Method: Crubyflie::RadioDriver#connect

Defined in:
lib/crubyflie/driver/radio_driver.rb

#connect(uri_s, callbacks = {}, opts = {}) ⇒ Object

Connect to a Crazyflie in the specified URI

Parameters:

  • uri_s (String) —

    a radio uri like radio://<dongle>/<ch>/<rate>

  • callbacks (Hash) (defaults to: {}) —

    blocks to call (see CALLBACKS contant values)

  • opts (Hash) (defaults to: {}) —

    options. Currently supported :retries_before_disconnect (defaults to 20) and :out_queue_max_size (defaults to 50)

Raises:



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# File 'lib/crubyflie/driver/radio_driver.rb', line 99

def connect(uri_s, callbacks={}, opts={})
    # Check if apparently there is an open link

    if @crazyradio
        m = "Active link to #{@uri.to_s}. Disconnect first"
        raise OpenLink.new(m)
    end

    # Parse URI to initialize Crazyradio
    # @todo: better control input. It defaults to 0
    @uri = CrubyflieURI.new(uri_s)
    dongle_number = @uri.dongle.to_i
    channel = @uri.channel.to_i
    rate = @uri.rate
    address = @uri.address

    if address
        begin
            # The official driver does this. Takes address as decimal
            # number, calculate the binary and pack it as 5 byte.
            hex_addr = address.to_i.to_s(16)
            bin_addr = hex_addr.scan(/../).map { |x| x.hex }.pack('C*')
            address = bin_addr.unpack('CCCCC')
        rescue
            raise InvalidURIException.new("Address not valid: #{$!.message}")
        end
    end

    # @todo this should be taken care of in crazyradio
    case rate
    when "250K"
        rate = CrazyradioConstants::DR_250KPS
    when "1M"
        rate = CrazyradioConstants::DR_1MPS
    when "2M"
        rate = CrazyradioConstants::DR_2MPS
    else
        raise InvalidURIException.new("Bad radio rate")
    end

    # Fill in the callbacks Hash
    CALLBACKS.each do |cb|
        if passed_cb = callbacks[cb]
            @callbacks[cb] = passed_cb
        else
            raise CallbackMissing.new("Callback #{cb} mandatory")
        end
    end

    @retries_before_disconnect = opts[:retries_before_disconnect] ||
        RETRIES_BEFORE_DISCONNECT
    @out_queue_max_size = opts[:out_queue_max_size] ||
        OUT_QUEUE_MAX_SIZE

    @retry_forever = @retries_before_disconnect < 0
    m = "Radio driver will retry forever and never disconnect"
    logger.warn(m) if @retry_forever

    # Initialize Crazyradio and run thread
    cradio_opts = {
        :channel => channel,
        :data_rate => rate,
        :address => address
    }
    @crazyradio = Crazyradio.factory(cradio_opts)
    start_radio_thread()

end