": "ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedLimit": {
- "ident": 46,
- "group": "altHold",
- "name": "vSpeedLimit",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "aslAlpha": {
- "ident": 31,
- "group": "altHold",
- "name": "aslAlpha",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "kp": {
- "ident": 38,
- "group": "altHold",
- "name": "kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "baseThrust": {
- "ident": 47,
- "group": "altHold",
- "name": "baseThrust",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "vBiasAlpha": {
- "ident": 42,
- "group": "altHold",
- "name": "vBiasAlpha",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pidAlpha": {
- "ident": 39,
- "group": "altHold",
- "name": "pidAlpha",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "altHoldChangeSens": {
- "ident": 34,
- "group": "altHold",
- "name": "altHoldChangeSens",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "minThrust": {
- "ident": 49,
- "group": "altHold",
- "name": "minThrust",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "vAccDeadband": {
- "ident": 41,
- "group": "altHold",
- "name": "vAccDeadband",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "aslAlphaLong": {
- "ident": 32,
- "group": "altHold",
- "name": "aslAlphaLong",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedASLFac": {
- "ident": 45,
- "group": "altHold",
- "name": "vSpeedASLFac",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "imu_tests": {
- "HMC5883L": {
- "ident": 1,
- "group": "imu_tests",
- "name": "HMC5883L",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- },
- "MS5611": {
- "ident": 2,
- "group": "imu_tests",
- "name": "MS5611",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- },
- "MPU6050": {
- "ident": 0,
- "group": "imu_tests",
- "name": "MPU6050",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- }
- },
- "imu_acc_lpf": {
- "factor": {
- "ident": 5,
- "group": "imu_acc_lpf",
- "name": "factor",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 0
- }
- }
-}
\ No newline at end of file
diff --git a/src/cflib/cflib/cache/E8BC7DAD.json b/src/cflib/cflib/cache/E8BC7DAD.json
deleted file mode 100644
index ca46a4a32a276732106252199be7b54d2283d214..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/cache/E8BC7DAD.json
+++ /dev/null
@@ -1,499 +0,0 @@
-{
- "imu_sensors": {
- "HMC5883L": {
- "ident": 3,
- "group": "imu_sensors",
- "name": "HMC5883L",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- },
- "MS5611": {
- "ident": 4,
- "group": "imu_sensors",
- "name": "MS5611",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- }
- },
- "sensorfusion6": {
- "ki": {
- "ident": 30,
- "group": "sensorfusion6",
- "name": "ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "kp": {
- "ident": 29,
- "group": "sensorfusion6",
- "name": "kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "flightmode": {
- "althold": {
- "ident": 10,
- "group": "flightmode",
- "name": "althold",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 0
- }
- },
- "firmware": {
- "revision0": {
- "ident": 50,
- "group": "firmware",
- "name": "revision0",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 1
- },
- "revision1": {
- "ident": 51,
- "group": "firmware",
- "name": "revision1",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 1
- },
- "modified": {
- "ident": 52,
- "group": "firmware",
- "name": "modified",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- }
- },
- "cpu": {
- "flash": {
- "ident": 6,
- "group": "cpu",
- "name": "flash",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 1
- },
- "id2": {
- "ident": 9,
- "group": "cpu",
- "name": "id2",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 1
- },
- "id0": {
- "ident": 7,
- "group": "cpu",
- "name": "id0",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 1
- },
- "id1": {
- "ident": 8,
- "group": "cpu",
- "name": "id1",
- "pytype": "<L",
- "__class__": "ParamTocElement",
- "ctype": "uint32_t",
- "access": 1
- }
- },
- "pid_rate": {
- "yaw_kp": {
- "ident": 17,
- "group": "pid_rate",
- "name": "yaw_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kd": {
- "ident": 13,
- "group": "pid_rate",
- "name": "roll_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kp": {
- "ident": 14,
- "group": "pid_rate",
- "name": "pitch_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_ki": {
- "ident": 12,
- "group": "pid_rate",
- "name": "roll_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_ki": {
- "ident": 15,
- "group": "pid_rate",
- "name": "pitch_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kp": {
- "ident": 11,
- "group": "pid_rate",
- "name": "roll_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_kd": {
- "ident": 19,
- "group": "pid_rate",
- "name": "yaw_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_ki": {
- "ident": 18,
- "group": "pid_rate",
- "name": "yaw_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kd": {
- "ident": 16,
- "group": "pid_rate",
- "name": "pitch_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "pid_attitude": {
- "yaw_kp": {
- "ident": 26,
- "group": "pid_attitude",
- "name": "yaw_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kd": {
- "ident": 22,
- "group": "pid_attitude",
- "name": "roll_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kp": {
- "ident": 23,
- "group": "pid_attitude",
- "name": "pitch_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_ki": {
- "ident": 21,
- "group": "pid_attitude",
- "name": "roll_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_ki": {
- "ident": 24,
- "group": "pid_attitude",
- "name": "pitch_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "roll_kp": {
- "ident": 20,
- "group": "pid_attitude",
- "name": "roll_kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_kd": {
- "ident": 28,
- "group": "pid_attitude",
- "name": "yaw_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "yaw_ki": {
- "ident": 27,
- "group": "pid_attitude",
- "name": "yaw_ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pitch_kd": {
- "ident": 25,
- "group": "pid_attitude",
- "name": "pitch_kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "altHold": {
- "vSpeedAccFac": {
- "ident": 43,
- "group": "altHold",
- "name": "vSpeedAccFac",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedASLDeadband": {
- "ident": 44,
- "group": "altHold",
- "name": "vSpeedASLDeadband",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "errDeadband": {
- "ident": 33,
- "group": "altHold",
- "name": "errDeadband",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "altHoldErrMax": {
- "ident": 35,
- "group": "altHold",
- "name": "altHoldErrMax",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "kd": {
- "ident": 36,
- "group": "altHold",
- "name": "kd",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pidAslFac": {
- "ident": 40,
- "group": "altHold",
- "name": "pidAslFac",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "maxThrust": {
- "ident": 48,
- "group": "altHold",
- "name": "maxThrust",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "ki": {
- "ident": 37,
- "group": "altHold",
- "name": "ki",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedLimit": {
- "ident": 46,
- "group": "altHold",
- "name": "vSpeedLimit",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "aslAlpha": {
- "ident": 31,
- "group": "altHold",
- "name": "aslAlpha",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "kp": {
- "ident": 38,
- "group": "altHold",
- "name": "kp",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "baseThrust": {
- "ident": 47,
- "group": "altHold",
- "name": "baseThrust",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "vBiasAlpha": {
- "ident": 42,
- "group": "altHold",
- "name": "vBiasAlpha",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "pidAlpha": {
- "ident": 39,
- "group": "altHold",
- "name": "pidAlpha",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "altHoldChangeSens": {
- "ident": 34,
- "group": "altHold",
- "name": "altHoldChangeSens",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "minThrust": {
- "ident": 49,
- "group": "altHold",
- "name": "minThrust",
- "pytype": "<H",
- "__class__": "ParamTocElement",
- "ctype": "uint16_t",
- "access": 0
- },
- "vAccDeadband": {
- "ident": 41,
- "group": "altHold",
- "name": "vAccDeadband",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "aslAlphaLong": {
- "ident": 32,
- "group": "altHold",
- "name": "aslAlphaLong",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- },
- "vSpeedASLFac": {
- "ident": 45,
- "group": "altHold",
- "name": "vSpeedASLFac",
- "pytype": "<f",
- "__class__": "ParamTocElement",
- "ctype": "float",
- "access": 0
- }
- },
- "imu_tests": {
- "HMC5883L": {
- "ident": 1,
- "group": "imu_tests",
- "name": "HMC5883L",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- },
- "MS5611": {
- "ident": 2,
- "group": "imu_tests",
- "name": "MS5611",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- },
- "MPU6050": {
- "ident": 0,
- "group": "imu_tests",
- "name": "MPU6050",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 1
- }
- },
- "imu_acc_lpf": {
- "factor": {
- "ident": 5,
- "group": "imu_acc_lpf",
- "name": "factor",
- "pytype": "<B",
- "__class__": "ParamTocElement",
- "ctype": "uint8_t",
- "access": 0
- }
- }
-}
\ No newline at end of file
diff --git a/src/cflib/cflib/crazyflie/__init__.py b/src/cflib/cflib/crazyflie/__init__.py
deleted file mode 100644
index 698fef1eca0b632a9b1f62c83401ab91f4bc1ef6..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crazyflie/__init__.py
+++ /dev/null
@@ -1,400 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-The Crazyflie module is used to easily connect/send/receive data
-from a Crazyflie.
-
-Each function in the Crazyflie has a class in the module that can be used
-to access that functionality. The same design is then used in the Crazyflie
-firmware which makes the mapping 1:1 in most cases.
-"""
-
-import logging
-
-import time
-import datetime
-from threading import Thread
-from threading import Timer, Lock
-from collections import namedtuple
-
-from .commander import Commander
-from .console import Console
-from .param import Param
-from .log import Log
-from .toccache import TocCache
-from .mem import Memory
-from .platformservice import PlatformService
-
-import cflib.crtp
-
-from cflib.utils.callbacks import Caller
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Crazyflie']
-
-logger = logging.getLogger(__name__)
-
-
-class State:
- """Stat of the connection procedure"""
- DISCONNECTED = 0
- INITIALIZED = 1
- CONNECTED = 2
- SETUP_FINISHED = 3
-
-
-class Crazyflie():
- """The Crazyflie class"""
-
- # Called on disconnect, no matter the reason
- disconnected = Caller()
- # Called on unintentional disconnect only
- connection_lost = Caller()
- # Called when the first packet in a new link is received
- link_established = Caller()
- # Called when the user requests a connection
- connection_requested = Caller()
- # Called when the link is established and the TOCs (that are not cached)
- # have been downloaded
- connected = Caller()
- # Called if establishing of the link fails (i.e times out)
- connection_failed = Caller()
- # Called for every packet received
- packet_received = Caller()
- # Called for every packet sent
- packet_sent = Caller()
- # Called when the link driver updates the link quality measurement
- link_quality_updated = Caller()
-
- state = State.DISCONNECTED
-
- def __init__(self, link=None, ro_cache=None, rw_cache=None):
- """
- Create the objects from this module and register callbacks.
-
- ro_cache -- Path to read-only cache (string)
- rw_cache -- Path to read-write cache (string)
- """
- self.link = link
- self._toc_cache = TocCache(ro_cache=ro_cache,
- rw_cache=rw_cache)
-
- self.incoming = _IncomingPacketHandler(self)
- self.incoming.setDaemon(True)
- self.incoming.start()
-
- self.commander = Commander(self)
- self.log = Log(self)
- self.console = Console(self)
- self.param = Param(self)
- self.mem = Memory(self)
- self.platform = PlatformService(self)
-
- self.link_uri = ""
-
- # Used for retry when no reply was sent back
- self.packet_received.add_callback(self._check_for_initial_packet_cb)
- self.packet_received.add_callback(self._check_for_answers)
-
- self._answer_patterns = {}
-
- self._send_lock = Lock()
-
- self.connected_ts = None
-
- # Connect callbacks to logger
- self.disconnected.add_callback(
- lambda uri: logger.info("Callback->Disconnected from [%s]", uri))
- self.disconnected.add_callback(self._disconnected)
- self.link_established.add_callback(
- lambda uri: logger.info("Callback->Connected to [%s]", uri))
- self.connection_lost.add_callback(
- lambda uri, errmsg: logger.info(
- "Callback->Connection lost to [%s]: %s", uri, errmsg))
- self.connection_failed.add_callback(
- lambda uri, errmsg: logger.info(
- "Callback->Connected failed to [%s]: %s", uri, errmsg))
- self.connection_requested.add_callback(
- lambda uri: logger.info(
- "Callback->Connection initialized[%s]", uri))
- self.connected.add_callback(
- lambda uri: logger.info(
- "Callback->Connection setup finished [%s]", uri))
-
- def _disconnected(self, link_uri):
- """ Callback when disconnected."""
- self.connected_ts = None
-
- def _start_connection_setup(self):
- """Start the connection setup by refreshing the TOCs"""
- logger.info("We are connected[%s], request connection setup",
- self.link_uri)
- self.log.refresh_toc(self._log_toc_updated_cb, self._toc_cache)
-
- def _param_toc_updated_cb(self):
- """Called when the param TOC has been fully updated"""
- logger.info("Param TOC finished updating")
- self.connected_ts = datetime.datetime.now()
- self.connected.call(self.link_uri)
- # Trigger the update for all the parameters
- self.param.request_update_of_all_params()
-
- def _mems_updated_cb(self):
- """Called when the memories have been identified"""
- logger.info("Memories finished updating")
- self.param.refresh_toc(self._param_toc_updated_cb, self._toc_cache)
-
- def _log_toc_updated_cb(self):
- """Called when the log TOC has been fully updated"""
- logger.info("Log TOC finished updating")
- self.mem.refresh(self._mems_updated_cb)
-
- def _link_error_cb(self, errmsg):
- """Called from the link driver when there's an error"""
- logger.warning("Got link error callback [%s] in state [%s]",
- errmsg, self.state)
- if (self.link is not None):
- self.link.close()
- self.link = None
- if (self.state == State.INITIALIZED):
- self.connection_failed.call(self.link_uri, errmsg)
- if (self.state == State.CONNECTED or
- self.state == State.SETUP_FINISHED):
- self.disconnected.call(self.link_uri)
- self.connection_lost.call(self.link_uri, errmsg)
- self.state = State.DISCONNECTED
-
- def _link_quality_cb(self, percentage):
- """Called from link driver to report link quality"""
- self.link_quality_updated.call(percentage)
-
- def _check_for_initial_packet_cb(self, data):
- """
- Called when first packet arrives from Crazyflie.
-
- This is used to determine if we are connected to something that is
- answering.
- """
- self.state = State.CONNECTED
- self.link_established.call(self.link_uri)
- self.packet_received.remove_callback(self._check_for_initial_packet_cb)
-
- def open_link(self, link_uri):
- """
- Open the communication link to a copter at the given URI and setup the
- connection (download log/parameter TOC).
- """
- self.connection_requested.call(link_uri)
- self.state = State.INITIALIZED
- self.link_uri = link_uri
- try:
- self.link = cflib.crtp.get_link_driver(
- link_uri, self._link_quality_cb, self._link_error_cb)
-
- if not self.link:
- message = "No driver found or malformed URI: {}" \
- .format(link_uri)
- logger.warning(message)
- self.connection_failed.call(link_uri, message)
- else:
- # Add a callback so we can check that any data is coming
- # back from the copter
- self.packet_received.add_callback(
- self._check_for_initial_packet_cb)
-
- self._start_connection_setup()
- except Exception as ex: # pylint: disable=W0703
- # We want to catch every possible exception here and show
- # it in the user interface
- import traceback
-
- logger.error("Couldn't load link driver: %s\n\n%s",
- ex, traceback.format_exc())
- exception_text = "Couldn't load link driver: %s\n\n%s" % (
- ex, traceback.format_exc())
- if self.link:
- self.link.close()
- self.link = None
- self.connection_failed.call(link_uri, exception_text)
-
- def close_link(self):
- """Close the communication link."""
- logger.info("Closing link")
- if (self.link is not None):
- self.commander.send_setpoint(0, 0, 0, 0)
- if (self.link is not None):
- self.link.close()
- self.link = None
- self._answer_patterns = {}
- self.disconnected.call(self.link_uri)
-
- def add_port_callback(self, port, cb):
- """Add a callback to cb on port"""
- self.incoming.add_port_callback(port, cb)
-
- def remove_port_callback(self, port, cb):
- """Remove the callback cb on port"""
- self.incoming.remove_port_callback(port, cb)
-
- def _no_answer_do_retry(self, pk, pattern):
- """Resend packets that we have not gotten answers to"""
- logger.info("Resending for pattern %s", pattern)
- # Set the timer to None before trying to send again
- self.send_packet(pk, expected_reply=pattern, resend=True)
-
- def _check_for_answers(self, pk):
- """
- Callback called for every packet received to check if we are
- waiting for an answer on this port. If so, then cancel the retry
- timer.
- """
- longest_match = ()
- if len(self._answer_patterns) > 0:
- data = (pk.header,) + tuple(pk.data)
- for p in list(self._answer_patterns.keys()):
- logger.debug("Looking for pattern match on %s vs %s", p, data)
- if len(p) <= len(data):
- if p == data[0:len(p)]:
- match = data[0:len(p)]
- if len(match) >= len(longest_match):
- logger.debug("Found new longest match %s", match)
- longest_match = match
- if len(longest_match) > 0:
- self._answer_patterns[longest_match].cancel()
- del self._answer_patterns[longest_match]
-
- def send_packet(self, pk, expected_reply=(), resend=False, timeout=0.2):
- """
- Send a packet through the link interface.
-
- pk -- Packet to send
- expect_answer -- True if a packet from the Crazyflie is expected to
- be sent back, otherwise false
-
- """
- self._send_lock.acquire()
- if self.link is not None:
- if len(expected_reply) > 0 and not resend and \
- self.link.needs_resending:
- pattern = (pk.header,) + expected_reply
- logger.debug(
- "Sending packet and expecting the %s pattern back",
- pattern)
- new_timer = Timer(timeout,
- lambda: self._no_answer_do_retry(pk,
- pattern))
- self._answer_patterns[pattern] = new_timer
- new_timer.start()
- elif resend:
- # Check if we have gotten an answer, if not try again
- pattern = expected_reply
- if pattern in self._answer_patterns:
- logger.debug("We want to resend and the pattern is there")
- if self._answer_patterns[pattern]:
- new_timer = Timer(timeout,
- lambda:
- self._no_answer_do_retry(
- pk, pattern))
- self._answer_patterns[pattern] = new_timer
- new_timer.start()
- else:
- logger.debug("Resend requested, but no pattern found: %s",
- self._answer_patterns)
- self.link.send_packet(pk)
- self.packet_sent.call(pk)
- self._send_lock.release()
-
-
-_CallbackContainer = namedtuple("CallbackConstainer",
- "port port_mask channel channel_mask callback")
-
-
-class _IncomingPacketHandler(Thread):
- """Handles incoming packets and sends the data to the correct receivers"""
-
- def __init__(self, cf):
- Thread.__init__(self)
- self.cf = cf
- self.cb = []
-
- def add_port_callback(self, port, cb):
- """Add a callback for data that comes on a specific port"""
- logger.debug("Adding callback on port [%d] to [%s]", port, cb)
- self.add_header_callback(cb, port, 0, 0xff, 0x0)
-
- def remove_port_callback(self, port, cb):
- """Remove a callback for data that comes on a specific port"""
- logger.debug("Removing callback on port [%d] to [%s]", port, cb)
- for port_callback in self.cb:
- if port_callback.port == port and port_callback.callback == cb:
- self.cb.remove(port_callback)
-
- def add_header_callback(self, cb, port, channel, port_mask=0xFF,
- channel_mask=0xFF):
- """
- Add a callback for a specific port/header callback with the
- possibility to add a mask for channel and port for multiple
- hits for same callback.
- """
- self.cb.append(_CallbackContainer(port, port_mask,
- channel, channel_mask, cb))
-
- def run(self):
- while True:
- if self.cf.link is None:
- time.sleep(1)
- continue
- pk = self.cf.link.receive_packet(1)
-
- if pk is None:
- continue
-
- # All-packet callbacks
- self.cf.packet_received.call(pk)
-
- found = False
- for cb in (cb for cb in self.cb
- if cb.port == (pk.port & cb.port_mask) and
- cb.channel == (pk.channel & cb.channel_mask)):
- try:
- cb.callback(pk)
- except Exception: # pylint: disable=W0703
- # Disregard pylint warning since we want to catch all
- # exceptions and we can't know what will happen in
- # the callbacks.
- import traceback
-
- logger.warning("Exception while doing callback on port"
- " [%d]\n\n%s", pk.port,
- traceback.format_exc())
- if cb.port != 0xFF:
- found = True
-
- if not found:
- pass
diff --git a/src/cflib/cflib/crazyflie/commander.py b/src/cflib/cflib/crazyflie/commander.py
deleted file mode 100644
index e791887c1e23d702dd03d0d1cd21dddd2ce83333..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crazyflie/commander.py
+++ /dev/null
@@ -1,76 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Used for sending control setpoints to the Crazyflie
-"""
-
-from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
-import struct
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Commander']
-
-
-class Commander():
- """
- Used for sending control setpoints to the Crazyflie
- """
-
- def __init__(self, crazyflie=None):
- """
- Initialize the commander object. By default the commander is in
- +-mode (not x-mode).
- """
- self._cf = crazyflie
- self._x_mode = False
-
- def set_client_xmode(self, enabled):
- """
- Enable/disable the client side X-mode. When enabled this recalculates
- the setpoints before sending them to the Crazyflie.
- """
- self._x_mode = enabled
-
- def send_setpoint(self, roll, pitch, yaw, thrust):
- """
- Send a new control setpoint for roll/pitch/yaw/thrust to the copter
-
- The arguments roll/pitch/yaw/trust is the new setpoints that should
- be sent to the copter
- """
- if thrust > 0xFFFF or thrust < 0:
- raise ValueError("Thrust must be between 0 and 0xFFFF")
-
- if self._x_mode:
- roll, pitch = 0.707 * (roll - pitch), 0.707 * (roll + pitch)
-
- pk = CRTPPacket()
- pk.port = CRTPPort.COMMANDER
- pk.data = struct.pack('<fffH', roll, -pitch, yaw, thrust)
- self._cf.send_packet(pk)
diff --git a/src/cflib/cflib/crazyflie/console.py b/src/cflib/cflib/crazyflie/console.py
deleted file mode 100644
index 26b9f9fda5e478178b95dffa4308bcbc2a85d669..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crazyflie/console.py
+++ /dev/null
@@ -1,63 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-"""
-Crazyflie console is used to receive characters printed using printf
-from the firmware.
-"""
-
-import struct
-from cflib.utils.callbacks import Caller
-from cflib.crtp.crtpstack import CRTPPort
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Console']
-
-
-class Console:
- """
- Crazyflie console is used to receive characters printed using printf
- from the firmware.
- """
-
- receivedChar = Caller()
-
- def __init__(self, crazyflie):
- """
- Initialize the console and register it to receive data from the copter.
- """
- self.cf = crazyflie
- self.cf.add_port_callback(CRTPPort.CONSOLE, self.incoming)
-
- def incoming(self, packet):
- """
- Callback for data received from the copter.
- """
- # This might be done prettier ;-)
- console_text = packet.data.decode("UTF-8")
-
- self.receivedChar.call(console_text)
diff --git a/src/cflib/cflib/crazyflie/log.py b/src/cflib/cflib/crazyflie/log.py
deleted file mode 100644
index ca52eed48496da8712c4acc9292cc7541fc089a8..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crazyflie/log.py
+++ /dev/null
@@ -1,557 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Enables logging of variables from the Crazyflie.
-
-When a Crazyflie is connected it's possible to download a TableOfContent of all
-the variables that can be logged. Using this it's possible to add logging
-configurations where selected variables are sent to the client at a
-specified period.
-
-Terminology:
- Log configuration - A configuration with a period and a number of variables
- that are present in the TOC.
- Stored as - The size and type of the variable as declared in the
- Crazyflie firmware
- Fetch as - The size and type that a variable should be fetched as.
- This does not have to be the same as the size and type
- it's stored as.
-
-States of a configuration:
- Created on host - When a configuration is created the contents is checked
- so that all the variables are present in the TOC. If not
- then the configuration cannot be created.
- Created on CF - When the configuration is deemed valid it is added to the
- Crazyflie. At this time the memory constraint is checked
- and the status returned.
- Started on CF - Any added block that is not started can be started. Once
- started the Crazyflie will send back logdata periodically
- according to the specified period when it's created.
- Stopped on CF - Any started configuration can be stopped. The memory taken
- by the configuration on the Crazyflie is NOT freed, the
- only effect is that the Crazyflie will stop sending
- logdata back to the host.
- Deleted on CF - Any block that is added can be deleted. When this is done
- the memory taken by the configuration is freed on the
- Crazyflie. The configuration will have to be re-added to
- be used again.
-"""
-
-import struct
-import errno
-import sys
-from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
-from cflib.utils.callbacks import Caller
-from .toc import Toc, TocFetcher
-import logging
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Log', 'LogTocElement']
-
-# Channels used for the logging port
-CHAN_TOC = 0
-CHAN_SETTINGS = 1
-CHAN_LOGDATA = 2
-
-# Commands used when accessing the Table of Contents
-CMD_TOC_ELEMENT = 0
-CMD_TOC_INFO = 1
-
-# Commands used when accessing the Log configurations
-CMD_CREATE_BLOCK = 0
-CMD_APPEND_BLOCK = 1
-CMD_DELETE_BLOCK = 2
-CMD_START_LOGGING = 3
-CMD_STOP_LOGGING = 4
-CMD_RESET_LOGGING = 5
-
-# Possible states when receiving TOC
-IDLE = "IDLE"
-GET_TOC_INF = "GET_TOC_INFO"
-GET_TOC_ELEMENT = "GET_TOC_ELEMENT"
-
-# The max size of a CRTP packet payload
-MAX_LOG_DATA_PACKET_SIZE = 30
-
-
-logger = logging.getLogger(__name__)
-
-
-class LogVariable():
- """A logging variable"""
-
- TOC_TYPE = 0
- MEM_TYPE = 1
-
- def __init__(self, name="", fetchAs="uint8_t", varType=TOC_TYPE,
- storedAs="", address=0):
- self.name = name
- self.fetch_as = LogTocElement.get_id_from_cstring(fetchAs)
- if (len(storedAs) == 0):
- self.stored_as = self.fetch_as
- else:
- self.stored_as = LogTocElement.get_id_from_cstring(storedAs)
- self.address = address
- self.type = varType
- self.stored_as_string = storedAs
- self.fetch_as_string = fetchAs
-
- def is_toc_variable(self):
- """
- Return true if the variable should be in the TOC, false if raw memory
- variable
- """
- return self.type == LogVariable.TOC_TYPE
-
- def get_storage_and_fetch_byte(self):
- """Return what the variable is stored as and fetched as"""
- return (self.fetch_as | (self.stored_as << 4))
-
- def __str__(self):
- return ("LogVariable: name=%s, store=%s, fetch=%s" %
- (self.name, LogTocElement.get_cstring_from_id(self.stored_as),
- LogTocElement.get_cstring_from_id(self.fetch_as)))
-
-
-class LogConfig(object):
- """Representation of one log configuration that enables logging
- from the Crazyflie"""
- _config_id_counter = 1
-
- def __init__(self, name, period_in_ms):
- """Initialize the entry"""
- self.data_received_cb = Caller()
- self.error_cb = Caller()
- self.started_cb = Caller()
- self.added_cb = Caller()
- self.err_no = 0
-
- self.id = LogConfig._config_id_counter
- LogConfig._config_id_counter = (LogConfig._config_id_counter + 1) % 255
- self.cf = None
- self.period = int(period_in_ms / 10)
- self.period_in_ms = period_in_ms
- self._added = False
- self._started = False
- self.valid = False
- self.variables = []
- self.default_fetch_as = []
- self.name = name
-
- def add_variable(self, name, fetch_as=None):
- """Add a new variable to the configuration.
-
- name - Complete name of the variable in the form group.name
- fetch_as - String representation of the type the variable should be
- fetched as (i.e uint8_t, float, FP16, etc)
-
- If no fetch_as type is supplied, then the stored as type will be used
- (i.e the type of the fetched variable is the same as it's stored in the
- Crazyflie)."""
- if fetch_as:
- self.variables.append(LogVariable(name, fetch_as))
- else:
- # We cannot determine the default type until we have connected. So
- # save the name and we will add these once we are connected.
- self.default_fetch_as.append(name)
-
- def add_memory(self, name, fetch_as, stored_as, address):
- """Add a raw memory position to log.
-
- name - Arbitrary name of the variable
- fetch_as - String representation of the type of the data the memory
- should be fetch as (i.e uint8_t, float, FP16)
- stored_as - String representation of the type the data is stored as
- in the Crazyflie
- address - The address of the data
- """
- self.variables.append(LogVariable(name, fetch_as, LogVariable.MEM_TYPE,
- stored_as, address))
-
- def _set_added(self, added):
- if added != self._added:
- self.added_cb.call(self, added)
- self._added = added
-
- def _get_added(self):
- return self._added
-
- def _set_started(self, started):
- if started != self._started:
- self.started_cb.call(self, started)
- self._started = started
-
- def _get_started(self):
- return self._started
-
- added = property(_get_added, _set_added)
- started = property(_get_started, _set_started)
-
- def create(self):
- """Save the log configuration in the Crazyflie"""
- 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.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())
- pk.data.append(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))
-
- 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 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 id=%d", self.id)
- pk = CRTPPacket()
- pk.set_header(5, CHAN_SETTINGS)
- pk.data = (CMD_STOP_LOGGING, self.id)
- self.cf.send_packet(
- pk, expected_reply=(CMD_STOP_LOGGING, self.id))
-
- 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 id=%d"
- % self.id)
- pk = CRTPPacket()
- pk.set_header(5, CHAN_SETTINGS)
- pk.data = (CMD_DELETE_BLOCK, self.id)
- self.cf.send_packet(
- pk, expected_reply=(CMD_DELETE_BLOCK, self.id))
-
- def unpack_log_data(self, log_data, timestamp):
- """Unpack received logging data so it represent real values according
- to the configuration in the entry"""
- ret_data = {}
- data_index = 0
- for var in self.variables:
- size = LogTocElement.get_size_from_id(var.fetch_as)
- name = var.name
- unpackstring = LogTocElement.get_unpack_string_from_id(
- var.fetch_as)
- value = struct.unpack(
- unpackstring, log_data[data_index:data_index + size])[0]
- data_index += size
- ret_data[name] = value
- self.data_received_cb.call(timestamp, ret_data, self)
-
-
-class LogTocElement:
- """An element in the Log TOC."""
- types = {0x01: ("uint8_t", '<B', 1),
- 0x02: ("uint16_t", '<H', 2),
- 0x03: ("uint32_t", '<L', 4),
- 0x04: ("int8_t", '<b', 1),
- 0x05: ("int16_t", '<h', 2),
- 0x06: ("int32_t", '<i', 4),
- 0x08: ("FP16", '<h', 2),
- 0x07: ("float", '<f', 4)}
-
- @staticmethod
- def get_id_from_cstring(name):
- """Return variable type id given the C-storage name"""
- for key in list(LogTocElement.types.keys()):
- if (LogTocElement.types[key][0] == name):
- return key
- raise KeyError("Type [%s] not found in LogTocElement.types!" % name)
-
- @staticmethod
- def get_cstring_from_id(ident):
- """Return the C-storage name given the variable type id"""
- try:
- return LogTocElement.types[ident][0]
- except KeyError:
- raise KeyError("Type [%d] not found in LogTocElement.types"
- "!" % ident)
-
- @staticmethod
- def get_size_from_id(ident):
- """Return the size in bytes given the variable type id"""
- try:
- return LogTocElement.types[ident][2]
- except KeyError:
- raise KeyError("Type [%d] not found in LogTocElement.types"
- "!" % ident)
-
- @staticmethod
- def get_unpack_string_from_id(ident):
- """Return the Python unpack string given the variable type id"""
- try:
- return LogTocElement.types[ident][1]
- except KeyError:
- raise KeyError(
- "Type [%d] not found in LogTocElement.types!" % ident)
-
- def __init__(self, data=None):
- """TocElement creator. Data is the binary payload of the element."""
-
- if (data):
- naming = data[2:]
- zt = bytearray((0, ))
- self.group = naming[:naming.find(zt)].decode("ISO-8859-1")
- self.name = naming[naming.find(zt)+1:-1].decode("ISO-8859-1")
-
- self.ident = data[0]
-
- self.ctype = LogTocElement.get_cstring_from_id(data[1])
- self.pytype = LogTocElement.get_unpack_string_from_id(data[1])
-
- self.access = data[1] & 0x10
-
-
-class Log():
- """Create log configuration"""
-
- # These codes can be decoded using os.stderror, but
- # some of the text messages will look very strange
- # in the UI, so they are redefined here
- _err_codes = {
- errno.ENOMEM: "No more memory available",
- errno.ENOEXEC: "Command not found",
- errno.ENOENT: "No such block id",
- errno.E2BIG: "Block too large",
- errno.EEXIST: "Block already exists"
- }
-
- def __init__(self, crazyflie=None):
- self.log_blocks = []
- # Called with newly created blocks
- self.block_added_cb = Caller()
-
- self.cf = crazyflie
- self.toc = None
- self.cf.add_port_callback(CRTPPort.LOGGING, self._new_packet_cb)
-
- self.toc_updated = Caller()
- self.state = IDLE
- self.fake_toc_crc = 0xDEADBEEF
-
- self._refresh_callback = None
- self._toc_cache = None
-
- def add_config(self, logconf):
- """Add a log configuration to the logging framework.
-
- When doing this the contents of the log configuration will be validated
- and listeners for new log configurations will be notified. When
- validating the configuration the variables are checked against the TOC
- to see that they actually exist. If they don't then the configuration
- cannot be used. Since a valid TOC is required, a Crazyflie has to be
- connected when calling this method, otherwise it will fail."""
-
- if not self.cf.link:
- logger.error("Cannot add configs without being connected to a "
- "Crazyflie!")
- return
-
- # If the log configuration contains variables that we added without
- # type (i.e we want the stored as type for fetching as well) then
- # resolve this now and add them to the block again.
- for name in logconf.default_fetch_as:
- var = self.toc.get_element_by_complete_name(name)
- if not var:
- logger.warning(
- "%s not in TOC, this block cannot be used!", name)
- logconf.valid = False
- raise KeyError("Variable {} not in TOC".format(name))
- # Now that we know what type this variable has, add it to the log
- # config again with the correct type
- logconf.add_variable(name, var.ctype)
-
- # Now check that all the added variables are in the TOC and that
- # the total size constraint of a data packet with logging data is
- # not
- size = 0
- for var in logconf.variables:
- size += LogTocElement.get_size_from_id(var.fetch_as)
- # Check that we are able to find the variable in the TOC so
- # we can return error already now and not when the config is sent
- if var.is_toc_variable():
- if (self.toc.get_element_by_complete_name(var.name) is None):
- logger.warning(
- "Log: %s not in TOC, this block cannot be used!",
- var.name)
- logconf.valid = False
- raise KeyError("Variable {} not in TOC".format(var.name))
-
- if (size <= MAX_LOG_DATA_PACKET_SIZE and
- (logconf.period > 0 and logconf.period < 0xFF)):
- logconf.valid = True
- logconf.cf = self.cf
- self.log_blocks.append(logconf)
- self.block_added_cb.call(logconf)
- else:
- logconf.valid = False
- raise AttributeError(
- "The log configuration is too large or has an invalid "
- "parameter")
-
- 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 _find_block(self, id):
- for block in self.log_blocks:
- if block.id == id:
- return block
- return None
-
- def _new_packet_cb(self, packet):
- """Callback for newly arrived packets with TOC information"""
- chan = packet.channel
- cmd = packet.data[0]
- payload = packet.data[1:]
-
- if (chan == CHAN_SETTINGS):
- id = payload[0]
- error_status = payload[1]
- block = self._find_block(id)
- if (cmd == CMD_CREATE_BLOCK):
- if (block is not None):
- if error_status == 0 or error_status == errno.EEXIST:
- if not block.added:
- logger.debug("Have successfully added id=%d", id)
-
- pk = CRTPPacket()
- pk.set_header(5, CHAN_SETTINGS)
- pk.data = (CMD_START_LOGGING, id, block.period)
- self.cf.send_packet(pk, expected_reply=(
- CMD_START_LOGGING, id))
- block.added = True
- else:
- msg = self._err_codes[error_status]
- logger.warning("Error %d when adding id=%d (%s)",
- error_status, id, msg)
- block.err_no = error_status
- block.added_cb.call(False)
- block.error_cb.call(block, msg)
-
- else:
- logger.warning("No LogEntry to assign block to !!!")
- if (cmd == CMD_START_LOGGING):
- if (error_status == 0x00):
- logger.info("Have successfully started logging for id=%d",
- id)
- if block:
- block.started = True
-
- else:
- msg = self._err_codes[error_status]
- logger.warning("Error %d when starting id=%d (%s)",
- error_status, id, msg)
- if block:
- block.err_no = error_status
- block.started_cb.call(self, False)
- # This is a temporary fix, we are adding a new issue
- # for this. For some reason we get an error back after
- # the block has been started and added. This will show
- # an error in the UI, but everything is still working.
- # block.error_cb.call(block, msg)
-
- if (cmd == CMD_STOP_LOGGING):
- if (error_status == 0x00):
- logger.info("Have successfully stopped logging for id=%d",
- id)
- if block:
- block.started = False
-
- if (cmd == CMD_DELETE_BLOCK):
- # Accept deletion of a block that isn't added. This could
- # happen due to timing (i.e add/start/delete in fast sequence)
- if error_status == 0x00 or error_status == errno.ENOENT:
- logger.info("Have successfully deleted id=%d", id)
- if block:
- block.started = False
- block.added = False
-
- if (cmd == CMD_RESET_LOGGING):
- # Guard against multiple responses due to re-sending
- if not self.toc:
- logger.debug("Logging reset, continue with TOC download")
- self.log_blocks = []
-
- self.toc = Toc()
- toc_fetcher = TocFetcher(self.cf, LogTocElement,
- CRTPPort.LOGGING,
- self.toc, self._refresh_callback,
- self._toc_cache)
- toc_fetcher.start()
-
- if (chan == CHAN_LOGDATA):
- chan = packet.channel
- id = packet.data[0]
- block = self._find_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 id=%d", id)
diff --git a/src/cflib/cflib/crazyflie/mem.py b/src/cflib/cflib/crazyflie/mem.py
deleted file mode 100644
index 7aae03b614dab8df79a927d9a81179e9ebef865f..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crazyflie/mem.py
+++ /dev/null
@@ -1,843 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2014 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Enables flash access to the Crazyflie.
-
-"""
-
-import struct
-import errno
-import sys
-from threading import Lock
-from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
-from cflib.utils.callbacks import Caller
-from binascii import crc32
-import binascii
-import logging
-from functools import reduce
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Memory', 'MemoryElement']
-
-# Channels used for the logging port
-CHAN_INFO = 0
-CHAN_READ = 1
-CHAN_WRITE = 2
-
-# Commands used when accessing the Settings port
-CMD_INFO_VER = 0
-CMD_INFO_NBR = 1
-CMD_INFO_DETAILS = 2
-
-# The max size of a CRTP packet payload
-MAX_LOG_DATA_PACKET_SIZE = 30
-
-if sys.version_info < (3,):
- EEPROM_TOKEN = "0xBC"
-else:
- EEPROM_TOKEN = b"0xBC"
-
-logger = logging.getLogger(__name__)
-
-
-class MemoryElement(object):
- """A memory """
-
- TYPE_I2C = 0
- TYPE_1W = 1
- TYPE_DRIVER_LED = 0x10
-
- def __init__(self, id, type, size, mem_handler):
- """Initialize the element with default values"""
- self.id = id
- self.type = type
- self.size = size
- self.mem_handler = mem_handler
-
- @staticmethod
- def type_to_string(t):
- """Get string representation of memory type"""
- if t == MemoryElement.TYPE_I2C:
- return "I2C"
- if t == MemoryElement.TYPE_1W:
- return "1-wire"
- if t == MemoryElement.TYPE_DRIVER_LED:
- return "LED driver"
- return "Unknown"
-
- def new_data(self, mem, addr, data):
- logger.info("New data, but not OW mem")
-
- def __str__(self):
- """Generate debug string for memory"""
- return ("Memory: id={}, type={}, size={}".format(
- self.id, MemoryElement.type_to_string(self.type), self.size))
-
-
-class LED:
- """Used to set color/intensity of one LED in the LED-ring"""
-
- def __init__(self):
- """Initialize to off"""
- self.r = 0
- self.g = 0
- self.b = 0
- self.intensity = 100
-
- def set(self, r, g, b, intensity=None):
- """Set the R/G/B and optionally intensity in one call"""
- self.r = r
- self.g = g
- self.b = b
- if intensity:
- self.intensity = intensity
-
-
-class LEDDriverMemory(MemoryElement):
- """Memory interface for using the LED-ring mapped memory for setting RGB
- values for all the LEDs in the ring"""
-
- def __init__(self, id, type, size, mem_handler):
- """Initialize with 12 LEDs"""
- super(LEDDriverMemory, self).__init__(id=id, type=type, size=size,
- mem_handler=mem_handler)
- self._update_finished_cb = None
- self._write_finished_cb = None
-
- self.leds = []
- for i in range(12):
- self.leds.append(LED())
-
- def new_data(self, mem, addr, data):
- """Callback for when new memory data has been fetched"""
- if mem.id == self.id:
- logger.info("Got new data from the LED driver, but we don't care.")
-
- def write_data(self, write_finished_cb):
- """Write the saved LED-ring data to the Crazyflie"""
- self._write_finished_cb = write_finished_cb
- data = bytearray()
- for led in self.leds:
- # In order to fit all the LEDs in one radio packet RGB565 is used
- # to compress the colors. The calculations below converts 3 bytes
- # RGB into 2 bytes RGB565. Then shifts the value of each color to
- # LSB, applies the intensity and shifts them back for correct
- # alignment on 2 bytes.
- R5 = ((int)((((int(led.r) & 0xFF) * 249 + 1014) >> 11) & 0x1F) *
- led.intensity / 100)
- G6 = ((int)((((int(led.g) & 0xFF) * 253 + 505) >> 10) & 0x3F) *
- led.intensity / 100)
- B5 = ((int)((((int(led.b) & 0xFF) * 249 + 1014) >> 11) & 0x1F) *
- led.intensity / 100)
- tmp = (int(R5) << 11) | (int(G6) << 5) | (int(B5) << 0)
- data += bytearray((tmp >> 8, tmp & 0xFF))
- self.mem_handler.write(self, 0x00, data, flush_queue=True)
-
- def update(self, update_finished_cb):
- """Request an update of the memory content"""
- if not self._update_finished_cb:
- self._update_finished_cb = update_finished_cb
- self.valid = False
- logger.info("Updating content of memory {}".format(self.id))
- # Start reading the header
- self.mem_handler.read(self, 0, 16)
-
- def write_done(self, mem, addr):
- if self._write_finished_cb and mem.id == self.id:
- logger.info("Write to LED driver done")
- self._write_finished_cb(self, addr)
- self._write_finished_cb = None
-
- def disconnect(self):
- self._update_finished_cb = None
- self._write_finished_cb = None
-
-
-class I2CElement(MemoryElement):
- def __init__(self, id, type, size, mem_handler):
- super(I2CElement, self).__init__(id=id, type=type, size=size,
- mem_handler=mem_handler)
- self._update_finished_cb = None
- self._write_finished_cb = None
- self.elements = {}
- self.valid = False
-
- def new_data(self, mem, addr, data):
- """Callback for when new memory data has been fetched"""
- if mem.id == self.id:
- if addr == 0:
- done = False
- # Check for header
- if data[0:4] == EEPROM_TOKEN:
- logger.info("Got new data: {}".format(data))
- [self.elements["version"],
- self.elements["radio_channel"],
- self.elements["radio_speed"],
- self.elements["pitch_trim"],
- self.elements["roll_trim"]] = struct.unpack("<BBBff",
- data[4:15])
- if self.elements["version"] == 0:
- done = True
- elif self.elements["version"] == 1:
- self.datav0 = data
- self.mem_handler.read(self, 16, 5)
- else:
- valid = False
- if self._update_finished_cb:
- self._update_finished_cb(self)
- self._update_finished_cb = None
-
- if addr == 16:
- [radio_address_upper, radio_address_lower] = struct.unpack(
- "<BI", self.datav0[15:16] + data[0:4])
- self.elements["radio_address"] = int(
- radio_address_upper) << 32 | radio_address_lower
-
- logger.info(self.elements)
- data = self.datav0 + data
- done = True
-
- if done:
- if self._checksum256(data[:len(data) - 1]) == \
- data[len(data) - 1]:
- self.valid = True
- if self._update_finished_cb:
- self._update_finished_cb(self)
- self._update_finished_cb = None
-
- def _checksum256(self, st):
- return reduce(lambda x, y: x + y, list(st)) % 256
-
- def write_data(self, write_finished_cb):
- image = bytearray()
- if self.elements["version"] == 0:
- data = (
- 0x00, self.elements["radio_channel"],
- self.elements["radio_speed"],
- self.elements["pitch_trim"], self.elements["roll_trim"])
- image += struct.pack("<BBBff", *data)
- elif self.elements["version"] == 1:
- data = (
- 0x01, self.elements["radio_channel"],
- self.elements["radio_speed"],
- self.elements["pitch_trim"], self.elements["roll_trim"],
- self.elements["radio_address"] >> 32,
- self.elements["radio_address"] & 0xFFFFFFFF)
- image += struct.pack("<BBBffBI", *data)
- # Adding some magic:
- image = EEPROM_TOKEN + image
- image += struct.pack("B", self._checksum256(image))
-
- self._write_finished_cb = write_finished_cb
-
- self.mem_handler.write(self, 0x00,
- struct.unpack("B" * len(image), image))
-
- def update(self, update_finished_cb):
- """Request an update of the memory content"""
- if not self._update_finished_cb:
- self._update_finished_cb = update_finished_cb
- self.valid = False
- logger.info("Updating content of memory {}".format(self.id))
- # Start reading the header
- self.mem_handler.read(self, 0, 16)
-
- def write_done(self, mem, addr):
- if self._write_finished_cb and mem.id == self.id:
- self._write_finished_cb(self, addr)
- self._write_finished_cb = None
-
- def disconnect(self):
- self._update_finished_cb = None
- self._write_finished_cb = None
-
-
-class OWElement(MemoryElement):
- """Memory class with extra functionality for 1-wire memories"""
-
- element_mapping = {
- 1: "Board name",
- 2: "Board revision",
- 3: "Custom"
- }
-
- def __init__(self, id, type, size, addr, mem_handler):
- """Initialize the memory with good defaults"""
- super(OWElement, self).__init__(id=id, type=type, size=size,
- mem_handler=mem_handler)
- self.addr = addr
-
- self.valid = False
-
- self.vid = None
- self.pid = None
- self.name = None
- self.pins = None
- self.elements = {}
-
- self._update_finished_cb = None
- self._write_finished_cb = None
-
- self._rev_element_mapping = {}
- for key in list(OWElement.element_mapping.keys()):
- self._rev_element_mapping[OWElement.element_mapping[key]] = key
-
- def new_data(self, mem, addr, data):
- """Callback for when new memory data has been fetched"""
- if mem.id == self.id:
- if addr == 0:
- if self._parse_and_check_header(data[0:8]):
- if self._parse_and_check_elements(data[9:11]):
- self.valid = True
- self._update_finished_cb(self)
- self._update_finished_cb = None
- else:
- # We need to fetch the elements, find out the length
- (elem_ver, elem_len) = struct.unpack("BB", data[8:10])
- self.mem_handler.read(self, 8, elem_len + 3)
- else:
- # Call the update if the CRC check of the header fails,
- # we're done here
- if self._update_finished_cb:
- self._update_finished_cb(self)
- self._update_finished_cb = None
- elif addr == 0x08:
- if self._parse_and_check_elements(data):
- self.valid = True
- if self._update_finished_cb:
- self._update_finished_cb(self)
- self._update_finished_cb = None
-
- def _parse_and_check_elements(self, data):
- """
- Parse and check the CRC and length of the elements part of the memory
- """
- (elem_ver, elem_len, crc) = (data[0], data[1], data[-1])
- test_crc = crc32(data[:-1]) & 0x0ff
- elem_data = data[2:-1]
- if test_crc == crc:
- while len(elem_data) > 0:
- (eid, elen) = struct.unpack("BB", elem_data[:2])
- self.elements[self.element_mapping[eid]] = \
- elem_data[2:2 + elen].decode("ISO-8859-1")
- elem_data = elem_data[2 + elen:]
- return True
- return False
-
- def write_done(self, mem, addr):
- if self._write_finished_cb:
- self._write_finished_cb(self, addr)
- self._write_finished_cb = None
-
- def write_data(self, write_finished_cb):
- # First generate the header part
- header_data = struct.pack("<BIBB", 0xEB, self.pins, self.vid, self.pid)
- header_crc = crc32(header_data) & 0x0ff
- header_data += struct.pack("B", header_crc)
-
- # Now generate the elements part
- elem = bytearray()
- logger.info(list(self.elements.keys()))
- for element in reversed(list(self.elements.keys())):
- elem_string = self.elements[element]
- # logger.info(">>>> {}".format(elem_string))
- key_encoding = self._rev_element_mapping[element]
- elem += struct.pack("BB", key_encoding, len(elem_string))
- elem += bytearray(elem_string.encode("ISO-8859-1"))
-
- elem_data = struct.pack("BB", 0x00, len(elem))
- elem_data += elem
- elem_crc = crc32(elem_data) & 0x0ff
- elem_data += struct.pack("B", elem_crc)
-
- data = header_data + elem_data
-
- self.mem_handler.write(self, 0x00,
- struct.unpack("B" * len(data), data))
-
- self._write_finished_cb = write_finished_cb
-
- def update(self, update_finished_cb):
- """Request an update of the memory content"""
- if not self._update_finished_cb:
- self._update_finished_cb = update_finished_cb
- self.valid = False
- logger.info("Updating content of memory {}".format(self.id))
- # Start reading the header
- self.mem_handler.read(self, 0, 11)
-
- def _parse_and_check_header(self, data):
- """Parse and check the CRC of the header part of the memory"""
- # logger.info("Should parse header: {}".format(data))
- (start, self.pins, self.vid, self.pid, crc) = struct.unpack("<BIBBB",
- data)
- test_crc = crc32(data[:-1]) & 0x0ff
- if start == 0xEB and crc == test_crc:
- return True
- return False
-
- def __str__(self):
- """Generate debug string for memory"""
- return ("OW {} ({:02X}:{:02X}): {}".format(
- self.addr, self.vid, self.pid, self.elements))
-
- def disconnect(self):
- self._update_finished_cb = None
- self._write_finished_cb = None
-
-
-class _ReadRequest:
- """
- Class used to handle memory reads that will split up the read in multiple
- packets in necessary
- """
- MAX_DATA_LENGTH = 20
-
- def __init__(self, mem, addr, length, cf):
- """Initialize the object with good defaults"""
- self.mem = mem
- self.addr = addr
- self._bytes_left = length
- self.data = bytearray()
- self.cf = cf
-
- self._current_addr = addr
-
- def start(self):
- """Start the fetching of the data"""
- self._request_new_chunk()
-
- def resend(self):
- logger.info("Sending write again...")
- self._request_new_chunk()
-
- def _request_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 = self._bytes_left
- if new_len > _ReadRequest.MAX_DATA_LENGTH:
- new_len = _ReadRequest.MAX_DATA_LENGTH
-
- logger.info("Requesting new chunk of {}bytes at 0x{:X}".format(
- new_len, self._current_addr))
-
- # Request the data for the next address
- pk = CRTPPacket()
- pk.set_header(CRTPPort.MEM, CHAN_READ)
- pk.data = struct.pack("<BIB", self.mem.id, self._current_addr, new_len)
- reply = struct.unpack("<BBBBB", pk.data[:-1])
- self.cf.send_packet(pk, expected_reply=reply, timeout=1)
-
- def add_data(self, addr, data):
- """Callback when data is received from the Crazyflie"""
- data_len = len(data)
- if not addr == self._current_addr:
- logger.warning(
- "Address did not match when adding data to read request!")
- return
-
- # Add the data and calculate the next address to fetch
- self.data += data
- self._bytes_left -= data_len
- self._current_addr += data_len
-
- if self._bytes_left > 0:
- self._request_new_chunk()
- return False
- else:
- return True
-
-
-class _WriteRequest:
- """
- Class used to handle memory reads that will split up the read in multiple
- packets in necessary
- """
- MAX_DATA_LENGTH = 25
-
- def __init__(self, mem, addr, data, cf):
- """Initialize the object with good defaults"""
- self.mem = mem
- self.addr = addr
- self._bytes_left = len(data)
- self._data = data
- self.data = bytearray()
- self.cf = cf
-
- self._current_addr = addr
-
- self._sent_packet = None
- self._sent_reply = None
-
- self._addr_add = 0
-
- def start(self):
- """Start the fetching of the data"""
- self._write_new_chunk()
-
- def resend(self):
- logger.info("Sending write again...")
- self.cf.send_packet(
- self._sent_packet, expected_reply=self._sent_reply, timeout=1)
-
- 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_done(self, addr):
- """Callback when data is received from the Crazyflie"""
- if not addr == self._current_addr:
- logger.warning(
- "Address did not match when adding data to read request!")
- return
-
- if len(self._data) > 0:
- self._current_addr += self._addr_add
- self._write_new_chunk()
- return False
- else:
- logger.info("This write request is done")
- return True
-
-
-class Memory():
- """Access memories on the Crazyflie"""
-
- # These codes can be decoded using os.stderror, but
- # some of the text messages will look very strange
- # in the UI, so they are redefined here
- _err_codes = {
- errno.ENOMEM: "No more memory available",
- errno.ENOEXEC: "Command not found",
- errno.ENOENT: "No such block id",
- errno.E2BIG: "Block too large",
- errno.EEXIST: "Block already exists"
- }
-
- def __init__(self, crazyflie=None):
- """Instantiate class and connect callbacks"""
- self.mems = []
- # Called when new memories have been added
- self.mem_added_cb = Caller()
- # Called when new data has been read
- self.mem_read_cb = Caller()
-
- self.mem_write_cb = Caller()
-
- self.cf = crazyflie
- self.cf.add_port_callback(CRTPPort.MEM, self._new_packet_cb)
-
- self._refresh_callback = None
- self._fetch_id = 0
- self.nbr_of_mems = 0
- self._ow_mem_fetch_index = 0
- self._elem_data = ()
- self._read_requests = {}
- self._read_requests_lock = Lock()
- self._write_requests = {}
- self._write_requests_lock = Lock()
- self._ow_mems_left_to_update = []
-
- self._getting_count = False
-
- def _mem_update_done(self, mem):
- """
- Callback from each individual memory (only 1-wire) when reading of
- header/elements are done
- """
- if mem.id in self._ow_mems_left_to_update:
- self._ow_mems_left_to_update.remove(mem.id)
-
- logger.info(mem)
-
- if len(self._ow_mems_left_to_update) == 0:
- if self._refresh_callback:
- self._refresh_callback()
- self._refresh_callback = None
-
- def get_mem(self, id):
- """Fetch the memory with the supplied id"""
- for m in self.mems:
- if m.id == id:
- return m
-
- return None
-
- def get_mems(self, type):
- """Fetch all the memories of the supplied type"""
- ret = ()
- for m in self.mems:
- if m.type == type:
- ret += (m,)
-
- return ret
-
- def ow_search(self, vid=0xBC, pid=None, name=None):
- """Search for specific memory id/name and return it"""
- for m in self.get_mems(MemoryElement.TYPE_1W):
- if pid and m.pid == pid or name and m.name == name:
- return m
-
- return None
-
- def write(self, memory, addr, data, flush_queue=False):
- """Write the specified data to the given memory at the given address"""
- wreq = _WriteRequest(memory, addr, data, self.cf)
- if memory.id not in self._write_requests:
- self._write_requests[memory.id] = []
-
- # Workaround until we secure the uplink and change messages for
- # mems to non-blocking
- self._write_requests_lock.acquire()
- if flush_queue:
- self._write_requests[memory.id] = self._write_requests[
- memory.id][:1]
- self._write_requests[memory.id].insert(len(self._write_requests), wreq)
- if len(self._write_requests[memory.id]) == 1:
- wreq.start()
- self._write_requests_lock.release()
-
- return True
-
- def read(self, memory, addr, length):
- """
- Read the specified amount of bytes from the given memory at the given
- address
- """
- if memory.id in self._read_requests:
- logger.warning("There is already a read operation ongoing for "
- "memory id {}".format(memory.id))
- return False
-
- rreq = _ReadRequest(memory, addr, length, self.cf)
- self._read_requests[memory.id] = rreq
-
- rreq.start()
-
- return True
-
- def refresh(self, refresh_done_callback):
- """Start fetching all the detected memories"""
- self._refresh_callback = refresh_done_callback
- self._fetch_id = 0
- for m in self.mems:
- try:
- self.mem_read_cb.remove_callback(m.new_data)
- m.disconnect()
- except Exception as e:
- logger.info(
- "Error when removing memory after update: {}".format(e))
- self.mems = []
-
- self.nbr_of_mems = 0
- self._getting_count = False
-
- logger.info("Requesting number of memories")
- pk = CRTPPacket()
- pk.set_header(CRTPPort.MEM, CHAN_INFO)
- pk.data = (CMD_INFO_NBR,)
- self.cf.send_packet(pk, expected_reply=(CMD_INFO_NBR,))
-
- def _new_packet_cb(self, packet):
- """Callback for newly arrived packets for the memory port"""
- chan = packet.channel
- cmd = packet.data[0]
- payload = packet.data[1:]
-
- if chan == CHAN_INFO:
- if cmd == CMD_INFO_NBR:
- self.nbr_of_mems = payload[0]
- logger.info("{} memories found".format(self.nbr_of_mems))
-
- # Start requesting information about the memories,
- # if there are any...
- if self.nbr_of_mems > 0:
- if not self._getting_count:
- self._getting_count = True
- logger.info("Requesting first id")
- pk = CRTPPacket()
- pk.set_header(CRTPPort.MEM, CHAN_INFO)
- pk.data = (CMD_INFO_DETAILS, 0)
- self.cf.send_packet(pk, expected_reply=(
- CMD_INFO_DETAILS, 0))
- else:
- self._refresh_callback()
-
- if cmd == CMD_INFO_DETAILS:
-
- # Did we get a good reply, otherwise try again:
- if len(payload) < 5:
- # Workaround for 1-wire bug when memory is detected
- # but updating the info crashes the communication with
- # the 1-wire. Fail by saying we only found 1 memory
- # (the I2C).
- logger.error(
- "-------->Got good count, but no info on mem!")
- self.nbr_of_mems = 1
- if self._refresh_callback:
- self._refresh_callback()
- self._refresh_callback = None
- return
-
- # Create information about a new memory
- # Id - 1 byte
- mem_id = payload[0]
- # Type - 1 byte
- mem_type = payload[1]
- # Size 4 bytes (as addr)
- mem_size = struct.unpack("I", payload[2:6])[0]
- # Addr (only valid for 1-wire?)
- mem_addr_raw = struct.unpack("B" * 8, payload[6:14])
- mem_addr = ""
- for m in mem_addr_raw:
- mem_addr += "{:02X}".format(m)
-
- if (not self.get_mem(mem_id)):
- if mem_type == MemoryElement.TYPE_1W:
- mem = OWElement(id=mem_id, type=mem_type,
- size=mem_size,
- addr=mem_addr, mem_handler=self)
- self.mem_read_cb.add_callback(mem.new_data)
- self.mem_write_cb.add_callback(mem.write_done)
- self._ow_mems_left_to_update.append(mem.id)
- elif mem_type == MemoryElement.TYPE_I2C:
- mem = I2CElement(id=mem_id, type=mem_type,
- size=mem_size,
- mem_handler=self)
- self.mem_read_cb.add_callback(mem.new_data)
- self.mem_write_cb.add_callback(mem.write_done)
- elif mem_type == MemoryElement.TYPE_DRIVER_LED:
- mem = LEDDriverMemory(id=mem_id, type=mem_type,
- size=mem_size, mem_handler=self)
- logger.info(mem)
- self.mem_read_cb.add_callback(mem.new_data)
- self.mem_write_cb.add_callback(mem.write_done)
- else:
- mem = MemoryElement(id=mem_id, type=mem_type,
- size=mem_size, mem_handler=self)
- logger.info(mem)
- self.mems.append(mem)
- self.mem_added_cb.call(mem)
- # logger.info(mem)
-
- self._fetch_id = mem_id + 1
-
- if self.nbr_of_mems - 1 >= self._fetch_id:
- logger.info(
- "Requesting information about memory {}".format(
- self._fetch_id))
- pk = CRTPPacket()
- pk.set_header(CRTPPort.MEM, CHAN_INFO)
- pk.data = (CMD_INFO_DETAILS, self._fetch_id)
- self.cf.send_packet(pk, expected_reply=(
- CMD_INFO_DETAILS, self._fetch_id))
- else:
- logger.info(
- "Done getting all the memories, start reading the OWs")
- ows = self.get_mems(MemoryElement.TYPE_1W)
- # If there are any OW mems start reading them, otherwise
- # we are done
- for ow_mem in self.get_mems(MemoryElement.TYPE_1W):
- ow_mem.update(self._mem_update_done)
- if len(self.get_mems(MemoryElement.TYPE_1W)) == 0:
- if self._refresh_callback:
- self._refresh_callback()
- self._refresh_callback = None
-
- if chan == CHAN_WRITE:
- id = cmd
- (addr, status) = struct.unpack("<IB", payload[0:5])
- logger.info(
- "WRITE: Mem={}, addr=0x{:X}, status=0x{}".format(
- id, addr, status))
- # Find the read request
- if id in self._write_requests:
- self._write_requests_lock.acquire()
- wreq = self._write_requests[id][0]
- if status == 0:
- if wreq.write_done(addr):
- # self._write_requests.pop(id, None)
- # Remove the first item
- self._write_requests[id].pop(0)
- self.mem_write_cb.call(wreq.mem, wreq.addr)
-
- # Get a new one to start (if there are any)
- if len(self._write_requests[id]) > 0:
- self._write_requests[id][0].start()
-
- else:
- logger.info("Status {}: write resending...".format(status))
- wreq.resend()
- self._write_requests_lock.release()
-
- if chan == CHAN_READ:
- id = cmd
- (addr, status) = struct.unpack("<IB", payload[0:5])
- data = struct.unpack("B" * len(payload[5:]), payload[5:])
- logger.info("READ: Mem={}, addr=0x{:X}, status=0x{}, "
- "data={}".format(id, addr, status, data))
- # Find the read request
- if id in self._read_requests:
- logger.info(
- "READING: We are still interested in request for "
- "mem {}".format(id))
- rreq = self._read_requests[id]
- if status == 0:
- if rreq.add_data(addr, payload[5:]):
- self._read_requests.pop(id, None)
- self.mem_read_cb.call(rreq.mem, rreq.addr, rreq.data)
- else:
- logger.info("Status {}: resending...".format(status))
- rreq.resend()
diff --git a/src/cflib/cflib/crazyflie/param.py b/src/cflib/cflib/crazyflie/param.py
deleted file mode 100644
index 8dc77ca711d236da02bb51e6b6252570f8017c32..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crazyflie/param.py
+++ /dev/null
@@ -1,339 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Enables reading/writing of parameter values to/from the Crazyflie.
-
-When a Crazyflie is connected it's possible to download a TableOfContent of all
-the parameters that can be written/read.
-
-"""
-
-from cflib.utils.callbacks import Caller
-import struct
-from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
-from .toc import Toc, TocFetcher
-from threading import Thread, Lock
-import sys
-import logging
-if sys.version_info < (3,):
- from Queue import Queue
-else:
- from queue import Queue
-
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Param', 'ParamTocElement']
-
-logger = logging.getLogger(__name__)
-
-# Possible states
-IDLE = 0
-WAIT_TOC = 1
-WAIT_READ = 2
-WAIT_WRITE = 3
-
-TOC_CHANNEL = 0
-READ_CHANNEL = 1
-WRITE_CHANNEL = 2
-
-# TOC access command
-TOC_RESET = 0
-TOC_GETNEXT = 1
-TOC_GETCRC32 = 2
-
-
-# One element entry in the TOC
-class ParamTocElement:
- """An element in the Log TOC."""
-
- RW_ACCESS = 0
- RO_ACCESS = 1
-
- types = {0x08: ("uint8_t", '<B'),
- 0x09: ("uint16_t", '<H'),
- 0x0A: ("uint32_t", '<L'),
- 0x0B: ("uint64_t", '<Q'),
- 0x00: ("int8_t", '<b'),
- 0x01: ("int16_t", '<h'),
- 0x02: ("int32_t", '<i'),
- 0x03: ("int64_t", '<q'),
- 0x05: ("FP16", ''),
- 0x06: ("float", '<f'),
- 0x07: ("double", '<d')}
-
- def __init__(self, data=None):
- """TocElement creator. Data is the binary payload of the element."""
- if (data):
- strs = struct.unpack("s" * len(data[2:]), data[2:])
- if sys.version_info < (3,):
- strs = ("{}" * len(strs)).format(*strs).split("\0")
- else:
- s = ""
- for ch in strs:
- s += ch.decode('ISO-8859-1')
- strs = s.split("\x00")
- self.group = strs[0]
- self.name = strs[1]
-
- if type(data[0]) == str:
- self.ident = ord(data[0])
- else:
- self.ident = data[0]
-
- metadata = data[1]
- if type(metadata) == str:
- metadata = ord(metadata)
-
- self.ctype = self.types[metadata & 0x0F][0]
- self.pytype = self.types[metadata & 0x0F][1]
- if ((metadata & 0x40) != 0):
- self.access = ParamTocElement.RO_ACCESS
- else:
- self.access = ParamTocElement.RW_ACCESS
-
- def get_readable_access(self):
- if (self.access == ParamTocElement.RO_ACCESS):
- return "RO"
- return "RW"
-
-
-class Param():
- """
- Used to read and write parameter values in the Crazyflie.
- """
-
- toc = Toc()
-
- def __init__(self, crazyflie):
- self.cf = crazyflie
- self.param_update_callbacks = {}
- self.group_update_callbacks = {}
- self.all_update_callback = Caller()
- self.param_updater = None
-
- self.param_updater = _ParamUpdater(self.cf, self._param_updated)
- self.param_updater.start()
-
- self.cf.disconnected.add_callback(self._disconnected)
-
- self.all_updated = Caller()
- self.is_updated = False
-
- self.values = {}
-
- def request_update_of_all_params(self):
- """Request an update of all the parameters in the TOC"""
- for group in self.toc.toc:
- for name in self.toc.toc[group]:
- complete_name = "%s.%s" % (group, name)
- self.request_param_update(complete_name)
-
- def _check_if_all_updated(self):
- """Check if all parameters from the TOC has at least been fetched
- once"""
- for g in self.toc.toc:
- if g not in self.values:
- return False
- for n in self.toc.toc[g]:
- if n not in self.values[g]:
- return False
-
- return True
-
- def _param_updated(self, pk):
- """Callback with data for an updated parameter"""
- var_id = pk.data[0]
- element = self.toc.get_element_by_id(var_id)
- if element:
- s = struct.unpack(element.pytype, pk.data[1:])[0]
- s = s.__str__()
- complete_name = "%s.%s" % (element.group, element.name)
-
- # Save the value for synchronous access
- if element.group not in self.values:
- self.values[element.group] = {}
- self.values[element.group][element.name] = s
-
- logger.debug("Updated parameter [%s]" % complete_name)
- if complete_name in self.param_update_callbacks:
- self.param_update_callbacks[complete_name].call(
- complete_name, s)
- if element.group in self.group_update_callbacks:
- self.group_update_callbacks[element.group].call(
- complete_name, s)
- self.all_update_callback.call(complete_name, s)
-
- # Once all the parameters are updated call the
- # callback for "everything updated" (after all the param
- # updated callbacks)
- if self._check_if_all_updated() and not self.is_updated:
- self.is_updated = True
- self.all_updated.call()
- else:
- logger.debug("Variable id [%d] not found in TOC", var_id)
-
- def remove_update_callback(self, group, name=None, cb=None):
- """Remove the supplied callback for a group or a group.name"""
- if not cb:
- return
-
- if not name:
- if group in self.group_update_callbacks:
- self.group_update_callbacks[group].remove_callback(cb)
- else:
- paramname = "{}.{}".format(group, name)
- if paramname in self.param_update_callbacks:
- self.param_update_callbacks[paramname].remove_callback(cb)
-
- def add_update_callback(self, group=None, name=None, cb=None):
- """
- Add a callback for a specific parameter name. This callback will be
- executed when a new value is read from the Crazyflie.
- """
- if not group and not name:
- self.all_update_callback.add_callback(cb)
- elif not name:
- if group not in self.group_update_callbacks:
- self.group_update_callbacks[group] = Caller()
- self.group_update_callbacks[group].add_callback(cb)
- else:
- paramname = "{}.{}".format(group, name)
- if paramname not in self.param_update_callbacks:
- self.param_update_callbacks[paramname] = Caller()
- self.param_update_callbacks[paramname].add_callback(cb)
-
- def refresh_toc(self, refresh_done_callback, toc_cache):
- """
- Initiate a refresh of the parameter TOC.
- """
- toc_fetcher = TocFetcher(self.cf, ParamTocElement,
- CRTPPort.PARAM, self.toc,
- refresh_done_callback, toc_cache)
- toc_fetcher.start()
-
- def _disconnected(self, uri):
- """Disconnected callback from Crazyflie API"""
- self.param_updater.close()
- self.is_updated = False
- # Clear all values from the previous Crazyflie
- self.toc = Toc()
- self.values = {}
-
- def request_param_update(self, complete_name):
- """
- Request an update of the value for the supplied parameter.
- """
- self.param_updater.request_param_update(
- self.toc.get_element_id(complete_name))
-
- 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)
- pk.data = struct.pack('<B', varid)
- pk.data += struct.pack(element.pytype, eval(value))
- self.param_updater.request_param_setvalue(pk)
-
-
-class _ParamUpdater(Thread):
- """This thread will update params through a queue to make sure that we
- get back values"""
-
- def __init__(self, cf, updated_callback):
- """Initialize the thread"""
- Thread.__init__(self)
- self.setDaemon(True)
- self.wait_lock = Lock()
- self.cf = cf
- self.updated_callback = updated_callback
- self.request_queue = Queue()
- self.cf.add_port_callback(CRTPPort.PARAM, self._new_packet_cb)
- self._should_close = False
- self._req_param = -1
-
- def close(self):
- # First empty the queue from all packets
- while not self.request_queue.empty():
- self.request_queue.get()
- # Then force an unlock of the mutex if we are waiting for a packet
- # we didn't get back due to a disconnect for example.
- try:
- self.wait_lock.release()
- except:
- pass
-
- def request_param_setvalue(self, pk):
- """Place a param set value request on the queue. When this is sent to
- the Crazyflie it will answer with the update param value. """
- self.request_queue.put(pk)
-
- def _new_packet_cb(self, pk):
- """Callback for newly arrived packets"""
- if pk.channel == READ_CHANNEL or pk.channel == WRITE_CHANNEL:
- var_id = pk.data[0]
- if (pk.channel != TOC_CHANNEL and self._req_param == var_id and
- pk is not None):
- self.updated_callback(pk)
- self._req_param = -1
- try:
- self.wait_lock.release()
- except:
- pass
-
- 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 run(self):
- while not self._should_close:
- pk = self.request_queue.get() # Wait for request update
- self.wait_lock.acquire()
- if self.cf.link:
- self._req_param = pk.data[0]
- self.cf.send_packet(pk, expected_reply=(tuple(pk.data[0:2])))
- else:
- self.wait_lock.release()
diff --git a/src/cflib/cflib/crazyflie/platformservice.py b/src/cflib/cflib/crazyflie/platformservice.py
deleted file mode 100644
index 10abdc252ad9c5c32433b155fdbdbc470cb53e8e..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crazyflie/platformservice.py
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Used for sending control setpoints to the Crazyflie
-"""
-
-from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
-import struct
-
-__author__ = 'Bitcraze AB'
-__all__ = ['PlatformService']
-
-
-class PlatformService():
- """
- Used for sending control setpoints to the Crazyflie
- """
-
- def __init__(self, crazyflie=None):
- """
- Initialize the platform object.
- """
- self._cf = crazyflie
-
- 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)
diff --git a/src/cflib/cflib/crazyflie/toc.py b/src/cflib/cflib/crazyflie/toc.py
deleted file mode 100644
index 984e93ebaaf5d528ee4f1f102ad8c68b17fa434f..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crazyflie/toc.py
+++ /dev/null
@@ -1,205 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-A generic TableOfContents module that is used to fetch, store and minipulate
-a TOC for logging or parameters.
-"""
-
-from cflib.crtp.crtpstack import CRTPPacket
-import struct
-
-import logging
-
-__author__ = 'Bitcraze AB'
-__all__ = ['TocElement', 'Toc', 'TocFetcher']
-
-logger = logging.getLogger(__name__)
-
-TOC_CHANNEL = 0
-
-# Commands used when accessing the Table of Contents
-CMD_TOC_ELEMENT = 0
-CMD_TOC_INFO = 1
-
-# Possible states when receiving TOC
-IDLE = "IDLE"
-GET_TOC_INFO = "GET_TOC_INFO"
-GET_TOC_ELEMENT = "GET_TOC_ELEMENT"
-
-
-class TocElement:
- """An element in the TOC."""
- RW_ACCESS = 0
- RO_ACCESS = 1
-
- ident = 0
- group = ""
- name = ""
- ctype = ""
- pytype = ""
- access = RO_ACCESS
-
-
-class Toc:
- """Container for TocElements."""
-
- def __init__(self):
- self.toc = {}
-
- def clear(self):
- """Clear the TOC"""
- self.toc = {}
-
- def add_element(self, element):
- """Add a new TocElement to the TOC container."""
- try:
- self.toc[element.group][element.name] = element
- except KeyError:
- self.toc[element.group] = {}
- self.toc[element.group][element.name] = element
-
- def get_element_by_complete_name(self, complete_name):
- """Get a TocElement element identified by complete name from the
- container."""
- try:
- return self.get_element_by_id(self.get_element_id(complete_name))
- except ValueError:
- # Item not found
- return None
-
- def get_element_id(self, complete_name):
- """Get the TocElement element id-number of the element with the
- supplied name."""
- [group, name] = complete_name.split(".")
- element = self.get_element(group, name)
- if element:
- return element.ident
- else:
- logger.warning("Unable to find variable [%s]", complete_name)
- return None
-
- def get_element(self, group, name):
- """Get a TocElement element identified by name and group from the
- container."""
- try:
- return self.toc[group][name]
- except KeyError:
- return None
-
- def get_element_by_id(self, ident):
- """Get a TocElement element identified by index number from the
- container."""
- for group in list(self.toc.keys()):
- for name in list(self.toc[group].keys()):
- if self.toc[group][name].ident == ident:
- return self.toc[group][name]
- return None
-
-
-class TocFetcher:
- """Fetches TOC entries from the Crazyflie"""
-
- def __init__(self, crazyflie, element_class, port, toc_holder,
- finished_callback, toc_cache):
- self.cf = crazyflie
- self.port = port
- self._crc = 0
- self.requested_index = None
- self.nbr_of_items = None
- self.state = None
- self.toc = toc_holder
- self._toc_cache = toc_cache
- self.finished_callback = finished_callback
- self.element_class = element_class
-
- 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 _toc_fetch_finished(self):
- """Callback for when the TOC fetching is finished"""
- self.cf.remove_port_callback(self.port, self._new_packet_cb)
- logger.debug("[%d]: Done!", self.port)
- self.finished_callback()
-
- def _new_packet_cb(self, packet):
- """Handle a newly arrived packet"""
- chan = packet.channel
- if (chan != 0):
- return
- payload = packet.data[1:]
-
- if (self.state == GET_TOC_INFO):
- [self.nbr_of_items, self._crc] = struct.unpack("<BI", payload[:5])
- logger.debug("[%d]: Got TOC CRC, %d items and crc=0x%08X",
- self.port, self.nbr_of_items, self._crc)
-
- cache_data = self._toc_cache.fetch(self._crc)
- if (cache_data):
- self.toc.toc = cache_data
- logger.info("TOC for port [%s] found in cache" % self.port)
- self._toc_fetch_finished()
- else:
- self.state = GET_TOC_ELEMENT
- self.requested_index = 0
- self._request_toc_element(self.requested_index)
-
- elif (self.state == GET_TOC_ELEMENT):
- # Always add new element, but only request new if it's not the
- # last one.
- if self.requested_index != payload[0]:
- return
- self.toc.add_element(self.element_class(payload))
- logger.debug("Added element [%s]",
- self.element_class(payload).ident)
- if (self.requested_index < (self.nbr_of_items - 1)):
- logger.debug("[%d]: More variables, requesting index %d",
- self.port, self.requested_index + 1)
- self.requested_index = self.requested_index + 1
- self._request_toc_element(self.requested_index)
- else: # No more variables in TOC
- self._toc_cache.insert(self._crc, self.toc.toc)
- self._toc_fetch_finished()
-
- 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))
diff --git a/src/cflib/cflib/crazyflie/toccache.py b/src/cflib/cflib/crazyflie/toccache.py
deleted file mode 100644
index 22add3c8ea979e3e9352badd2ca5f77b5026cda7..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crazyflie/toccache.py
+++ /dev/null
@@ -1,127 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Access the TOC cache for reading/writing. It supports both user
-cache and dist cache.
-"""
-
-import os
-import json
-from glob import glob
-
-import logging
-
-from .log import LogTocElement # pylint: disable=W0611
-from .param import ParamTocElement # pylint: disable=W0611
-
-__author__ = 'Bitcraze AB'
-__all__ = ['TocCache']
-
-logger = logging.getLogger(__name__)
-
-
-class TocCache():
- """
- Access to TOC cache. To turn of the cache functionality
- don't supply any directories.
- """
-
- def __init__(self, ro_cache=None, rw_cache=None):
- self._cache_files = []
- if (ro_cache):
- self._cache_files += glob(ro_cache + "/*.json")
- if (rw_cache):
- self._cache_files += glob(rw_cache + "/*.json")
- if not os.path.exists(rw_cache):
- os.makedirs(rw_cache)
-
- self._rw_cache = rw_cache
-
- def fetch(self, crc):
- """ Try to get a hit in the cache, return None otherwise """
- cache_data = None
- pattern = "%08X.json" % crc
- hit = None
-
- for name in self._cache_files:
- if (name.endswith(pattern)):
- hit = name
-
- if (hit):
- try:
- cache = open(hit)
- cache_data = json.load(cache,
- object_hook=self._decoder)
- cache.close()
- except Exception as exp:
- logger.warning("Error while parsing cache file [%s]:%s",
- hit, str(exp))
-
- return cache_data
-
- def insert(self, crc, toc):
- """ Save a new cache to file """
- if self._rw_cache:
- try:
- filename = "%s/%08X.json" % (self._rw_cache, crc)
- cache = open(filename, 'w')
- cache.write(json.dumps(toc, indent=2,
- default=self._encoder))
- cache.close()
- logger.info("Saved cache to [%s]", filename)
- self._cache_files += [filename]
- except Exception as exp:
- logger.warning("Could not save cache to file [%s]: %s",
- filename, str(exp))
- else:
- logger.warning("Could not save cache, no writable directory")
-
- def _encoder(self, obj):
- """ Encode a toc element leaf-node """
- return {'__class__': obj.__class__.__name__,
- 'ident': obj.ident,
- 'group': obj.group,
- 'name': obj.name,
- 'ctype': obj.ctype,
- 'pytype': obj.pytype,
- 'access': obj.access}
- raise TypeError(repr(obj) + ' is not JSON serializable')
-
- def _decoder(self, obj):
- """ Decode a toc element leaf-node """
- if '__class__' in obj:
- elem = eval(obj['__class__'])()
- elem.ident = obj['ident']
- elem.group = str(obj['group'])
- elem.name = str(obj['name'])
- elem.ctype = str(obj['ctype'])
- elem.pytype = str(obj['pytype'])
- elem.access = obj['access']
- return elem
- return obj
diff --git a/src/cflib/cflib/crtp/__init__.py b/src/cflib/cflib/crtp/__init__.py
deleted file mode 100644
index 0624614b03b043d1bf3a5a72b5945c23578f330e..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crtp/__init__.py
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""Scans and creates communication interfaces."""
-
-import logging
-
-from .radiodriver import RadioDriver
-from .udpdriver import UdpDriver
-from .serialdriver import SerialDriver
-from .debugdriver import DebugDriver
-from .usbdriver import UsbDriver
-from .exceptions import WrongUriType
-
-__author__ = 'Bitcraze AB'
-__all__ = []
-
-logger = logging.getLogger(__name__)
-
-
-DRIVERS = [RadioDriver, SerialDriver, UdpDriver, DebugDriver, UsbDriver]
-INSTANCES = []
-
-
-def init_drivers(enable_debug_driver=False):
- """Initialize all the drivers."""
- for driver in DRIVERS:
- try:
- if driver != DebugDriver or enable_debug_driver:
- INSTANCES.append(driver())
- except Exception: # pylint: disable=W0703
- continue
-
-
-def scan_interfaces(address=None):
- """ Scan all the interfaces for available Crazyflies """
- available = []
- found = []
- for instance in INSTANCES:
- logger.debug("Scanning: %s", instance)
- try:
- found = instance.scan_interface(address)
- available += found
- except Exception:
- raise
- return available
-
-
-def get_interfaces_status():
- """Get the status of all the interfaces"""
- status = {}
- for instance in INSTANCES:
- try:
- status[instance.get_name()] = instance.get_status()
- except Exception:
- raise
- return status
-
-
-def get_link_driver(uri, link_quality_callback=None, link_error_callback=None):
- """Return the link driver for the given URI. Returns None if no driver
- was found for the URI or the URI was not well formatted for the matching
- driver."""
- for instance in INSTANCES:
- try:
- instance.connect(uri, link_quality_callback, link_error_callback)
- return instance
- except WrongUriType:
- continue
-
- return None
diff --git a/src/cflib/cflib/crtp/crtpdriver.py b/src/cflib/cflib/crtp/crtpdriver.py
deleted file mode 100644
index 246f8d3ed0130dfbbadeee4dadd435ed0c1e091c..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crtp/crtpdriver.py
+++ /dev/null
@@ -1,96 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-CRTP Driver main class.
-"""
-
-__author__ = 'Bitcraze AB'
-__all__ = ['CRTPDriver']
-
-
-class CRTPDriver:
- """ CTRP Driver main class
-
- This class in inherited by all the CRTP link drivers.
- """
-
- def __init__(self):
- """Driver constructor. Throw an exception if the driver is unable to
- open the URI
- """
- self.needs_resending = True
-
- def connect(self, uri, link_quality_callback, link_error_callback):
- """Connect the driver to a specified URI
-
- @param uri Uri of the link to open
- @param link_quality_callback Callback to report link quality in percent
- @param link_error_callback Callback to report errors (will result in
- disconnection)
- """
-
- def send_packet(self, pk):
- """Send a CRTP packet"""
-
- def receive_packet(self, wait=0):
- """Receive a CRTP packet.
-
- @param wait The time to wait for a packet in second. -1 means forever
-
- @return One CRTP packet or None if no packet has been received.
- """
-
- def get_status(self):
- """
- Return a status string from the interface.
- """
-
- def get_name(self):
- """
- Return a human readable name of the interface.
- """
-
- def scan_interface(self, address=None):
- """
- Scan interface for available Crazyflie quadcopters and return a list
- with them.
- """
-
- def enum(self):
- """Enumerate, and return a list, of the available link URI on this
- system
- """
-
- def get_help(self):
- """return the help message on how to form the URI for this driver
- None means no help
- """
-
- def close(self):
- """Close the link"""
diff --git a/src/cflib/cflib/crtp/crtpstack.py b/src/cflib/cflib/crtp/crtpstack.py
deleted file mode 100644
index dc46ccd5209552bddf06a18e21219e7865c14be9..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crtp/crtpstack.py
+++ /dev/null
@@ -1,152 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-CRTP packet and ports.
-"""
-
-import sys
-import logging
-
-__author__ = 'Bitcraze AB'
-__all__ = ['CRTPPort', 'CRTPPacket']
-
-logger = logging.getLogger(__name__)
-
-
-class CRTPPort:
- """
- Lists the available ports for the CRTP.
- """
- CONSOLE = 0x00
- PARAM = 0x02
- COMMANDER = 0x03
- MEM = 0x04
- LOGGING = 0x05
- DEBUGDRIVER = 0x0E
- LINKCTRL = 0x0F
- ALL = 0xFF
-
-
-class CRTPPacket(object):
- """
- A packet that can be sent via the CRTP.
- """
-
- def __init__(self, header=0, data=None):
- """
- Create an empty packet with default values.
- """
- self.size = 0
- self._data = bytearray()
- # The two bits in position 3 and 4 needs to be set for legacy
- # support of the bootloader
- self.header = header | 0x3 << 2
- self._port = (header & 0xF0) >> 4
- self._channel = header & 0x03
- if data:
- self._set_data(data)
-
- def _get_channel(self):
- """Get the packet channel"""
- return self._channel
-
- def _set_channel(self, channel):
- """Set the packet channel"""
- self._channel = channel
- self._update_header()
-
- def _get_port(self):
- """Get the packet port"""
- return self._port
-
- def _set_port(self, port):
- """Set the packet port"""
- self._port = port
- self._update_header()
-
- def get_header(self):
- """Get the header"""
- self._update_header()
- return self.header
-
- def set_header(self, port, channel):
- """
- Set the port and channel for this packet.
- """
- self._port = port
- self.channel = channel
- self._update_header()
-
- def _update_header(self):
- """Update the header with the port/channel values"""
- # The two bits in position 3 and 4 needs to be set for legacy
- # support of the bootloader
- self.header = ((self._port & 0x0f) << 4 | 3 << 2 |
- (self.channel & 0x03))
-
- # Some python madness to access different format of the data
- def _get_data(self):
- """Get the packet data"""
- return self._data
-
- def _set_data(self, data):
- """Set the packet data"""
- if type(data) == bytearray:
- self._data = data
- elif type(data) == str:
- if sys.version_info < (3,):
- self._data = bytearray(data)
- else:
- self._data = bytearray(data.encode('ISO-8859-1'))
- elif type(data) == list or type(data) == tuple:
- self._data = bytearray(data)
- elif sys.version_info >= (3,) and type(data) == bytes:
- self._data = bytearray(data)
- else:
- raise Exception("Data must be bytearray, string, list or tuple,"
- " not {}".format(type(data)))
-
- def _get_data_l(self):
- """Get the data in the packet as a list"""
- return list(self._get_data_t())
-
- def _get_data_t(self):
- """Get the data in the packet as a tuple"""
- return tuple(self._data)
-
- def __str__(self):
- """Get a string representation of the packet"""
- return "{}:{} {}".format(self._port, self.channel, self.datat)
-
- data = property(_get_data, _set_data)
- datal = property(_get_data_l, _set_data)
- datat = property(_get_data_t, _set_data)
- datas = property(_get_data, _set_data)
- port = property(_get_port, _set_port)
- channel = property(_get_channel, _set_channel)
diff --git a/src/cflib/cflib/crtp/debugdriver.py b/src/cflib/cflib/crtp/debugdriver.py
deleted file mode 100644
index 4bfcc5da6f8f9b8c8158c1cd1f4e042102e8a06e..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crtp/debugdriver.py
+++ /dev/null
@@ -1,898 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Fake link driver used to debug the UI without using the Crazyflie.
-
-The operation of this driver can be controlled in two ways, either by
-connecting to different URIs or by sending messages to the DebugDriver port
-though CRTP once connected.
-
-For normal connections a console thread is also started that will send
-generated console output via CRTP.
-"""
-
-from threading import Thread
-from .crtpdriver import CRTPDriver
-from .crtpstack import CRTPPacket, CRTPPort
-from .exceptions import WrongUriType
-import sys
-import re
-import time
-import struct
-from datetime import datetime
-from cflib.crazyflie.log import LogTocElement
-from cflib.crazyflie.param import ParamTocElement
-import random
-import string
-import errno
-
-import logging
-if sys.version_info < (3,):
- import Queue as queue
-else:
- import queue
-
-__author__ = 'Bitcraze AB'
-__all__ = ['DebugDriver']
-
-logger = logging.getLogger(__name__)
-
-# This setup is used to debug raw memory logging
-memlogging = {0x01: {"min": 0, "max": 255, "mod": 1, "vartype": 1},
- 0x02: {"min": 0, "max": 65000, "mod": 100, "vartype": 2},
- 0x03: {"min": 0, "max": 100000, "mod": 1000, "vartype": 3},
- 0x04: {"min": -100, "max": 100, "mod": 1, "vartype": 4},
- 0x05: {"min": -10000, "max": 10000, "mod": 2000, "vartype": 5},
- 0x06: {"min": -50000, "max": 50000, "mod": 1000, "vartype": 6},
- 0x07: {"min": 0, "max": 255, "mod": 1, "vartype": 1}}
-
-
-class FakeMemory:
- TYPE_I2C = 0
- TYPE_1W = 1
-
- def __init__(self, type, size, addr, data=None):
- self.type = type
- self.size = size
- self.addr = addr
- self.data = [0] * size
- if data:
- for i in range(len(data)):
- self.data[i] = data[i]
-
- def erase(self):
- self.data = [0] * self.size
-
-
-class DebugDriver(CRTPDriver):
- """ Debug driver used for debugging UI/communication without using a
- Crazyflie"""
-
- def __init__(self):
- self.fakeLoggingThreads = []
- self._fake_mems = []
- self.needs_resending = False
- # Fill up the fake logging TOC with values and data
- self.fakeLogToc = []
- self.fakeLogToc.append({"varid": 0, "vartype": 5, "vargroup": "imu",
- "varname": "gyro_x", "min": -10000,
- "max": 10000, "mod": 1000})
- self.fakeLogToc.append({"varid": 1, "vartype": 5, "vargroup": "imu",
- "varname": "gyro_y", "min": -10000,
- "max": 10000, "mod": 150})
- self.fakeLogToc.append({"varid": 2, "vartype": 5, "vargroup": "imu",
- "varname": "gyro_z", "min": -10000,
- "max": 10000, "mod": 200})
- self.fakeLogToc.append({"varid": 3, "vartype": 5, "vargroup": "imu",
- "varname": "acc_x", "min": -1000,
- "max": 1000, "mod": 15})
- self.fakeLogToc.append({"varid": 4, "vartype": 5, "vargroup": "imu",
- "varname": "acc_y", "min": -1000,
- "max": 1000, "mod": 10})
- self.fakeLogToc.append({"varid": 5, "vartype": 5, "vargroup": "imu",
- "varname": "acc_z", "min": -1000,
- "max": 1000, "mod": 20})
- self.fakeLogToc.append({"varid": 6, "vartype": 7,
- "vargroup": "stabilizer", "varname": "roll",
- "min": -90, "max": 90, "mod": 2})
- self.fakeLogToc.append({"varid": 7, "vartype": 7,
- "vargroup": "stabilizer", "varname": "pitch",
- "min": -90, "max": 90, "mod": 1.5})
- self.fakeLogToc.append({"varid": 8, "vartype": 7,
- "vargroup": "stabilizer", "varname": "yaw",
- "min": -90, "max": 90, "mod": 2.5})
- self.fakeLogToc.append({"varid": 9, "vartype": 7, "vargroup": "pm",
- "varname": "vbat", "min": 3.0,
- "max": 4.2, "mod": 0.1})
- self.fakeLogToc.append({"varid": 10, "vartype": 6, "vargroup": "motor",
- "varname": "m1", "min": 0, "max": 65000,
- "mod": 1000})
- self.fakeLogToc.append({"varid": 11, "vartype": 6, "vargroup": "motor",
- "varname": "m2", "min": 0, "max": 65000,
- "mod": 1000})
- self.fakeLogToc.append({"varid": 12, "vartype": 6, "vargroup": "motor",
- "varname": "m3", "min": 0, "max": 65000,
- "mod": 1000})
- self.fakeLogToc.append({"varid": 13, "vartype": 6, "vargroup": "motor",
- "varname": "m4", "min": 0, "max": 65000,
- "mod": 1000})
- self.fakeLogToc.append({"varid": 14, "vartype": 2,
- "vargroup": "stabilizer", "varname": "thrust",
- "min": 0, "max": 65000, "mod": 1000})
- self.fakeLogToc.append({"varid": 15, "vartype": 7,
- "vargroup": "baro", "varname": "asl",
- "min": 540, "max": 545, "mod": 0.5})
- self.fakeLogToc.append({"varid": 16, "vartype": 7,
- "vargroup": "baro", "varname": "aslRaw",
- "min": 540, "max": 545, "mod": 1.0})
- self.fakeLogToc.append({"varid": 17, "vartype": 7,
- "vargroup": "baro", "varname": "aslLong",
- "min": 540, "max": 545, "mod": 0.5})
- self.fakeLogToc.append({"varid": 18, "vartype": 7,
- "vargroup": "baro", "varname": "temp",
- "min": 26, "max": 38, "mod": 1.0})
- self.fakeLogToc.append({"varid": 19, "vartype": 7,
- "vargroup": "altHold", "varname": "target",
- "min": 542, "max": 543, "mod": 0.1})
- self.fakeLogToc.append({"varid": 20, "vartype": 6,
- "vargroup": "gps", "varname": "lat",
- "min": 556112190, "max": 556112790,
- "mod": 10})
- self.fakeLogToc.append({"varid": 21, "vartype": 6,
- "vargroup": "gps", "varname": "lon",
- "min": 129945110, "max": 129945710,
- "mod": 10})
- self.fakeLogToc.append({"varid": 22, "vartype": 6,
- "vargroup": "gps", "varname": "hMSL",
- "min": 0, "max": 100000,
- "mod": 1000})
- self.fakeLogToc.append({"varid": 23, "vartype": 6,
- "vargroup": "gps", "varname": "heading",
- "min": -10000000, "max": 10000000,
- "mod": 100000})
- self.fakeLogToc.append({"varid": 24, "vartype": 6,
- "vargroup": "gps", "varname": "gSpeed",
- "min": 0, "max": 1000,
- "mod": 100})
- self.fakeLogToc.append({"varid": 25, "vartype": 3,
- "vargroup": "gps", "varname": "hAcc",
- "min": 0, "max": 5000,
- "mod": 100})
- self.fakeLogToc.append({"varid": 26, "vartype": 1,
- "vargroup": "gps", "varname": "fixType",
- "min": 0, "max": 5,
- "mod": 1})
-
- # Fill up the fake logging TOC with values and data
- self.fakeParamToc = []
- self.fakeParamToc.append({"varid": 0, "vartype": 0x08,
- "vargroup": "blah", "varname": "p",
- "writable": True, "value": 100})
- self.fakeParamToc.append({"varid": 1, "vartype": 0x0A,
- "vargroup": "info", "varname": "cid",
- "writable": False, "value": 1234})
- self.fakeParamToc.append({"varid": 2, "vartype": 0x06,
- "vargroup": "rpid", "varname": "prp",
- "writable": True, "value": 1.5})
- self.fakeParamToc.append({"varid": 3, "vartype": 0x06,
- "vargroup": "rpid", "varname": "pyaw",
- "writable": True, "value": 2.5})
- self.fakeParamToc.append({"varid": 4, "vartype": 0x06,
- "vargroup": "rpid", "varname": "irp",
- "writable": True, "value": 3.5})
- self.fakeParamToc.append({"varid": 5, "vartype": 0x06,
- "vargroup": "rpid", "varname": "iyaw",
- "writable": True, "value": 4.5})
- self.fakeParamToc.append({"varid": 6, "vartype": 0x06,
- "vargroup": "pid_attitude",
- "varname": "pitch_kd", "writable": True,
- "value": 5.5})
- self.fakeParamToc.append({"varid": 7, "vartype": 0x06,
- "vargroup": "rpid", "varname": "dyaw",
- "writable": True, "value": 6.5})
- self.fakeParamToc.append({"varid": 8, "vartype": 0x06,
- "vargroup": "apid", "varname": "prp",
- "writable": True, "value": 7.5})
- self.fakeParamToc.append({"varid": 9, "vartype": 0x06,
- "vargroup": "apid", "varname": "pyaw",
- "writable": True, "value": 8.5})
- self.fakeParamToc.append({"varid": 10, "vartype": 0x06,
- "vargroup": "apid", "varname": "irp",
- "writable": True, "value": 9.5})
- self.fakeParamToc.append({"varid": 11, "vartype": 0x06,
- "vargroup": "apid", "varname": "iyaw",
- "writable": True, "value": 10.5})
- self.fakeParamToc.append({"varid": 12, "vartype": 0x06,
- "vargroup": "apid", "varname": "drp",
- "writable": True, "value": 11.5})
- self.fakeParamToc.append({"varid": 13, "vartype": 0x06,
- "vargroup": "apid", "varname": "dyaw",
- "writable": True, "value": 12.5})
- self.fakeParamToc.append({"varid": 14, "vartype": 0x08,
- "vargroup": "flightctrl",
- "varname": "xmode", "writable": True,
- "value": 1})
- self.fakeParamToc.append({"varid": 15, "vartype": 0x08,
- "vargroup": "flightctrl",
- "varname": "ratepid", "writable": True,
- "value": 1})
- self.fakeParamToc.append({"varid": 16, "vartype": 0x08,
- "vargroup": "imu_sensors",
- "varname": "HMC5883L", "writable": False,
- "value": 1})
- self.fakeParamToc.append({"varid": 17, "vartype": 0x08,
- "vargroup": "imu_sensors",
- "varname": "MS5611", "writable": False,
- "value": 1})
- self.fakeParamToc.append({"varid": 18, "vartype": 0x0A,
- "vargroup": "firmware",
- "varname": "revision0", "writable": False,
- "value": 0xdeb})
- self.fakeParamToc.append({"varid": 19, "vartype": 0x09,
- "vargroup": "firmware",
- "varname": "revision1", "writable": False,
- "value": 0x99})
- self.fakeParamToc.append({"varid": 20, "vartype": 0x08,
- "vargroup": "firmware",
- "varname": "modified", "writable": False,
- "value": 1})
- self.fakeParamToc.append({"varid": 21, "vartype": 0x08,
- "vargroup": "imu_tests",
- "varname": "MPU6050", "writable": False,
- "value": 1})
- self.fakeParamToc.append({"varid": 22, "vartype": 0x08,
- "vargroup": "imu_tests",
- "varname": "HMC5883L", "writable": False,
- "value": 1})
- self.fakeParamToc.append({"varid": 23, "vartype": 0x08,
- "vargroup": "imu_tests",
- "varname": "MS5611", "writable": False,
- "value": 1})
-
- self.fakeflash = {}
- self._random_answer_delay = True
- self.queue = queue.Queue()
- self._packet_handler = _PacketHandlingThread(self.queue,
- self.fakeLogToc,
- self.fakeParamToc,
- self._fake_mems)
- self._packet_handler.start()
-
- def scan_interface(self, address):
- return [["debug://0/0", "Normal connection"],
- ["debug://0/1", "Fail to connect"],
- ["debug://0/2", "Incomplete log TOC download"],
- ["debug://0/3", "Insert random delays on replies"],
- ["debug://0/4",
- "Insert random delays on replies and random TOC CRCs"],
- ["debug://0/5", "Normal but random TOC CRCs"],
- ["debug://0/6", "Normal but empty I2C and OW mems"]]
-
- def get_status(self):
- return "Ok"
-
- def get_name(self):
- return "debug"
-
- def connect(self, uri, linkQualityCallback, linkErrorCallback):
-
- if not re.search("^debug://", uri):
- raise WrongUriType("Not a debug URI")
-
- self._packet_handler.linkErrorCallback = linkErrorCallback
- self._packet_handler.linkQualityCallback = linkQualityCallback
-
- # Debug-options for this driver that
- # is set by using different connection URIs
- self._packet_handler.inhibitAnswers = False
- self._packet_handler.doIncompleteLogTOC = False
- self._packet_handler.bootloader = False
- self._packet_handler._random_answer_delay = False
- self._packet_handler._random_toc_crcs = False
-
- if (re.search("^debug://.*/1\Z", uri)):
- self._packet_handler.inhibitAnswers = True
- if (re.search("^debug://.*/110\Z", uri)):
- self._packet_handler.bootloader = True
- if (re.search("^debug://.*/2\Z", uri)):
- self._packet_handler.doIncompleteLogTOC = True
- if (re.search("^debug://.*/3\Z", uri)):
- self._packet_handler._random_answer_delay = True
- if (re.search("^debug://.*/4\Z", uri)):
- self._packet_handler._random_answer_delay = True
- self._packet_handler._random_toc_crcs = True
- if (re.search("^debug://.*/5\Z", uri)):
- self._packet_handler._random_toc_crcs = True
-
- if len(self._fake_mems) == 0:
- # Add empty EEPROM
- self._fake_mems.append(FakeMemory(type=0, size=100, addr=0))
- # Add EEPROM with settings
- self._fake_mems.append(
- FakeMemory(type=0, size=100, addr=0,
- data=[48, 120, 66, 67, 1, 8, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 231, 8, 231, 231, 231, 218]))
- # Add 1-wire memory with settings for LED-ring
- self._fake_mems.append(
- FakeMemory(type=1, size=112, addr=0x1234567890ABCDEF,
- data=[0xeb, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01,
- 0x44, 0x00, 0x0e,
- 0x01, 0x09, 0x62, 0x63, 0x4c, 0x65, 0x64,
- 0x52, 0x69, 0x6e,
- 0x67, 0x02, 0x01, 0x62, 0x55]))
- # Add 1-wire memory with settings for LED-ring but bad CRC
- self._fake_mems.append(
- FakeMemory(type=1, size=112, addr=0x1234567890ABCDEF,
- data=[0xeb, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01,
- 0x44, 0x00, 0x0e,
- 0x01, 0x09, 0x62, 0x63, 0x4c, 0x65, 0x64,
- 0x52, 0x69, 0x6e,
- 0x67, 0x02, 0x01, 0x62, 0x56]))
- # Add empty 1-wire memory
- self._fake_mems.append(
- FakeMemory(type=1, size=112, addr=0x1234567890ABCDEE,
- data=[0x00 for a in range(112)]))
-
- if (re.search("^debug://.*/6\Z", uri)):
- logger.info("------------->Erasing memories on connect")
- for m in self._fake_mems:
- m.erase()
-
- self.fakeConsoleThread = None
-
- if (not self._packet_handler.inhibitAnswers and
- not self._packet_handler.bootloader):
- self.fakeConsoleThread = FakeConsoleThread(self.queue)
- self.fakeConsoleThread.start()
-
- if (self._packet_handler.linkQualityCallback is not None):
- self._packet_handler.linkQualityCallback(0)
-
- def receive_packet(self, time=0):
- if time == 0:
- try:
- return self.queue.get(False)
- except queue.Empty:
- return None
- elif time < 0:
- try:
- return self.queue.get(True)
- except queue.Empty:
- return None
- else:
- try:
- return self.queue.get(True, time)
- except queue.Empty:
- return None
-
- def send_packet(self, pk):
- self._packet_handler.handle_packet(pk)
-
- def close(self):
- logger.info("Closing debugdriver")
- for f in self._packet_handler.fakeLoggingThreads:
- f.stop()
- if self.fakeConsoleThread:
- self.fakeConsoleThread.stop()
-
-
-class _PacketHandlingThread(Thread):
- """Thread for handling packets asynchronously"""
-
- def __init__(self, out_queue, fake_log_toc, fake_param_toc, fake_mems):
- Thread.__init__(self)
- self.setDaemon(True)
- self.queue = out_queue
- self.fakeLogToc = fake_log_toc
- self.fakeParamToc = fake_param_toc
- self._fake_mems = fake_mems
- self._in_queue = queue.Queue()
-
- self.inhibitAnswers = False
- self.doIncompleteLogTOC = False
- self.bootloader = False
- self._random_answer_delay = False
- self._random_toc_crcs = False
-
- self.linkErrorCallback = None
- self.linkQualityCallback = None
- random.seed(None)
- self.fakeLoggingThreads = []
-
- self._added_blocks = []
-
- self.nowAnswerCounter = 4
-
- def handle_packet(self, pk):
- self._in_queue.put(pk)
-
- def run(self):
- while (True):
- pk = self._in_queue.get(True)
- if (self.inhibitAnswers):
- self.nowAnswerCounter = self.nowAnswerCounter - 1
- logger.debug(
- "Not answering with any data, will send link errori"
- " in %d retries", self.nowAnswerCounter)
- if (self.nowAnswerCounter == 0):
- self.linkErrorCallback("Nothing is answering, and it"
- " shouldn't")
- else:
- if (pk.port == 0xFF):
- self._handle_bootloader(pk)
- elif (pk.port == CRTPPort.DEBUGDRIVER):
- self._handle_debugmessage(pk)
- elif (pk.port == CRTPPort.COMMANDER):
- pass
- elif (pk.port == CRTPPort.LOGGING):
- self._handle_logging(pk)
- elif (pk.port == CRTPPort.PARAM):
- self.handleParam(pk)
- elif (pk.port == CRTPPort.MEM):
- self._handle_mem_access(pk)
- else:
- logger.warning(
- "Not handling incoming packets on port [%d]",
- pk.port)
-
- def _handle_mem_access(self, pk):
- chan = pk.channel
- cmd = pk.data[0]
- payload = pk.data[1:]
-
- if chan == 0: # Info channel
- p_out = CRTPPacket()
- p_out.set_header(CRTPPort.MEM, 0)
- if cmd == 1: # Request number of memories
- p_out.data = (1, len(self._fake_mems))
- if cmd == 2:
- id = payload[0]
- logger.info("Getting mem {}".format(id))
- m = self._fake_mems[id]
- p_out.data = struct.pack(
- '<BBBIQ', 2, id, m.type, m.size, m.addr)
- self._send_packet(p_out)
-
- if chan == 1: # Read channel
- id = cmd
- addr = struct.unpack("I", payload[0:4])[0]
- length = payload[4]
- status = 0
- logger.info("MEM: Read {}bytes at 0x{:X} from memory {}".format(
- length, addr, id))
- m = self._fake_mems[id]
- p_out = CRTPPacket()
- p_out.set_header(CRTPPort.MEM, 1)
- p_out.data = struct.pack("<BIB", id, addr, status)
- p_out.data += struct.pack("B" * length,
- *m.data[addr:addr + length])
- self._send_packet(p_out)
-
- if chan == 2: # Write channel
- id = cmd
- addr = struct.unpack("I", payload[0:4])[0]
- data = payload[4:]
- logger.info("MEM: Write {}bytes at 0x{:X} to memory {}".format(
- len(data), addr, id))
- m = self._fake_mems[id]
-
- for i in range(len(data)):
- m.data[addr + i] = data[i]
-
- status = 0
-
- p_out = CRTPPacket()
- p_out.set_header(CRTPPort.MEM, 2)
- p_out.data = struct.pack("<BIB", id, addr, status)
- self._send_packet(p_out)
-
- def _handle_bootloader(self, pk):
- cmd = pk.data[1]
- if (cmd == 0x10): # Request info about copter
- p = CRTPPacket()
- p.set_header(0xFF, 0xFF)
- pageSize = 1024
- buffPages = 10
- flashPages = 100
- flashStart = 1
- p.data = struct.pack('<BBHHHH', 0xFF, 0x10, pageSize, buffPages,
- flashPages, flashStart)
- p.data += struct.pack('B' * 12, 0xA0A1A2A3A4A5)
- self._send_packet(p)
- logging.info("Bootloader: Sending info back info")
- elif (cmd == 0x14): # Upload buffer
- [page, addr] = struct.unpack('<HH', p.data[0:4])
- elif (cmd == 0x18): # Flash page
- p = CRTPPacket()
- p.set_header(0xFF, 0xFF)
- p.data = struct.pack('<BBH', 0xFF, 0x18, 1)
- self._send_packet(p)
- elif (cmd == 0xFF): # Reset to firmware
- logger.info("Bootloader: Got reset command")
- else:
- logger.warning("Bootloader: Unknown command 0x%02X", cmd)
-
- def _handle_debugmessage(self, pk):
- if (pk.channel == 0):
- cmd = struct.unpack("B", pk.data[0])[0]
- if (cmd == 0): # Fake link quality
- newLinkQuality = struct.unpack("B", pk.data[1])[0]
- self.linkQualityCallback(newLinkQuality)
- elif (cmd == 1):
- self.linkErrorCallback("DebugDriver was forced to disconnect!")
- else:
- logger.warning("Debug port: Not handling cmd=%d on channel 0",
- cmd)
- else:
- logger.warning("Debug port: Not handling channel=%d",
- pk.channel)
-
- def _handle_toc_access(self, pk):
- chan = pk.channel
- cmd = pk.data[0]
- logger.info("TOC access on port %d", pk.port)
- if (chan == 0): # TOC Access
- cmd = pk.data[0]
- if (cmd == 0): # Reqest variable info
- p = CRTPPacket()
- p.set_header(pk.port, 0)
- varIndex = 0
- if (len(pk.data) > 1):
- varIndex = pk.data[1]
- logger.debug("TOC[%d]: Requesting ID=%d", pk.port,
- varIndex)
- else:
- logger.debug("TOC[%d]: Requesting first index..surprise,"
- " it 0 !", pk.port)
-
- if (pk.port == CRTPPort.LOGGING):
- l = self.fakeLogToc[varIndex]
- if (pk.port == CRTPPort.PARAM):
- l = self.fakeParamToc[varIndex]
-
- vartype = l["vartype"]
- if (pk.port == CRTPPort.PARAM and l["writable"] is True):
- vartype = vartype | (0x10)
-
- p.data = struct.pack("<BBB", cmd, l["varid"], vartype)
- for ch in l["vargroup"]:
- p.data.append(ord(ch))
- p.data.append(0)
- for ch in l["varname"]:
- p.data.append(ord(ch))
- p.data.append(0)
- if (self.doIncompleteLogTOC is False):
- self._send_packet(p)
- elif (varIndex < 5):
- self._send_packet(p)
- else:
- logger.info("TOC: Doing incomplete TOC, stopping after"
- " varIndex => 5")
-
- if (cmd == 1): # TOC CRC32 request
- fakecrc = 0
- if (pk.port == CRTPPort.LOGGING):
- tocLen = len(self.fakeLogToc)
- fakecrc = 0xAAAAAAAA
- if (pk.port == CRTPPort.PARAM):
- tocLen = len(self.fakeParamToc)
- fakecrc = 0xBBBBBBBB
-
- if self._random_toc_crcs:
- fakecrc = int(''.join(
- random.choice("ABCDEF" + string.digits) for x in
- range(8)), 16)
- logger.debug("Generated random TOC CRC: 0x%x", fakecrc)
- logger.info("TOC[%d]: Requesting TOC CRC, sending back fake"
- " stuff: %d", pk.port, len(self.fakeLogToc))
- p = CRTPPacket()
- p.set_header(pk.port, 0)
- p.data = struct.pack('<BBIBB', 1, tocLen, fakecrc, 16, 24)
- self._send_packet(p)
-
- def handleParam(self, pk):
- chan = pk.channel
- cmd = pk.data[0]
- logger.debug("PARAM: Port=%d, Chan=%d, cmd=%d", pk.port,
- chan, cmd)
- if (chan == 0): # TOC Access
- self._handle_toc_access(pk)
- elif (chan == 2): # Settings access
- varId = pk.data[0]
- formatStr = ParamTocElement.types[
- self.fakeParamToc[varId]["vartype"]][1]
- newvalue = struct.unpack(formatStr, pk.data[1:])[0]
- self.fakeParamToc[varId]["value"] = newvalue
- logger.info("PARAM: New value [%s] for param [%d]", newvalue,
- varId)
- # Send back the new value
- p = CRTPPacket()
- p.set_header(pk.port, 2)
- p.data += struct.pack("<B", varId)
- p.data += struct.pack(formatStr, self.fakeParamToc[varId]["value"])
- self._send_packet(p)
- elif (chan == 1):
- p = CRTPPacket()
- p.set_header(pk.port, 1)
- varId = cmd
- p.data.append(varId)
- formatStr = ParamTocElement.types[
- self.fakeParamToc[varId]["vartype"]][1]
- p.data += struct.pack(formatStr, self.fakeParamToc[varId]["value"])
- logger.info("PARAM: Getting value for %d", varId)
- self._send_packet(p)
-
- def _handle_logging(self, pk):
- chan = pk.channel
- cmd = pk.data[0]
- logger.debug("LOG: Chan=%d, cmd=%d", chan, cmd)
- if (chan == 0): # TOC Access
- self._handle_toc_access(pk)
- elif (chan == 1): # Settings access
- if (cmd == 0):
- blockId = pk.data[1]
- if blockId not in self._added_blocks:
- self._added_blocks.append(blockId)
- logger.info("LOG:Adding block id=%d", blockId)
- listofvars = pk.data[3:]
- fakeThread = _FakeLoggingDataThread(self.queue, blockId,
- listofvars,
- self.fakeLogToc)
- self.fakeLoggingThreads.append(fakeThread)
- fakeThread.start()
- # Anser that everything is ok
- p = CRTPPacket()
- p.set_header(5, 1)
- p.data = struct.pack('<BBB', 0, blockId, 0x00)
- self._send_packet(p)
- else:
- p = CRTPPacket()
- p.set_header(5, 1)
- p.data = struct.pack('<BBB', 0, blockId, errno.EEXIST)
- self._send_packet(p)
- if (cmd == 1):
- logger.warning("LOG: Appending block not implemented!")
- if (cmd == 2):
- blockId = pk.data[1]
- logger.info("LOG: Should delete block %d", blockId)
- success = False
- for fb in self.fakeLoggingThreads:
- if (fb.blockId == blockId):
- fb._disable_logging()
- fb.stop()
-
- p = CRTPPacket()
- p.set_header(5, 1)
- p.data = struct.pack('<BBB', cmd, blockId, 0x00)
- self._send_packet(p)
- logger.info("LOG: Deleted block=%d", blockId)
- success = True
- if (success is False):
- logger.warning("LOG: Could not delete block=%d, not found",
- blockId)
- # TODO: Send back error code
-
- if (cmd == 3):
- blockId = pk.data[1]
- period = pk.data[2] * 10 # Sent as multiple of 10 ms
- logger.info("LOG:Starting block %d", blockId)
- success = False
- for fb in self.fakeLoggingThreads:
- if (fb.blockId == blockId):
- fb._enable_logging()
- fb.period = period
- p = CRTPPacket()
- p.set_header(5, 1)
- p.data = struct.pack('<BBB', cmd, blockId, 0x00)
- self._send_packet(p)
- logger.info("LOG:Started block=%d", blockId)
- success = True
- if (success is False):
- logger.info("LOG:Could not start block=%d, not found",
- blockId)
- # TODO: Send back error code
- if (cmd == 4):
- blockId = pk.data[1]
- logger.info("LOG:Pausing block %d", blockId)
- success = False
- for fb in self.fakeLoggingThreads:
- if (fb.blockId == blockId):
- fb._disable_logging()
- p = CRTPPacket()
- p.set_header(5, 1)
- p.data = struct.pack('<BBB', cmd, blockId, 0x00)
- self._send_packet(p)
- logger.info("LOG:Pause block=%d", blockId)
- success = True
- if (success is False):
- logger.warning("LOG:Could not pause block=%d, not found",
- blockId)
- # TODO: Send back error code
- if (cmd == 5):
- logger.info("LOG: Reset logging, but doing nothing")
- p = CRTPPacket()
- p.set_header(5, 1)
- p.data = struct.pack('<BBB', cmd, 0x00, 0x00)
- self._send_packet(p)
-
- elif (chan > 1):
- logger.warning("LOG: Uplink packets with channels > 1 not"
- " supported!")
-
- def _send_packet(self, pk):
- # Do not delay log data
- if (self._random_answer_delay and pk.port != 0x05 and
- pk.channel != 0x02):
- # Calculate a delay between 0ms and 250ms
- delay = random.randint(0, 250) / 1000.0
- logger.debug("Delaying answer %.2fms", delay * 1000)
- time.sleep(delay)
- self.queue.put(pk)
-
-
-class _FakeLoggingDataThread(Thread):
- """Thread that will send back fake logging data via CRTP"""
-
- def __init__(self, outQueue, blockId, listofvars, fakeLogToc):
- Thread.__init__(self)
- self.starttime = datetime.now()
- self.outQueue = outQueue
- self.setDaemon(True)
- self.mod = 0
- self.blockId = blockId
- self.period = 0
- self.listofvars = listofvars
- self.shouldLog = False
- self.fakeLogToc = fakeLogToc
- self.fakeLoggingData = []
- self.setName("Fakelog block=%d" % blockId)
- self.shouldQuit = False
-
- logging.info("FakeDataLoggingThread created for blockid=%d", blockId)
- i = 0
- while (i < len(listofvars)):
- varType = listofvars[i]
- var_stored_as = (varType >> 8)
- var_fetch_as = (varType & 0xFF)
- if (var_stored_as > 0):
- addr = struct.unpack("<I", listofvars[i + 1:i + 5])
- logger.debug("FakeLoggingThread: We should log a memory addr"
- " 0x%04X", addr)
- self.fakeLoggingData.append([memlogging[var_fetch_as],
- memlogging[var_fetch_as]["min"],
- 1])
- i = i + 5
- else:
- varId = listofvars[i]
- logger.debug("FakeLoggingThread: We should log variable from"
- " TOC: id=%d, type=0x%02X", varId, varType)
- for t in self.fakeLogToc:
- if (varId == t["varid"]):
- # Each touple will have var data and current fake value
- self.fakeLoggingData.append([t, t["min"], 1])
- i = i + 2
-
- def _enable_logging(self):
- self.shouldLog = True
- logging.info("_FakeLoggingDataThread: Enable thread [%s] at period %d",
- self.getName(), self.period)
-
- def _disable_logging(self):
- self.shouldLog = False
- logging.info("_FakeLoggingDataThread: Disable thread [%s]",
- self.getName())
-
- def stop(self):
- self.shouldQuit = True
-
- def run(self):
- while (self.shouldQuit is False):
- if (self.shouldLog is True):
-
- p = CRTPPacket()
- p.set_header(5, 2)
- p.data = struct.pack('<B', self.blockId)
- timestamp = int(
- (datetime.now() - self.starttime).total_seconds() * 1000)
- p.data += struct.pack('BBB', timestamp & 0xff,
- (timestamp >> 8) & 0x0ff,
- (timestamp >> 16) & 0x0ff) # Timestamp
-
- for d in self.fakeLoggingData:
- # Set new value
- d[1] = d[1] + d[0]["mod"] * d[2]
- # Obej the limitations
- if (d[1] > d[0]["max"]):
- d[1] = d[0]["max"] # Limit value
- d[2] = -1 # Switch direction
- if (d[1] < d[0]["min"]):
- d[1] = d[0]["min"] # Limit value
- d[2] = 1 # Switch direction
- # Pack value
- formatStr = LogTocElement.types[d[0]["vartype"]][1]
- p.data += struct.pack(formatStr, d[1])
- self.outQueue.put(p)
- time.sleep(self.period / 1000.0) # Period in ms here
-
-
-class FakeConsoleThread(Thread):
- """Thread that will send back fake console data via CRTP"""
-
- def __init__(self, outQueue):
- Thread.__init__(self)
- self.outQueue = outQueue
- self.setDaemon(True)
- self._should_run = True
-
- def stop(self):
- self._shoud_run = False
-
- def run(self):
- # Temporary hack to test GPS from firmware by sending NMEA string
- # on console
- long_val = 0
- lat_val = 0
- alt_val = 0
-
- while (self._should_run):
- long_val += 1
- lat_val += 1
- alt_val += 1.0
-
- long_string = "5536.677%d" % (long_val % 99)
- lat_string = "01259.645%d" % (lat_val % 99)
- alt_string = "%.1f" % (alt_val % 100.0)
-
- # Copy of what is sent from the module, but note that only
- # the GPGGA message is being simulated, the others are fixed...
- self._send_text("Time is now %s\n" % datetime.now())
- self._send_text("$GPVTG,,T,,M,0.386,N,0.716,K,A*2E\n")
- self._send_text("$GPGGA,135544.0")
- self._send_text("0,%s,N,%s,E,1,04,2.62,3.6,M,%s,M,,*58\n" % (
- long_string, lat_string, alt_string))
- self._send_text(
- "$GPGSA,A,3,31,20,23,07,,,,,,,,,3.02,2.62,1.52*05\n")
- self._send_text("$GPGSV,2,1,07,07,09,181,15,13,63,219,26,16,02,"
- "097,,17,05,233,20*7E\n")
- self._send_text(
- "$GPGSV,2,2,07,20,42,119,35,23,77,097,27,31,12,032,19*47\n")
- self._send_text(
- "$GPGLL,5536.67734,N,01259.64578,E,135544.00,A,A*68\n")
-
- time.sleep(2)
-
- def _send_text(self, message):
- p = CRTPPacket()
- p.set_header(0, 0)
-
- us = "%is" % len(message)
- # This might be done prettier ;-)
- p.data = message
-
- self.outQueue.put(p)
diff --git a/src/cflib/cflib/crtp/exceptions.py b/src/cflib/cflib/crtp/exceptions.py
deleted file mode 100644
index 876f9ee000e4e96560291cd0956899c7611ef9f5..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crtp/exceptions.py
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Exception used when the URI is not for the current driver
-(ie. radio:// for the serial driver ...)
-It basically means that an other driver could do the job
-It does NOT means that the URI is good or bad
-"""
-
-__author__ = 'Bitcraze AB'
-__all__ = ['WrongUriType', 'CommunicationException']
-
-
-class WrongUriType(Exception):
- """ Wrong type of URI for this interface """
- pass
-
-
-class CommunicationException(Exception):
- """ Communication problem when communicating with a Crazyflie """
- pass
diff --git a/src/cflib/cflib/crtp/radiodriver.py b/src/cflib/cflib/crtp/radiodriver.py
deleted file mode 100644
index 01a7b8fa72e2618179602f2880002e06a6137970..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crtp/radiodriver.py
+++ /dev/null
@@ -1,484 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Crazyradio CRTP link driver.
-
-This driver is used to communicate with the Crazyflie using the Crazyradio
-USB dongle.
-"""
-
-import collections
-import logging
-import sys
-from cflib.crtp.crtpdriver import CRTPDriver
-from .crtpstack import CRTPPacket
-from .exceptions import WrongUriType
-import threading
-import re
-import array
-import binascii
-import struct
-
-from cflib.drivers.crazyradio import Crazyradio
-from usb import USBError
-
-if sys.version_info < (3,):
- import Queue as queue
-else:
- import queue
-
-
-__author__ = 'Bitcraze AB'
-__all__ = ['RadioDriver']
-
-logger = logging.getLogger(__name__)
-
-
-class RadioDriver(CRTPDriver):
- """ Crazyradio link driver """
-
- def __init__(self):
- """ Create the link driver """
- CRTPDriver.__init__(self)
- self.cradio = 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 = True
-
- 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 occurs with
- an error message.
- """
-
- # check if the URI is a radio URI
- if not re.search("^radio://", uri):
- raise WrongUriType("Not a radio URI")
-
- # Open the USB dongle
- if not re.search("^radio://([0-9]+)((/([0-9]+))"
- "((/(250K|1M|2M))?(/([A-F0-9]+))?)?)?$", uri):
- raise WrongUriType('Wrong radio URI format!')
-
- uri_data = re.search("^radio://([0-9]+)((/([0-9]+))"
- "((/(250K|1M|2M))?(/([A-F0-9]+))?)?)?$", uri)
-
- self.uri = uri
-
- channel = 2
- if uri_data.group(4):
- channel = int(uri_data.group(4))
-
- datarate = Crazyradio.DR_2MPS
- if uri_data.group(7) == "250K":
- datarate = Crazyradio.DR_250KPS
- if uri_data.group(7) == "1M":
- datarate = Crazyradio.DR_1MPS
- if uri_data.group(7) == "2M":
- datarate = Crazyradio.DR_2MPS
-
- if self.cradio is None:
- self.cradio = Crazyradio(devid=int(uri_data.group(1)))
- else:
- raise Exception("Link already open!")
-
- if self.cradio.version >= 0.4:
- self.cradio.set_arc(10)
- else:
- logger.warning("Radio version <0.4 will be obsoleted soon!")
-
- self.cradio.set_channel(channel)
-
- self.cradio.set_data_rate(datarate)
-
- if uri_data.group(9):
- addr = str(uri_data.group(9))
- new_addr = struct.unpack("<BBBBB", binascii.unhexlify(addr))
- self.cradio.set_address(new_addr)
-
- # Prepare the inter-thread communication queue
- self.in_queue = queue.Queue()
- # Limited size out queue to avoid "ReadBack" effect
- self.out_queue = queue.Queue(1)
-
- # Launch the comm thread
- self._thread = _RadioDriverThread(self.cradio, self.in_queue,
- self.out_queue,
- link_quality_callback,
- link_error_callback,
- self)
- 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.cradio is None):
- return
-
- try:
- self.out_queue.put(pk, True, 2)
- except queue.Full:
- if self.link_error_callback:
- self.link_error_callback("RadioDriver: Could not send packet"
- " to copter")
-
- def pause(self):
- self._thread.stop()
- self._thread = None
-
- def restart(self):
- if self._thread:
- return
-
- self._thread = _RadioDriverThread(self.cradio, self.in_queue,
- self.out_queue,
- self.link_quality_callback,
- self.link_error_callback,
- self)
- self._thread.start()
-
- def close(self):
- """ Close the link. """
- # Stop the comm thread
- self._thread.stop()
-
- # Close the USB dongle
- try:
- if self.cradio:
- self.cradio.close()
- except:
- # If we pull out the dongle we will not make this call
- pass
- self.cradio = None
-
- while not self.out_queue.empty():
- self.out_queue.get()
-
- # Clear callbacks
- self.link_error_callback = None
- self.link_quality_callback = None
-
- def _scan_radio_channels(self, start=0, stop=125):
- """ Scan for Crazyflies between the supplied channels. """
- return list(self.cradio.scan_channels(start, stop, (0xff,)))
-
- def scan_selected(self, links):
- to_scan = ()
- for l in links:
- one_to_scan = {}
- uri_data = re.search("^radio://([0-9]+)((/([0-9]+))"
- "(/(250K|1M|2M))?)?$",
- l)
-
- one_to_scan["channel"] = int(uri_data.group(4))
-
- datarate = Crazyradio.DR_2MPS
- if uri_data.group(6) == "250K":
- datarate = Crazyradio.DR_250KPS
- if uri_data.group(6) == "1M":
- datarate = Crazyradio.DR_1MPS
- if uri_data.group(6) == "2M":
- datarate = Crazyradio.DR_2MPS
-
- one_to_scan["datarate"] = datarate
-
- to_scan += (one_to_scan,)
-
- found = self.cradio.scan_selected(to_scan, (0xFF, 0xFF, 0xFF))
-
- ret = ()
- for f in found:
- dr_string = ""
- if f["datarate"] == Crazyradio.DR_2MPS:
- dr_string = "2M"
- if f["datarate"] == Crazyradio.DR_250KPS:
- dr_string = "250K"
- if f["datarate"] == Crazyradio.DR_1MPS:
- dr_string = "1M"
-
- ret += ("radio://0/{}/{}".format(f["channel"], dr_string),)
-
- return ret
-
- def scan_interface(self, address):
- """ Scan interface for Crazyflies """
- if self.cradio is None:
- try:
- self.cradio = Crazyradio()
- except Exception:
- return []
- else:
- raise Exception("Cannot scann for links while the link is open!")
-
- # FIXME: implements serial number in the Crazyradio driver!
- serial = "N/A"
-
- logger.info("v%s dongle with serial %s found", self.cradio.version,
- serial)
- found = []
-
- if address is not None:
- addr = "{:X}".format(address)
- new_addr = struct.unpack("<BBBBB", binascii.unhexlify(addr))
- self.cradio.set_address(new_addr)
-
- self.cradio.set_arc(1)
-
- self.cradio.set_data_rate(self.cradio.DR_250KPS)
-
- if address is None or address == 0xE7E7E7E7E7:
- found += [["radio://0/{}/250K".format(c), ""]
- for c in self._scan_radio_channels()]
- self.cradio.set_data_rate(self.cradio.DR_1MPS)
- found += [["radio://0/{}/1M".format(c), ""]
- for c in self._scan_radio_channels()]
- self.cradio.set_data_rate(self.cradio.DR_2MPS)
- found += [["radio://0/{}/2M".format(c), ""]
- for c in self._scan_radio_channels()]
- else:
- found += [["radio://0/{}/250K/{:X}".format(c, address), ""]
- for c in self._scan_radio_channels()]
- self.cradio.set_data_rate(self.cradio.DR_1MPS)
- found += [["radio://0/{}/1M/{:X}".format(c, address), ""]
- for c in self._scan_radio_channels()]
- self.cradio.set_data_rate(self.cradio.DR_2MPS)
- found += [["radio://0/{}/2M/{:X}".format(c, address), ""]
- for c in self._scan_radio_channels()]
-
- self.cradio.close()
- self.cradio = None
-
- return found
-
- def get_status(self):
- if self.cradio is None:
- try:
- self.cradio = Crazyradio()
- except USBError as e:
- return "Cannot open Crazyradio. Permission problem?" \
- " ({})".format(str(e))
- except Exception as e:
- return str(e)
-
- ver = self.cradio.version
- self.cradio.close()
- self.cradio = None
-
- return "Crazyradio version {}".format(ver)
-
- def get_name(self):
- return "radio"
-
-
-# Transmit/receive radio thread
-class _RadioDriverThread(threading.Thread):
- """
- Radio link receiver thread used to read data from the
- Crazyradio USB driver. """
-
- RETRYCOUNT_BEFORE_DISCONNECT = 10
-
- def __init__(self, cradio, inQueue, outQueue, link_quality_callback,
- link_error_callback, link):
- """ Create the object """
- threading.Thread.__init__(self)
- self.cradio = cradio
- self.in_queue = inQueue
- self.out_queue = outQueue
- self.sp = False
- self.link_error_callback = link_error_callback
- self.link_quality_callback = link_quality_callback
- self.retryBeforeDisconnect = self.RETRYCOUNT_BEFORE_DISCONNECT
- self.retries = collections.deque()
- self.retry_sum = 0
-
- self.curr_up = 0
- self.curr_down = 1
-
- self.has_safelink = False
- self._link = link
-
- def stop(self):
- """ Stop the thread """
- self.sp = True
- try:
- self.join()
- except Exception:
- pass
-
- def _send_packet_safe(self, cr, packet):
- """
- Adds 1bit counter to CRTP header to guarantee that no ack (downlink)
- payload are lost and no uplink packet are duplicated.
- The caller should resend packet if not acked (ie. same as with a
- direct call to crazyradio.send_packet)
- """
- packet = bytearray(packet)
- packet[0] &= 0xF3
- packet[0] |= self.curr_up << 3 | self.curr_down << 2
- resp = cr.send_packet(packet)
- if resp and resp.ack and len(resp.data) and \
- (resp.data[0] & 0x04) == (self.curr_down << 2):
- self.curr_down = 1 - self.curr_down
- if resp and resp.ack:
- self.curr_up = 1 - self.curr_up
-
- return resp
-
- def run(self):
- """ Run the receiver thread """
- dataOut = array.array('B', [0xFF])
- waitTime = 0
- emptyCtr = 0
-
- # Try up to 10 times to enable the safelink mode
- for _ in range(10):
- resp = self.cradio.send_packet((0xff, 0x05, 0x01))
- if resp and resp.data and tuple(resp.data) == (0xff, 0x05, 0x01):
- self.has_safelink = True
- self.curr_up = 0
- self.curr_down = 0
- break
- logging.info("Has safelink: {}".format(self.has_safelink))
- self._link.needs_resending = not self.has_safelink
-
- while (True):
- if (self.sp):
- break
-
- try:
- if self.has_safelink:
- ackStatus = self._send_packet_safe(self.cradio, dataOut)
- else:
- ackStatus = self.cradio.send_packet(dataOut)
- except Exception as e:
- import traceback
-
- self.link_error_callback(
- "Error communicating with crazy radio ,it has probably "
- "been unplugged!\nException:%s\n\n%s" % (
- e, traceback.format_exc()))
-
- # Analise the in data packet ...
- if ackStatus is None:
- if (self.link_error_callback is not None):
- self.link_error_callback("Dongle communication error"
- " (ackStatus==None)")
- continue
-
- if (self.link_quality_callback is not None):
- # track the mean of a sliding window of the last N packets
- retry = 10 - ackStatus.retry
- self.retries.append(retry)
- self.retry_sum += retry
- if len(self.retries) > 100:
- self.retry_sum -= self.retries.popleft()
- link_quality = float(self.retry_sum) / len(self.retries) * 10
- self.link_quality_callback(link_quality)
-
- # If no copter, retry
- if ackStatus.ack is False:
- self.retryBeforeDisconnect = self.retryBeforeDisconnect - 1
- if (self.retryBeforeDisconnect == 0 and
- self.link_error_callback is not None):
- self.link_error_callback("Too many packets lost")
- continue
- self.retryBeforeDisconnect = self.RETRYCOUNT_BEFORE_DISCONNECT
-
- data = ackStatus.data
-
- # If there is a copter in range, the packet is analysed and the
- # next packet to send is prepared
- if (len(data) > 0):
- inPacket = CRTPPacket(data[0], list(data[1:]))
- # print "<- " + inPacket.__str__()
- self.in_queue.put(inPacket)
- waitTime = 0
- emptyCtr = 0
- else:
- emptyCtr += 1
- if (emptyCtr > 10):
- emptyCtr = 10
- # Relaxation time if the last 10 packet where empty
- waitTime = 0.01
- else:
- waitTime = 0
-
- # get the next packet to send of relaxation (wait 10ms)
- outPacket = None
- try:
- outPacket = self.out_queue.get(True, waitTime)
- except queue.Empty:
- outPacket = None
-
- dataOut = array.array('B')
-
- if outPacket:
- # print "-> " + outPacket.__str__()
- dataOut.append(outPacket.header)
- for X in outPacket.data:
- if type(X) == int:
- dataOut.append(X)
- else:
- dataOut.append(ord(X))
- else:
- dataOut.append(0xFF)
diff --git a/src/cflib/cflib/crtp/serialdriver.py b/src/cflib/cflib/crtp/serialdriver.py
deleted file mode 100644
index b307f3a047a8d62fd8b8787803c0b0b61700f270..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crtp/serialdriver.py
+++ /dev/null
@@ -1,62 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-An early serial link driver. This could still be used (after some fixing) to
-run high-speed CRTP with the Crazyflie. The UART can be run at 2Mbit.
-"""
-
-from .crtpdriver import CRTPDriver
-
-from .exceptions import WrongUriType
-
-import re
-
-__author__ = 'Bitcraze AB'
-__all__ = ['SerialDriver']
-
-
-class SerialDriver(CRTPDriver):
- def __init__(self):
- None
-
- def connect(self, uri, linkQualityCallback, linkErrorCallback):
- # check if the URI is a serial URI
- if not re.search("^serial://", uri):
- raise WrongUriType("Not a serial URI")
-
- # Check if it is a valid serial URI
- uriRe = re.search("^serial://([a-z A-Z 0-9]+)/?([0-9]+)?$", uri)
- if not uriRe:
- raise Exception("Invalid serial URI")
-
- def get_name(self):
- return "serial"
-
- def scan_interface(self, address):
- return []
diff --git a/src/cflib/cflib/crtp/udpdriver.py b/src/cflib/cflib/crtp/udpdriver.py
deleted file mode 100644
index d93d401d2c30855ebaa63c1b025e5b19c288a205..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crtp/udpdriver.py
+++ /dev/null
@@ -1,108 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-""" CRTP UDP Driver. Work either with the UDP server or with an UDP device
-See udpserver.py for the protocol"""
-
-from .crtpdriver import CRTPDriver
-from .crtpstack import CRTPPacket
-from .exceptions import WrongUriType
-import sys
-import re
-import struct
-from socket import socket
-if sys.version_info < (3,):
- import Queue as queue
-else:
- import queue
-
-__author__ = 'Bitcraze AB'
-__all__ = ['UdpDriver']
-
-
-class UdpDriver(CRTPDriver):
- def __init__(self):
- None
-
- def connect(self, uri, linkQualityCallback, linkErrorCallback):
- # check if the URI is a radio URI
- if not re.search("^udp://", uri):
- raise WrongUriType("Not an UDP URI")
-
- self.queue = queue.Queue()
- self.socket = socket(socket.AF_INET, socket.SOCK_DGRAM)
- self.addr = ("localhost", 7777)
- self.socket.connect(self.addr)
-
- # Add this to the server clients list
- self.socket.sendto("\xFF\x01\x01\x01", self.addr)
-
- def receive_packet(self, time=0):
- data, addr = self.socket.recvfrom(1024)
-
- if data:
- data = struct.unpack('b' * (len(data) - 1), data[0:len(data) - 1])
- pk = CRTPPacket()
- pk.port = data[0]
- pk.data = data[1:]
- return pk
-
- try:
- if time == 0:
- return self.rxqueue.get(False)
- elif time < 0:
- while True:
- return self.rxqueue.get(True, 10)
- else:
- return self.rxqueue.get(True, time)
- except queue.Empty:
- return None
-
- def send_packet(self, pk):
- raw = (pk.port,) + struct.unpack("B" * len(pk.data), pk.data)
-
- cksum = 0
- for i in raw:
- cksum += i
-
- cksum %= 256
-
- data = ''.join(chr(v) for v in (raw + (cksum,)))
-
- # print tuple(data)
- self.socket.sendto(data, self.addr)
-
- def close(self):
- # Remove this from the server clients list
- self.socket.sendto("\xFF\x01\x02\x02", self.addr)
-
- def get_name(self):
- return "udp"
-
- def scan_interface(self, address):
- return []
diff --git a/src/cflib/cflib/crtp/usbdriver.py b/src/cflib/cflib/crtp/usbdriver.py
deleted file mode 100644
index 083d9fad8e5f97c42c6ab1971f353cbdd4b0292c..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/crtp/usbdriver.py
+++ /dev/null
@@ -1,263 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Crazyflie USB driver.
-
-This driver is used to communicate with the Crazyflie using the USB connection.
-"""
-
-import logging
-
-from cflib.crtp.crtpdriver import CRTPDriver
-from .crtpstack import CRTPPacket
-from .exceptions import WrongUriType
-import threading
-import sys
-import re
-import time
-
-from cflib.drivers.cfusb import CfUsb
-from usb import USBError
-if sys.version_info < (3,):
- import Queue as queue
-else:
- import queue
-
-__author__ = 'Bitcraze AB'
-__all__ = ['UsbDriver']
-
-logger = logging.getLogger(__name__)
-
-
-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"
-
-
-# Transmit/receive radio thread
-class _UsbReceiveThread(threading.Thread):
- """
- Radio link receiver thread used to read data from the
- Crazyradio USB driver. """
-
- # RETRYCOUNT_BEFORE_DISCONNECT = 10
-
- def __init__(self, cfusb, inQueue, link_quality_callback,
- link_error_callback):
- """ Create the object """
- threading.Thread.__init__(self)
- self.cfusb = cfusb
- self.in_queue = inQueue
- self.sp = False
- self.link_error_callback = link_error_callback
- self.link_quality_callback = link_quality_callback
-
- def stop(self):
- """ Stop the thread """
- self.sp = True
- try:
- self.join()
- except Exception:
- pass
-
- def run(self):
- """ Run the receiver thread """
-
- while (True):
- if (self.sp):
- break
- try:
- # Blocking until USB data available
- data = self.cfusb.receive_packet()
- if len(data) > 0:
- pk = CRTPPacket(data[0], list(data[1:]))
- self.in_queue.put(pk)
- except Exception as e:
- import traceback
-
- self.link_error_callback(
- "Error communicating with the Crazyflie"
- " ,it has probably been unplugged!\n"
- "Exception:%s\n\n%s" % (e,
- traceback.format_exc()))
diff --git a/src/cflib/cflib/drivers/__init__.py b/src/cflib/cflib/drivers/__init__.py
deleted file mode 100644
index f074d797a973bcba4f86ae9ed1bcd86112840a72..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/drivers/__init__.py
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Drivers for the link interfaces that can be used by CRTP.
-"""
diff --git a/src/cflib/cflib/drivers/cfusb.py b/src/cflib/cflib/drivers/cfusb.py
deleted file mode 100644
index 8e620abf1900ae56e809db4ce89c728831fdb6e5..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/drivers/cfusb.py
+++ /dev/null
@@ -1,196 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-USB driver for the Crazyflie.
-"""
-
-import os
-import usb
-import logging
-import sys
-import time
-import array
-import binascii
-
-__author__ = 'Bitcraze AB'
-__all__ = ['CfUsb']
-
-logger = logging.getLogger(__name__)
-
-USB_VID = 0x0483
-USB_PID = 0x5740
-
-try:
- import usb.core
-
- pyusb_backend = None
- if os.name == "nt":
- import usb.backend.libusb0 as libusb0
-
- pyusb_backend = libusb0.get_backend()
- pyusb1 = True
-except:
- pyusb1 = False
-
-
-def _find_devices():
- """
- Returns a list of CrazyRadio devices currently connected to the computer
- """
- ret = []
-
- logger.info("Looking for devices....")
-
- if pyusb1:
- for d in usb.core.find(idVendor=USB_VID, idProduct=USB_PID, find_all=1,
- backend=pyusb_backend):
- ret.append(d)
- else:
- busses = usb.busses()
- for bus in busses:
- for device in bus.devices:
- if device.idVendor == USB_VID:
- if device.idProduct == USB_PID:
- ret += [device, ]
-
- return ret
-
-
-class CfUsb:
- """ Used for communication with the Crazyradio USB dongle """
-
- def __init__(self, device=None, devid=0):
- """ Create object and scan for USB dongle if no device is supplied """
- self.dev = None
- self.handle = None
- self._last_write = 0
- self._last_read = 0
-
- if device is None:
- devices = _find_devices()
- try:
- self.dev = devices[devid]
- except Exception:
- self.dev = None
-
- if self.dev:
- if (pyusb1 is True):
- self.dev.set_configuration(1)
- self.handle = self.dev
- self.version = float(
- "{0:x}.{1:x}".format(self.dev.bcdDevice >> 8,
- self.dev.bcdDevice & 0x0FF))
- else:
- self.handle = self.dev.open()
- self.handle.setConfiguration(1)
- self.handle.claimInterface(0)
- self.version = float(self.dev.deviceVersion)
-
- def get_serial(self):
- return usb.util.get_string(self.dev, 255, self.dev.iSerialNumber)
-
- def close(self):
- if (pyusb1 is False):
- if self.handle:
- self.handle.releaseInterface()
- self.handle.reset()
- else:
- if self.dev:
- self.dev.reset()
-
- self.handle = None
- self.dev = None
-
- def scan(self):
- # TODO: Currently only supports one device
- if self.dev:
- return [("usb://0", "")]
- return []
-
- def set_crtp_to_usb(self, crtp_to_usb):
- if crtp_to_usb:
- _send_vendor_setup(self.handle, 0x01, 0x01, 1, ())
- else:
- _send_vendor_setup(self.handle, 0x01, 0x01, 0, ())
-
- # Data transfers
- def send_packet(self, dataOut):
- """ Send a packet and receive the ack from the radio dongle
- The ack contains information about the packet transmition
- and a data payload if the ack packet contained any """
- try:
- if (pyusb1 is False):
- count = self.handle.bulkWrite(1, dataOut, 20)
- else:
- count = self.handle.write(endpoint=1, data=dataOut, timeout=20)
- except usb.USBError as e:
- pass
-
- def receive_packet(self):
- dataIn = ()
- try:
- if (pyusb1 is False):
- dataIn = self.handle.bulkRead(0x81, 64, 20)
- else:
- dataIn = self.handle.read(0x81, 64, timeout=20)
- except usb.USBError as e:
- try:
- if e.backend_error_code == -7 or e.backend_error_code == -116:
- # Normal, the read was empty
- pass
- else:
- raise IOError("Crazyflie disconnected")
- except AttributeError as e:
- # pyusb < 1.0 doesn't implement getting the underlying error
- # number and it seems as if it's not possible to detect
- # if the cable is disconnected. So this detection is not
- # supported, but the "normal" case will work.
- pass
-
- return dataIn
-
-
-# Private utility functions
-def _send_vendor_setup(handle, request, value, index, data):
- if pyusb1:
- handle.ctrl_transfer(usb.TYPE_VENDOR, request, wValue=value,
- wIndex=index, timeout=1000, data_or_wLength=data)
- else:
- handle.controlMsg(usb.TYPE_VENDOR, request, data, value=value,
- index=index, timeout=1000)
-
-
-def _get_vendor_setup(handle, request, value, index, length):
- if pyusb1:
- return handle.ctrl_transfer(usb.TYPE_VENDOR | 0x80, request,
- wValue=value, wIndex=index, timeout=1000,
- data_or_wLength=length)
- else:
- return handle.controlMsg(usb.TYPE_VENDOR | 0x80, request, length,
- value=value, index=index, timeout=1000)
diff --git a/src/cflib/cflib/drivers/crazyradio.py b/src/cflib/cflib/drivers/crazyradio.py
deleted file mode 100644
index 9641fa23a0014bcc1c3b143e604a137684225402..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/drivers/crazyradio.py
+++ /dev/null
@@ -1,292 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-USB driver for the Crazyradio USB dongle.
-"""
-
-import os
-import usb
-import logging
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Crazyradio']
-
-logger = logging.getLogger(__name__)
-
-# USB parameters
-CRADIO_VID = 0x1915
-CRADIO_PID = 0x7777
-
-# Dongle configuration requests
-# See http://wiki.bitcraze.se/projects:crazyradio:protocol for documentation
-SET_RADIO_CHANNEL = 0x01
-SET_RADIO_ADDRESS = 0x02
-SET_DATA_RATE = 0x03
-SET_RADIO_POWER = 0x04
-SET_RADIO_ARD = 0x05
-SET_RADIO_ARC = 0x06
-ACK_ENABLE = 0x10
-SET_CONT_CARRIER = 0x20
-SCANN_CHANNELS = 0x21
-LAUNCH_BOOTLOADER = 0xFF
-
-try:
- import usb.core
-
- pyusb_backend = None
- if os.name == "nt":
- import usb.backend.libusb0 as libusb0
-
- pyusb_backend = libusb0.get_backend()
- pyusb1 = True
-except:
- pyusb1 = False
-
-
-def _find_devices():
- """
- Returns a list of CrazyRadio devices currently connected to the computer
- """
- ret = []
-
- if pyusb1:
- for d in usb.core.find(idVendor=0x1915, idProduct=0x7777, find_all=1,
- backend=pyusb_backend):
- ret.append(d)
- else:
- busses = usb.busses()
- for bus in busses:
- for device in bus.devices:
- if device.idVendor == CRADIO_VID:
- if device.idProduct == CRADIO_PID:
- ret += [device, ]
-
- return ret
-
-
-class _radio_ack:
- ack = False
- powerDet = False
- retry = 0
- data = ()
-
-
-class Crazyradio:
- """ Used for communication with the Crazyradio USB dongle """
- # configuration constants
- DR_250KPS = 0
- DR_1MPS = 1
- DR_2MPS = 2
-
- P_M18DBM = 0
- P_M12DBM = 1
- P_M6DBM = 2
- P_0DBM = 3
-
- def __init__(self, device=None, devid=0):
- """ Create object and scan for USB dongle if no device is supplied """
- if device is None:
- try:
- device = _find_devices()[devid]
- except Exception:
- raise Exception("Cannot find a Crazyradio Dongle")
-
- self.dev = device
-
- if (pyusb1 is True):
- self.dev.set_configuration(1)
- self.handle = self.dev
- self.version = float("{0:x}.{1:x}".format(
- self.dev.bcdDevice >> 8, self.dev.bcdDevice & 0x0FF))
- else:
- self.handle = self.dev.open()
- self.handle.setConfiguration(1)
- self.handle.claimInterface(0)
- self.version = float(self.dev.deviceVersion)
-
- if self.version < 0.3:
- raise "This driver requires Crazyradio firmware V0.3+"
-
- if self.version < 0.4:
- logger.warning("You should update to Crazyradio firmware V0.4+")
-
- # Reset the dongle to power up settings
- self.set_data_rate(self.DR_2MPS)
- self.set_channel(2)
- self.arc = -1
- if self.version >= 0.4:
- self.set_cont_carrier(False)
- self.set_address((0xE7,) * 5)
- self.set_power(self.P_0DBM)
- self.set_arc(3)
- self.set_ard_bytes(32)
-
- def close(self):
- if (pyusb1 is False):
- if self.handle:
- self.handle.releaseInterface()
- self.handle.reset()
- else:
- if self.dev:
- self.dev.reset()
-
- self.handle = None
- self.dev = None
-
- # Dongle configuration
- def set_channel(self, channel):
- """ Set the radio channel to be used """
- _send_vendor_setup(self.handle, SET_RADIO_CHANNEL, channel, 0, ())
-
- def set_address(self, address):
- """ Set the radio address to be used"""
- if len(address) != 5:
- raise Exception("Crazyradio: the radio address shall be 5"
- " bytes long")
-
- _send_vendor_setup(self.handle, SET_RADIO_ADDRESS, 0, 0, address)
-
- def set_data_rate(self, datarate):
- """ Set the radio datarate to be used """
- _send_vendor_setup(self.handle, SET_DATA_RATE, datarate, 0, ())
-
- def set_power(self, power):
- """ Set the radio power to be used """
- _send_vendor_setup(self.handle, SET_RADIO_POWER, power, 0, ())
-
- def set_arc(self, arc):
- """ Set the ACK retry count for radio communication """
- _send_vendor_setup(self.handle, SET_RADIO_ARC, arc, 0, ())
- self.arc = arc
-
- def set_ard_time(self, us):
- """ Set the ACK retry delay for radio communication """
- # Auto Retransmit Delay:
- # 0000 - Wait 250uS
- # 0001 - Wait 500uS
- # 0010 - Wait 750uS
- # ........
- # 1111 - Wait 4000uS
-
- # Round down, to value representing a multiple of 250uS
- t = int((us / 250) - 1)
- if (t < 0):
- t = 0
- if (t > 0xF):
- t = 0xF
- _send_vendor_setup(self.handle, SET_RADIO_ARD, t, 0, ())
-
- def set_ard_bytes(self, nbytes):
- _send_vendor_setup(self.handle, SET_RADIO_ARD, 0x80 | nbytes, 0, ())
-
- def set_cont_carrier(self, active):
- if active:
- _send_vendor_setup(self.handle, SET_CONT_CARRIER, 1, 0, ())
- else:
- _send_vendor_setup(self.handle, SET_CONT_CARRIER, 0, 0, ())
-
- def _has_fw_scan(self):
- # return self.version >= 0.5
- # FIXME: Mitigation for Crazyradio firmware bug #9
- return False
-
- def scan_selected(self, selected, packet):
- result = ()
- for s in selected:
- self.set_channel(s["channel"])
- self.set_data_rate(s["datarate"])
- status = self.send_packet(packet)
- if status and status.ack:
- result = result + (s,)
-
- return result
-
- def scan_channels(self, start, stop, packet):
- if self._has_fw_scan(): # Fast firmware-driven scan
- _send_vendor_setup(self.handle, SCANN_CHANNELS, start, stop,
- packet)
- return tuple(_get_vendor_setup(self.handle, SCANN_CHANNELS,
- 0, 0, 64))
- else: # Slow PC-driven scan
- result = tuple()
- for i in range(start, stop + 1):
- self.set_channel(i)
- status = self.send_packet(packet)
- if status and status.ack:
- result = result + (i,)
- return result
-
- # Data transferts
- def send_packet(self, dataOut):
- """ Send a packet and receive the ack from the radio dongle
- The ack contains information about the packet transmition
- and a data payload if the ack packet contained any """
- ackIn = None
- data = None
- try:
- if (pyusb1 is False):
- self.handle.bulkWrite(1, dataOut, 1000)
- data = self.handle.bulkRead(0x81, 64, 1000)
- else:
- self.handle.write(endpoint=1, data=dataOut, timeout=1000)
- data = self.handle.read(0x81, 64, timeout=1000)
- except usb.USBError:
- pass
-
- if data is not None:
- ackIn = _radio_ack()
- if data[0] != 0:
- ackIn.ack = (data[0] & 0x01) != 0
- ackIn.powerDet = (data[0] & 0x02) != 0
- ackIn.retry = data[0] >> 4
- ackIn.data = data[1:]
- else:
- ackIn.retry = self.arc
-
- return ackIn
-
-
-# Private utility functions
-def _send_vendor_setup(handle, request, value, index, data):
- if pyusb1:
- handle.ctrl_transfer(usb.TYPE_VENDOR, request, wValue=value,
- wIndex=index, timeout=1000, data_or_wLength=data)
- else:
- handle.controlMsg(usb.TYPE_VENDOR, request, data, value=value,
- index=index, timeout=1000)
-
-
-def _get_vendor_setup(handle, request, value, index, length):
- if pyusb1:
- return handle.ctrl_transfer(usb.TYPE_VENDOR | 0x80, request,
- wValue=value, wIndex=index, timeout=1000,
- data_or_wLength=length)
- else:
- return handle.controlMsg(usb.TYPE_VENDOR | 0x80, request, length,
- value=value, index=index, timeout=1000)
diff --git a/src/cflib/cflib/utils/__init__.py b/src/cflib/cflib/utils/__init__.py
deleted file mode 100644
index dd277b671ca49039c8196b9338e923d4dcd3b06e..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/utils/__init__.py
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Various utilities that is needed by the cflib.
-"""
diff --git a/src/cflib/cflib/utils/callbacks.py b/src/cflib/cflib/utils/callbacks.py
deleted file mode 100644
index 7a90f058a3e9d7fd1a88208642a455c5eeb860c5..0000000000000000000000000000000000000000
--- a/src/cflib/cflib/utils/callbacks.py
+++ /dev/null
@@ -1,56 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2011-2013 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-"""
-Callback objects used in the Crazyflie library
-"""
-
-__author__ = 'Bitcraze AB'
-__all__ = ['Caller']
-
-
-class Caller():
- """ An object were callbacks can be registered and called """
-
- def __init__(self):
- """ Create the object """
- self.callbacks = []
-
- def add_callback(self, cb):
- """ Register cb as a new callback. Will not register duplicates. """
- if ((cb in self.callbacks) is False):
- self.callbacks.append(cb)
-
- def remove_callback(self, cb):
- """ Un-register cb from the callbacks """
- self.callbacks.remove(cb)
-
- def call(self, *args):
- """ Call the callbacks registered with the arguments args """
- for cb in self.callbacks:
- cb(*args)
diff --git a/src/cflib/test/__init__.py b/src/cflib/test/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/src/cflib/test/crtp/__init__.py b/src/cflib/test/crtp/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/src/cflib/test/crtp/test_crtpstack.py b/src/cflib/test/crtp/test_crtpstack.py
deleted file mode 100644
index 1c45422e5bf1ceef8b546a915b59c12592c195a4..0000000000000000000000000000000000000000
--- a/src/cflib/test/crtp/test_crtpstack.py
+++ /dev/null
@@ -1,106 +0,0 @@
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-import unittest
-
-from cflib.crtp.crtpstack import CRTPPacket
-
-
-class CRTPPacketTest(unittest.TestCase):
-
- def setUp(self):
- self.callback_count = 0
- self.sut = CRTPPacket()
-
- def test_that_port_and_channle_is_encoded_in_header(self):
- # Fixture
- self.sut.set_header(2, 1)
-
- # Test
- actual = self.sut.get_header()
-
- # Assert
- expected = 0x2d
- self.assertEqual(expected, actual)
-
- def test_that_port_is_truncated_in_header(self):
- # Fixture
- port = 0xff
- self.sut.set_header(port, 0)
-
- # Test
- actual = self.sut.get_header()
-
- # Assert
- expected = 0xfc
- self.assertEqual(expected, actual)
-
- def test_that_channel_is_truncated_in_header(self):
- # Fixture
- channel = 0xff
- self.sut.set_header(0, channel)
-
- # Test
- actual = self.sut.get_header()
-
- # Assert
- expected = 0x0f
- self.assertEqual(expected, actual)
-
- def test_that_port_and_channel_is_encoded_in_header_when_set_separat(self):
- # Fixture
- self.sut.port = 2
- self.sut.channel = 1
-
- # Test
- actual = self.sut.get_header()
-
- # Assert
- expected = 0x2d
- self.assertEqual(expected, actual)
-
- def test_that_default_header_is_set_when_constructed(self):
- # Fixture
-
- # Test
- actual = self.sut.get_header()
-
- # Assert
- expected = 0x0c
- self.assertEqual(expected, actual)
-
- def test_that_header_is_set_when_constructed(self):
- # Fixture
- sut = CRTPPacket(header=0x21)
-
- # Test
- actual = sut.get_header()
-
- # Assert
- self.assertEqual(0x2d, actual)
- self.assertEqual(2, sut.port)
- self.assertEqual(1, sut.channel)
diff --git a/src/cflib/test/utils/__init__.py b/src/cflib/test/utils/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/src/cflib/test/utils/test_callbacks.py b/src/cflib/test/utils/test_callbacks.py
deleted file mode 100644
index 649d4bd1aa1307207523885e761b08bab905b730..0000000000000000000000000000000000000000
--- a/src/cflib/test/utils/test_callbacks.py
+++ /dev/null
@@ -1,99 +0,0 @@
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
-# MA 02110-1301, USA.
-
-import unittest
-
-from cflib.utils.callbacks import Caller
-
-
-class CallerTest(unittest.TestCase):
-
- def setUp(self):
- self.callback_count = 0
- self.sut = Caller()
-
- def test_that_callback_is_added(self):
- # Fixture
-
- # Test
- self.sut.add_callback(self._callback)
-
- # Assert
- self.sut.call()
- self.assertEqual(1, self.callback_count)
-
- def test_that_callback_is_added_only_one_time(self):
- # Fixture
-
- # Test
- self.sut.add_callback(self._callback)
- self.sut.add_callback(self._callback)
-
- # Assert
- self.sut.call()
- self.assertEqual(1, self.callback_count)
-
- def test_that_multiple_callbacks_are_added(self):
- # Fixture
-
- # Test
- self.sut.add_callback(self._callback)
- self.sut.add_callback(self._callback2)
-
- # Assert
- self.sut.call()
- self.assertEqual(2, self.callback_count)
-
- def test_that_callback_is_removed(self):
- # Fixture
- self.sut.add_callback(self._callback)
-
- # Test
- self.sut.remove_callback(self._callback)
-
- # Assert
- self.sut.call()
- self.assertEqual(0, self.callback_count)
-
- def test_that_callback_is_called_with_arguments(self):
- # Fixture
- self.sut.add_callback(self._callback_with_args)
-
- # Test
- self.sut.call('The token')
-
- # Assert
- self.assertEqual('The token', self.callback_token)
-
- def _callback(self):
- self.callback_count += 1
-
- def _callback2(self):
- self.callback_count += 1
-
- def _callback_with_args(self, token):
- self.callback_token = token
diff --git a/src/cfloader/__init__.py b/src/cfloader/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..bee30992020a6e367e0e3a1fe3c33cfd3921f87f
--- /dev/null
+++ b/src/cfloader/__init__.py
@@ -0,0 +1,195 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
+# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+#
+# Copyright (C) 2011-2013 Bitcraze AB
+#
+# Crazyflie Nano Quadcopter Client
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+# MA 02110-1301, USA.
+
+# Crazy Loader bootloader utility
+# Can reset bootload and reset back the bootloader
+
+import sys
+
+import cflib.crtp
+from cflib.bootloader import Bootloader
+from cflib.bootloader.boottypes import BootVersion, TargetTypes
+
+
+def main():
+ # Initialise the CRTP link driver
+ link = None
+ try:
+ cflib.crtp.init_drivers()
+ link = cflib.crtp.get_link_driver("radio://")
+ except Exception as e:
+ print("Error: {}".format(str(e)))
+ if link:
+ link.close()
+ sys.exit(-1)
+
+ # Set the default parameters
+ clink = None
+ action = "info"
+ boot = "cold"
+
+ if len(sys.argv) < 2:
+ print()
+ print("==============================")
+ print(" CrazyLoader Flash Utility")
+ print("==============================")
+ print()
+ print(" Usage:", sys.argv[0], "[CRTP options] <action> [parameters]")
+ print()
+ print("The CRTP options are described above")
+ print()
+ print("Crazyload option:")
+ print(" info : Print the info of the bootloader "
+ "and quit.")
+ print(" Will let the target in bootloader "
+ "mode")
+ print(" reset : Reset the device in firmware mode")
+ print(" flash <file> [targets] : flash the <img> binary file from "
+ "the first")
+ print(" possible page in flash and reset "
+ "to firmware")
+ print(" mode.")
+ if link:
+ link.close()
+ sys.exit(0)
+
+ # Analyse the command line parameters
+ sys.argv = sys.argv[1:]
+ argv = []
+
+ i = 0
+ while i < len(sys.argv):
+ if sys.argv[i] == "--cold-boot" or sys.argv[i] == "-c":
+ boot = "cold"
+ elif sys.argv[i] == "--warm-boot" or sys.argv[i] == "-w":
+ boot = "reset"
+ i += 1
+ clink = sys.argv[i]
+ else:
+ argv += [sys.argv[i]]
+ i += 1
+ sys.argv = argv
+
+ # Analyse the command
+ if len(sys.argv) < 1:
+ action = "info"
+ elif sys.argv[0] == "info":
+ action = "info"
+ elif sys.argv[0] == "reset":
+ action = "reset"
+ elif sys.argv[0] == "flash":
+ # print len(sys.argv)
+ if len(sys.argv) < 2:
+ print("The flash action require a file name.")
+ link.close()
+ sys.exit(-1)
+ action = "flash"
+ filename = sys.argv[1]
+ targetnames = {}
+ for t in sys.argv[2:]:
+ [target, type] = t.split("-")
+ if target in targetnames:
+ targetnames[target] += (type,)
+ else:
+ targetnames[target] = (type,)
+ else:
+ print("Action", sys.argv[0], "unknown!")
+ link.close()
+ sys.exit(-1)
+
+ # Currently there's two different targets available
+ targets = ()
+
+ try:
+ # Initialise the bootloader lib
+ bl = Bootloader(clink)
+
+ #########################################
+ # Get the connection with the bootloader
+ #########################################
+ # The connection is done by reseting to the bootloader (default)
+ if boot == "reset":
+ print("Reset to bootloader mode ..."),
+ sys.stdout.flush()
+ if bl.start_bootloader(warm_boot=True):
+ print(" done!")
+ else:
+ print("Failed to warmboot")
+ bl.close()
+ sys.exit(-1)
+ else: # The connection is done by a cold boot ...
+ print("Restart the Crazyflie you want to bootload in the next"),
+ print(" 10 seconds ..."),
+
+ sys.stdout.flush()
+ if bl.start_bootloader(warm_boot=False):
+ print(" done!")
+ else:
+ print("Cannot connect the bootloader!")
+ bl.close()
+ sys.exit(-1)
+
+ print("Connected to bootloader on {} (version=0x{:X})".format(
+ BootVersion.to_ver_string(bl.protocol_version),
+ bl.protocol_version))
+
+ if bl.protocol_version == BootVersion.CF2_PROTO_VER:
+ targets += (bl.get_target(TargetTypes.NRF51),)
+ targets += (bl.get_target(TargetTypes.STM32),)
+
+ ######################################
+ # Doing something (hopefully) useful
+ ######################################
+
+ # Print information about the targets
+ for target in targets:
+ print(target)
+ if action == "info":
+ None # Already done ...
+ elif action == "reset":
+ print
+ print("Reset in firmware mode ...")
+ bl.reset_to_firmware()
+ elif action == "flash":
+ bl.flash(filename, targetnames)
+ print("Reset in firmware mode ...")
+ bl.reset_to_firmware()
+ else:
+ None
+ except Exception as e:
+ import traceback
+
+ traceback.print_exc(file=sys.stdout)
+ print(e)
+
+ finally:
+ #########################
+ # Closing the connection
+ #########################
+ if bl:
+ bl.close()
diff --git a/src/cfloader/__main__.py b/src/cfloader/__main__.py
new file mode 100644
index 0000000000000000000000000000000000000000..b48e88c16bd98d4344f120ef78ca50605a006e1d
--- /dev/null
+++ b/src/cfloader/__main__.py
@@ -0,0 +1,4 @@
+from cfloader import main
+
+if __name__ == "__main__":
+ main()
diff --git a/src/cfzmq.py b/src/cfzmq/__init__.py
similarity index 98%
rename from src/cfzmq.py
rename to src/cfzmq/__init__.py
index 46c2969e0fe68857fcaf425f778ffb3adc584058..c336f6604a02dc6022ae5a9f2282cb07ca1098c1 100644
--- a/src/cfzmq.py
+++ b/src/cfzmq/__init__.py
@@ -40,6 +40,8 @@ import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.log import LogConfig
+import cfclient
+
if os.name == 'posix':
print('Disabling standard output for libraries!')
stdout = os.dup(1)
@@ -72,6 +74,7 @@ logger = logging.getLogger(__name__)
class _SrvThread(Thread):
+
def __init__(self, socket, log_socket, param_socket, conn_socket, cf,
*args):
super(_SrvThread, self).__init__(*args)
@@ -298,6 +301,7 @@ class _SrvThread(Thread):
class _CtrlThread(Thread):
+
def __init__(self, socket, cf, *args):
super(_CtrlThread, self).__init__(*args)
self._socket = socket
@@ -316,8 +320,8 @@ class ZMQServer():
def __init__(self, base_url):
"""Start threads and bind ports"""
cflib.crtp.init_drivers(enable_debug_driver=True)
- self._cf = Crazyflie(ro_cache=sys.path[0] + "/cflib/cache",
- rw_cache=sys.path[1] + "/cache")
+ self._cf = Crazyflie(ro_cache=None,
+ rw_cache=cfclient.config_path + "/cache")
signal.signal(signal.SIGINT, signal.SIG_DFL)
@@ -366,3 +370,6 @@ def main():
ZMQServer(args.url)
# CRTL-C to exit
+
+if __name__ == "__main__":
+ main()
diff --git a/src/cfzmq/__main__.py b/src/cfzmq/__main__.py
new file mode 100644
index 0000000000000000000000000000000000000000..6ba7f561c929f5e5fc86d6ae3af0429152bdf91a
--- /dev/null
+++ b/src/cfzmq/__main__.py
@@ -0,0 +1,4 @@
+from cfzmq import main
+
+if __name__ == "__main__":
+ main()
diff --git a/src/leapsdk/__init__.py b/src/leapsdk/__init__.py
deleted file mode 100644
index c8c34c858acc3dda7dcfff26944fa8f1ee86ba22..0000000000000000000000000000000000000000
--- a/src/leapsdk/__init__.py
+++ /dev/null
@@ -1,36 +0,0 @@
-# -*- coding: utf-8 -*-
-#
-# || ____ _ __
-# +------+ / __ )(_) /_______________ _____ ___
-# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
-# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
-# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
-#
-# Copyright (C) 2014 Bitcraze AB
-#
-# Crazyflie Nano Quadcopter Client
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License along with
-# this program; if not, write to the Free Software Foundation, Inc., 51
-# Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-
-"""
-In order to use the Leap Motion as an input device reader the libraries from
-the Leap Motion SDK has to be placed in this directory. This can be done by
-downloading the SDK from the http://developer.leapmotion.com website, unpacking
-it and copying the following files:
-
- * LeapSDK\lib\Leap.py -> leapsdk\Leap.py
- * LeapSDK\lib\<your_arch>\LeapPython.so -> leapsdk\LeapPython.so
- * LeapSDK\lib\<your_arch>\libLeap.so -> leapsdk\libLeap.so
-"""
diff --git a/tools/build/bdist b/tools/build/bdist
new file mode 100755
index 0000000000000000000000000000000000000000..ed4f310909c5a426c0fedd507470fa8cfabd5eaa
--- /dev/null
+++ b/tools/build/bdist
@@ -0,0 +1,17 @@
+#!/usr/bin/env python
+import os
+import subprocess
+import os.path as _path
+
+__author__ = 'arnaud'
+
+try:
+ script_dir = os.path.dirname(os.path.realpath(__file__))
+ root = _path.normpath(_path.join(script_dir, '../..'))
+
+ subprocess.check_call(['python3', 'setup.py', 'bdist_wheel'], cwd=root)
+
+ print("Wheel built")
+except subprocess.CalledProcessError as e:
+ print("Error: Cannot build the wheel")
+ raise e
diff --git a/tools/build/build b/tools/build/build
index 393ccc3d2efd160003dc907b15b5baaed8c35810..065f42f27b5e535daf7d2a6f689ceda4966a5060 100755
--- a/tools/build/build
+++ b/tools/build/build
@@ -4,5 +4,5 @@ import subprocess
script_dir = os.path.dirname(os.path.realpath(__file__))
-subprocess.check_call([script_dir + "/pep8"])
-subprocess.check_call([script_dir + "/test"])
+subprocess.check_call([script_dir + "/flake8"])
+subprocess.check_call([script_dir + "/bdist"])
diff --git a/tools/build/pep8 b/tools/build/flake8
similarity index 60%
rename from tools/build/pep8
rename to tools/build/flake8
index 162f8fea0f7d6197b372112dfe9f7902f8d301a9..3f795f6620a03826033cd4bd41de544c091e4abf 100755
--- a/tools/build/pep8
+++ b/tools/build/flake8
@@ -6,11 +6,12 @@ __author__ = 'kristoffer'
def _check_files_without_ext(path):
- subprocess.check_call(["pep8", "--statistics", "--filename=*", path])
+ subprocess.check_call(["python3", "-m", "flake8.run", "--filename=*",
+ path])
def _check_files_with_ext(path):
- subprocess.check_call(["pep8", "--statistics", path])
+ subprocess.check_call(["python3", "-m", "flake8.run", path])
try:
@@ -19,7 +20,7 @@ try:
_check_files_without_ext(script_dir)
_check_files_with_ext(script_dir + "/../..")
- print("PEP8 check pass")
+ print("Flake8 check pass")
except subprocess.CalledProcessError as e:
- print("Error: PEP8 check fail")
+ print("Error: Flake8 check fail")
raise e
diff --git a/tools/build/prep_windows b/tools/build/prep_windows
new file mode 100644
index 0000000000000000000000000000000000000000..db498d04a0b67fd5c01037e574c71b52ca0736ae
--- /dev/null
+++ b/tools/build/prep_windows
@@ -0,0 +1,27 @@
+# Download and decompress SDL2 for Windows
+import urllib.request
+import os
+from zipfile import ZipFile
+
+url = 'https://www.libsdl.org/release/SDL2-2.0.4-win32-x86.zip'
+dllpath = os.path.join("src", 'cfclient', 'third_party')
+
+
+def main():
+ print("Downloading SDL2 from {} ...".format(url))
+ response = urllib.request.urlopen(url)
+ zipdata = response.read()
+ if not os.path.exists('build'):
+ os.makedirs('build')
+ with open(os.path.join('build', 'sdl.zip'), 'wb') as f:
+ f.write(zipdata)
+
+ print("Unziping SDL2.dll in src/cfclient/third_party")
+ if not os.path.exists(dllpath):
+ os.makedirs(dllpath)
+ with ZipFile(os.path.join('build', 'sdl.zip'), 'r') as z:
+ z.extract('SDL2.dll', dllpath)
+ z.extract('README-SDL.txt', dllpath)
+
+if __name__ == '__main__':
+ main()
diff --git a/tools/build/test b/tools/build/test
deleted file mode 100755
index facc77f7f6faf6c368ab95be20340b5ccf227f09..0000000000000000000000000000000000000000
--- a/tools/build/test
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/usr/bin/env python
-import os
-import subprocess
-import os.path as _path
-
-try:
- script_dir = os.path.dirname(os.path.realpath(__file__))
- cflib = _path.normpath(_path.join(script_dir, '../../src/cflib'))
-
- subprocess.check_call(['python', '-m', 'unittest', 'discover', cflib])
-
- print("Unit tests pass")
-except subprocess.CalledProcessError as e:
- print("Error: Unit tests fail")
- raise e
diff --git a/win32install/cfclient.nsi.tmpl b/win32install/cfclient.nsi.tmpl
index 1f8cb6077cb00cd335b3be42a5a9f28a47a2c927..d577ae49433b97bbbff1f437e6848f7586332a50 100644
--- a/win32install/cfclient.nsi.tmpl
+++ b/win32install/cfclient.nsi.tmpl
@@ -1,136 +1,136 @@
-; Script based on example2.nsi, converted to MUI2
-
-;--------------------------------
-SetCompressor /SOLID /FINAL lzma
-
-!include "MUI2.nsh"
-
-; The name of the installer
-Name "Crazyflie PC client {{version}}"
-
-; The file to write
-OutFile "cfclient-win32-install-{{version}}.exe"
-
-; The default installation directory
-InstallDir "$PROGRAMFILES\Crazyflie client"
-
-; Registry key to check for directory (so if you install again, it will
-; overwrite the old one automatically)
-InstallDirRegKey HKLM "Software\Crazyflie_client" "Install_Dir"
-
-; Request application privileges for Windows Vista
-RequestExecutionLevel admin
-
-;--------------------------------
-;Interface Settings
-
- !define MUI_ABORTWARNING
-
-;--------------------------------
-;Pages
-
-!insertmacro MUI_PAGE_WELCOME
-!define MUI_PAGE_CUSTOMFUNCTION_SHOW licpageshow
-!insertmacro MUI_PAGE_LICENSE "..\LICENSE.txt"
-!insertmacro MUI_PAGE_COMPONENTS
-!insertmacro MUI_PAGE_DIRECTORY
-!insertmacro MUI_PAGE_INSTFILES
-!insertmacro MUI_PAGE_FINISH
-
-!insertmacro MUI_UNPAGE_WELCOME
-!insertmacro MUI_UNPAGE_CONFIRM
-!insertmacro MUI_UNPAGE_INSTFILES
-!insertmacro MUI_UNPAGE_FINISH
-
-; Function to display license in monospace font
-Function licpageshow
-FindWindow $0 "#32770" "" $HWNDPARENT
-CreateFont $1 "Courier New" "$(^FontSize)"
-GetDlgItem $0 $0 1000
-SendMessage $0 ${WM_SETFONT} $1 1
-FunctionEnd
-
-;--------------------------------
-;Languages
-
- !insertmacro MUI_LANGUAGE "English"
-
-;--------------------------------
-
-; The stuff to install
-Section "Crazyflie Client" SecCfclient
-
- SectionIn RO
-
- ; Set output path to the installation directory.
- SetOutPath $INSTDIR
-
- ; Create folders
- {% for dir in dirs %}
- CreateDirectory "$INSTDIR\{{dir}}"
- {% endfor %}
-
- ; Files to install
- {% for file in files %}
- File "/oname=$INSTDIR\{{file}}" "..\dist\{{file}}"
- {% endfor %}
-
- ; Write the installation path into the registry
- WriteRegStr HKLM SOFTWARE\Crazyflie_client "Install_Dir" "$INSTDIR"
-
- ;Write Start menu items
- CreateDirectory "$SMPROGRAMS\Crazyflie client"
- CreateShortCut "$SMPROGRAMS\Crazyflie client\Uninstall.lnk" "$INSTDIR\uninstall.exe" "" "$INSTDIR\uninstall.exe" 0
- CreateShortCut "$SMPROGRAMS\Crazyflie client\Crazyflie PC client.lnk" "$INSTDIR\cfclient.exe" "" "$INSTDIR\cfclient.exe" 0
-
- ; Write the uninstall keys for Windows
- WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient" "DisplayName" "Crazyflie Client"
- WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient" "UninstallString" '"$INSTDIR\uninstall.exe"'
- WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient" "NoModify" 1
- WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient" "NoRepair" 1
- WriteUninstaller "uninstall.exe"
-
-SectionEnd
-
-; Optional section (can be disabled by the user)
-;Section "Desktop Shortcuts"
-;
-;SectionEnd
-
-;--------------------------------
-;Descriptions
-
- ;Language strings
- LangString DESC_SecCfclient ${LANG_ENGLISH} "Crazyflie PC Client"
-
- ;Assign language strings to sections
- !insertmacro MUI_FUNCTION_DESCRIPTION_BEGIN
- !insertmacro MUI_DESCRIPTION_TEXT ${SecCfclient} $(DESC_SecCfclient)
- !insertmacro MUI_FUNCTION_DESCRIPTION_END
-
-;--------------------------------
-
-; Uninstaller
-
-Section "Uninstall"
-
- ; Remove registry keys
- DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient"
- DeleteRegKey HKLM SOFTWARE\Crazyflie_client
-
- ; Remove files and uninstaller
- {% for file in files %}
- Delete "$INSTDIR\{{file}}"
- {% endfor %}
- Delete $INSTDIR\uninstall.exe
-
- ; Remove shortcuts, if any
- Delete "$SMPROGRAMS\Crazyflie client\*.*"
-
- ; Remove directories used
- RMDir "$SMPROGRAMS\Crazyflie client"
- {% for dir in dirs|reverse %}
- RMDir "$INSTDIR\{{dir}}"
- {% endfor %}
-
-SectionEnd
+; Script based on example2.nsi, converted to MUI2
+
+;--------------------------------
+SetCompressor /SOLID /FINAL lzma
+
+!include "MUI2.nsh"
+
+; The name of the installer
+Name "Crazyflie PC client {{version}}"
+
+; The file to write
+OutFile "cfclient-win32-install-{{version}}.exe"
+
+; The default installation directory
+InstallDir "$PROGRAMFILES\Crazyflie client"
+
+; Registry key to check for directory (so if you install again, it will
+; overwrite the old one automatically)
+InstallDirRegKey HKLM "Software\Crazyflie_client" "Install_Dir"
+
+; Request application privileges for Windows Vista
+RequestExecutionLevel admin
+
+;--------------------------------
+;Interface Settings
+
+ !define MUI_ABORTWARNING
+
+;--------------------------------
+;Pages
+
+!insertmacro MUI_PAGE_WELCOME
+!define MUI_PAGE_CUSTOMFUNCTION_SHOW licpageshow
+!insertmacro MUI_PAGE_LICENSE "..\LICENSE.txt"
+!insertmacro MUI_PAGE_COMPONENTS
+!insertmacro MUI_PAGE_DIRECTORY
+!insertmacro MUI_PAGE_INSTFILES
+!insertmacro MUI_PAGE_FINISH
+
+!insertmacro MUI_UNPAGE_WELCOME
+!insertmacro MUI_UNPAGE_CONFIRM
+!insertmacro MUI_UNPAGE_INSTFILES
+!insertmacro MUI_UNPAGE_FINISH
+
+; Function to display license in monospace font
+Function licpageshow
+FindWindow $0 "#32770" "" $HWNDPARENT
+CreateFont $1 "Courier New" "$(^FontSize)"
+GetDlgItem $0 $0 1000
+SendMessage $0 ${WM_SETFONT} $1 1
+FunctionEnd
+
+;--------------------------------
+;Languages
+
+ !insertmacro MUI_LANGUAGE "English"
+
+;--------------------------------
+
+; The stuff to install
+Section "Crazyflie Client" SecCfclient
+
+ SectionIn RO
+
+ ; Set output path to the installation directory.
+ SetOutPath $INSTDIR
+
+ ; Create folders
+ {% for dir in dirs %}
+ CreateDirectory "$INSTDIR\{{dir}}"
+ {% endfor %}
+
+ ; Files to install
+ {% for file in files %}
+ File "/oname=$INSTDIR\{{file}}" "..\dist\{{file}}"
+ {% endfor %}
+
+ ; Write the installation path into the registry
+ WriteRegStr HKLM SOFTWARE\Crazyflie_client "Install_Dir" "$INSTDIR"
+
+ ;Write Start menu items
+ CreateDirectory "$SMPROGRAMS\Crazyflie client"
+ CreateShortCut "$SMPROGRAMS\Crazyflie client\Uninstall.lnk" "$INSTDIR\uninstall.exe" "" "$INSTDIR\uninstall.exe" 0
+ CreateShortCut "$SMPROGRAMS\Crazyflie client\Crazyflie PC client.lnk" "$INSTDIR\cfclient.exe" "" "$INSTDIR\cfclient.exe" 0
+
+ ; Write the uninstall keys for Windows
+ WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient" "DisplayName" "Crazyflie Client"
+ WriteRegStr HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient" "UninstallString" '"$INSTDIR\uninstall.exe"'
+ WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient" "NoModify" 1
+ WriteRegDWORD HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient" "NoRepair" 1
+ WriteUninstaller "uninstall.exe"
+
+SectionEnd
+
+; Optional section (can be disabled by the user)
+;Section "Desktop Shortcuts"
+;
+;SectionEnd
+
+;--------------------------------
+;Descriptions
+
+ ;Language strings
+ LangString DESC_SecCfclient ${LANG_ENGLISH} "Crazyflie PC Client"
+
+ ;Assign language strings to sections
+ !insertmacro MUI_FUNCTION_DESCRIPTION_BEGIN
+ !insertmacro MUI_DESCRIPTION_TEXT ${SecCfclient} $(DESC_SecCfclient)
+ !insertmacro MUI_FUNCTION_DESCRIPTION_END
+
+;--------------------------------
+
+; Uninstaller
+
+Section "Uninstall"
+
+ ; Remove registry keys
+ DeleteRegKey HKLM "Software\Microsoft\Windows\CurrentVersion\Uninstall\Cfclient"
+ DeleteRegKey HKLM SOFTWARE\Crazyflie_client
+
+ ; Remove files and uninstaller
+ {% for file in files %}
+ Delete "$INSTDIR\{{file}}"
+ {% endfor %}
+ Delete $INSTDIR\uninstall.exe
+
+ ; Remove shortcuts, if any
+ Delete "$SMPROGRAMS\Crazyflie client\*.*"
+
+ ; Remove directories used
+ RMDir "$SMPROGRAMS\Crazyflie client"
+ {% for dir in dirs|reverse %}
+ RMDir "$INSTDIR\{{dir}}"
+ {% endfor %}
+
+SectionEnd
diff --git a/win32install/generate_nsis.py b/win32install/generate_nsis.py
index f3e9f3486751b6fa986c6e5522d2c81a1b756c12..f79230c74b3a5e03020a02c9e562843455d40ad7 100644
--- a/win32install/generate_nsis.py
+++ b/win32install/generate_nsis.py
@@ -1,8 +1,11 @@
-import jinja2
+# -*- coding: utf-8 -*-
import os
-from subprocess import Popen, PIPE
+from subprocess import PIPE
+from subprocess import Popen
+
+import jinja2
-DIST_PATH = "..\dist"
+DIST_PATH = "..\\dist"
# Get list of files and directory to install/uninstall
INSTALL_FILES = []
@@ -26,11 +29,11 @@ try:
except OSError:
raise Exception("Cannot run git: Git is required to generate installer!")
-VERSION = output.strip()
+VERSION = output.strip().decode("utf-8")
print("Cfclient version {}".format(VERSION))
-os.chdir(os.path.dirname(__file__))
+os.chdir("..\\win32install")
with open("cfclient.nsi.tmpl", "r") as template_file:
TEMPLATE = template_file.read()
diff --git a/win32install/readme.txt b/win32install/readme.txt
deleted file mode 100644
index 92441ee95675c75e692b4821569ca2008798c3e3..0000000000000000000000000000000000000000
--- a/win32install/readme.txt
+++ /dev/null
@@ -1,56 +0,0 @@
-Warning: Generating windows executable is not working yet with Python3. This is
-work in progress in issue #207. Any help is apreciated!
-
-Howto generate cfclient Windows installer
-=========================================
-
-The windows installer is generated using the NSIS installer system. The steps
-to generate the distribution are:
- - Clone a clean copy of the repos
- - Generate and test Windows executable
- - Generate the installer script
- - Build the installer
-
-All the procedure has to be run on Windows. Tested on Windows 7. A release
-version should have the right version written to setup.py (ie. not a
-development version).
-
-Prerequisites
--------------
-Should be all from source install + the following:
- - [Python 3.4](https://www.python.org/downloads/windows/) (make sure the pip component is selected when installing)
- - [Nsis 2.46](http://nsis.sourceforge.net/Download)
- - [GIT](https://git-scm.com/download/win)
-
-Install the following with pip:
-```
-\Python34\python.exe -m pip install jinja2 py2exe
-```
-
-Procedure
----------
-Clone the cfclient repos in a new folder and update it to the (tagged) version you
-want to generate.
-
-Locate MSVCP90.dll in your pc and copy it in the source folder. There may be many
-version, the good one is 9.0.21022.8 and has a size of 555kB. If not installed
-read py2exe doc to download the Microsoft visual C++ 2008 redistributable package.
-
-Run in a command line window:
-> cd <path_to_crazyflie_pc_client>
-> setup.py py2exe
-
-Test and validate the new executable by running:
-> dist\cfclient
-
-Generate the installer configuration:
-> cd win32install
-> generate_nsis.py
- Found 516 files in 41 folders to install.
- Cfclient version 2013.4.1
-
-Finally open the win32install folder in the file explorer. Right click on
-cfclient.nsi, chose "Compile NSIS script (choose compressor)". The NSIS
-compiler opens, Select "LZMA (solid)" compressor. After a little while
-the script is compiled and "cfclient-win32-install-version.exe" is created
-in the script folder.