From 392b47065e85c8ca3d66b4aea084acc16e9453b1 Mon Sep 17 00:00:00 2001
From: Arnaud Taffanel <arnaud@bitcraze.io>
Date: Mon, 8 Jul 2019 09:46:23 +0200
Subject: [PATCH] Fix synchrounousSequence flake8/style
---
examples/swarm/synchronizedSequence.py | 105 +++++++++++++------------
1 file changed, 55 insertions(+), 50 deletions(-)
diff --git a/examples/swarm/synchronizedSequence.py b/examples/swarm/synchronizedSequence.py
index aef50a6..fc9e6b6 100755
--- a/examples/swarm/synchronizedSequence.py
+++ b/examples/swarm/synchronizedSequence.py
@@ -23,7 +23,8 @@
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
# MA 02110-1301, USA.
"""
-Simple example of a synchronized swarm choreography using the High level commander.
+Simple example of a synchronized swarm choreography using the High level
+commander.
The swarm takes off and flies a synchronous choreography before landing.
The take-of is relative to the start position but the Goto are absolute.
@@ -33,7 +34,10 @@ This example is intended to work with any absolute positioning system.
It aims at documenting how to use the High Level Commander together with
the Swarm class to achieve synchronous sequences.
"""
+import threading
import time
+from collections import namedtuple
+from queue import Queue
import cflib.crtp
from cflib.crazyflie.log import LogConfig
@@ -41,19 +45,17 @@ from cflib.crazyflie.swarm import CachedCfFactory
from cflib.crazyflie.swarm import Swarm
from cflib.crazyflie.syncLogger import SyncLogger
-from collections import namedtuple
-import threading
-from queue import Queue
-
# Time for one step in second
STEP_TIME = 1
# Possible commands, all times are in seconds
Takeoff = namedtuple('Takeoff', ['height', 'time'])
-Land = namedtuple("Land", ['time'])
+Land = namedtuple('Land', ['time'])
Goto = namedtuple('Goto', ['x', 'y', 'z', 'time'])
-Ring = namedtuple('Ring', ['r', 'g', 'b', 'intensity', 'time']) # RGB [0-255], Intensity [0.0-1.0]
-Quit = namedtuple('Quit', []) # Reserved for the control loop, do not use in sequence
+# RGB [0-255], Intensity [0.0-1.0]
+Ring = namedtuple('Ring', ['r', 'g', 'b', 'intensity', 'time'])
+# Reserved for the control loop, do not use in sequence
+Quit = namedtuple('Quit', [])
uris = [
'radio://0/10/2M/E7E7E7E701', # cf_id 0, startup position [-0.5, -0.5]
@@ -64,41 +66,42 @@ uris = [
sequence = [
# Step, CF_id, action
- ( 0, 0, Takeoff(0.5, 2)),
- ( 0, 2, Takeoff(0.5, 2)),
-
- ( 1, 1, Takeoff(1.0, 2)),
-
- ( 2, 0, Goto(-0.5, -0.5, 0.5, 1)),
- ( 2, 2, Goto(0.5, 0.5, 0.5, 1)),
-
- ( 3, 1, Goto(0, 0, 1, 1)),
-
- ( 4, 0, Ring(255, 255, 255, 0.2, 0)),
- ( 4, 1, Ring(255, 0, 0, 0.2, 0)),
- ( 4, 2, Ring(255, 255, 255, 0.2, 0)),
-
- ( 5, 0, Goto(0.5, -0.5, 0.5, 2)),
- ( 5, 2, Goto(-0.5, 0.5, 0.5, 2)),
-
- ( 7, 0, Goto(0.5, 0.5, 0.5, 2)),
- ( 7, 2, Goto(-0.5, -0.5, 0.5, 2)),
-
- ( 9, 0, Goto(-0.5, 0.5, 0.5, 2)),
- ( 9, 2, Goto(0.5, -0.5, 0.5, 2)),
-
- ( 11, 0, Goto(-0.5, -0.5, 0.5, 2)),
- ( 11, 2, Goto(0.5, 0.5, 0.5, 2)),
-
- ( 13, 0, Land(2)),
- ( 13, 1, Land(2)),
- ( 13, 2, Land(2)),
-
- ( 15, 0, Ring(0,0,0,0, 5)),
- ( 15, 1, Ring(0,0,0,0, 5)),
- ( 15, 2, Ring(0,0,0,0, 5)),
+ (0, 0, Takeoff(0.5, 2)),
+ (0, 2, Takeoff(0.5, 2)),
+
+ (1, 1, Takeoff(1.0, 2)),
+
+ (2, 0, Goto(-0.5, -0.5, 0.5, 1)),
+ (2, 2, Goto(0.5, 0.5, 0.5, 1)),
+
+ (3, 1, Goto(0, 0, 1, 1)),
+
+ (4, 0, Ring(255, 255, 255, 0.2, 0)),
+ (4, 1, Ring(255, 0, 0, 0.2, 0)),
+ (4, 2, Ring(255, 255, 255, 0.2, 0)),
+
+ (5, 0, Goto(0.5, -0.5, 0.5, 2)),
+ (5, 2, Goto(-0.5, 0.5, 0.5, 2)),
+
+ (7, 0, Goto(0.5, 0.5, 0.5, 2)),
+ (7, 2, Goto(-0.5, -0.5, 0.5, 2)),
+
+ (9, 0, Goto(-0.5, 0.5, 0.5, 2)),
+ (9, 2, Goto(0.5, -0.5, 0.5, 2)),
+
+ (11, 0, Goto(-0.5, -0.5, 0.5, 2)),
+ (11, 2, Goto(0.5, 0.5, 0.5, 2)),
+
+ (13, 0, Land(2)),
+ (13, 1, Land(2)),
+ (13, 2, Land(2)),
+
+ (15, 0, Ring(0, 0, 0, 0, 5)),
+ (15, 1, Ring(0, 0, 0, 0, 5)),
+ (15, 2, Ring(0, 0, 0, 0, 5)),
]
+
def wait_for_position_estimator(scf):
print('Waiting for estimator to find position...')
@@ -180,7 +183,7 @@ def crazyflie_control(scf):
commander = scf.cf.high_level_commander
# Set fade to color effect and reset to Led-ring OFF
- set_ring_color(cf, 0,0,0, 0, 0)
+ set_ring_color(cf, 0, 0, 0, 0, 0)
cf.param.set_value('ring.effect', '14')
while True:
@@ -195,48 +198,50 @@ def crazyflie_control(scf):
commander.go_to(command.x, command.y, command.z, 0, command.time)
elif type(command) is Ring:
set_ring_color(cf, command.r, command.g, command.b,
- command.intensity, command.time)
+ command.intensity, command.time)
pass
else:
- print("Warning! unknown command {} for uri {}".format(command,
+ print('Warning! unknown command {} for uri {}'.format(command,
cf.uri))
+
def control_thread():
pointer = 0
step = 0
stop = False
while not stop:
- print("Step {}:".format(step))
+ print('Step {}:'.format(step))
while sequence[pointer][0] <= step:
cf_id = sequence[pointer][1]
command = sequence[pointer][2]
- print(" - Running: {} on {}".format(command, cf_id))
+ print(' - Running: {} on {}'.format(command, cf_id))
controlQueues[cf_id].put(command)
pointer += 1
if pointer >= len(sequence):
- print("Reaching the end of the sequence, stopping!")
+ print('Reaching the end of the sequence, stopping!')
stop = True
break
step += 1
time.sleep(STEP_TIME)
-
+
for ctrl in controlQueues:
ctrl.put(Quit())
+
if __name__ == '__main__':
controlQueues = [Queue() for _ in range(len(uris))]
-
+
cflib.crtp.init_drivers(enable_debug_driver=False)
factory = CachedCfFactory(rw_cache='./cache')
with Swarm(uris, factory=factory) as swarm:
swarm.parallel_safe(activate_high_level_commander)
swarm.parallel_safe(reset_estimator)
- print("Starting sequence!")
+ print('Starting sequence!')
threading.Thread(target=control_thread).start()
--
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