Class: Crubyflie::Crazyflie

Inherits:
Object
  • Object
show all
Includes:
CRTPConstants, Logging
Defined in:
lib/crubyflie/crazyflie.rb

Overview

This is the main entry point for interacting with a Crazyflie It allows to connect to the Crazyflie on the specified radio URL and make use of the different facilities: log, param, commander and console. Facilities are instantiated and packages delivered to their queues from here. For example, you can use the @crazyflie.commander.set_sendpoint() to send a new setpoint to a Crazyflie

Constant Summary collapse

CALLBACKS =

Groups of callbacks available

[
 :received_packet,
 :disconnected,
 :connection_failed,
 :connection_initiated,
 :connection_setup_finished,
 :link
]

Constants included from CRTPConstants

Crubyflie::CRTPConstants::CMD_APPEND_BLOCK, Crubyflie::CRTPConstants::CMD_CREATE_BLOCK, Crubyflie::CRTPConstants::CMD_DELETE_BLOCK, Crubyflie::CRTPConstants::CMD_RESET_LOGGING, Crubyflie::CRTPConstants::CMD_START_LOGGING, Crubyflie::CRTPConstants::CMD_STOP_LOGGING, Crubyflie::CRTPConstants::CMD_TOC_ELEMENT, Crubyflie::CRTPConstants::CMD_TOC_INFO, Crubyflie::CRTPConstants::CRTP_PORTS, Crubyflie::CRTPConstants::LOG_DATA_CHANNEL, Crubyflie::CRTPConstants::LOG_SETTINGS_CHANNEL, Crubyflie::CRTPConstants::PARAM_READ_CHANNEL, Crubyflie::CRTPConstants::PARAM_WRITE_CHANNEL, Crubyflie::CRTPConstants::TOC_CHANNEL, Crubyflie::CRTPConstants::WAIT_PACKET_TIMEOUT

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods included from Logging

logger, #logger, #logger=

Constructor Details

#initialize(cache_folder = nil) ⇒ Crazyflie

Initialize a Crazyflie by registering default received-packet callbacks and intializing Queues for every facility. Packets will be queued for each facility depending on their port

Parameters:

  • cache_folder (String) (defaults to: nil)

    folder path to store logging TOC cache


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# File 'lib/crubyflie/crazyflie.rb', line 58

def initialize(cache_folder=nil)
    @cache_folder = cache_folder
    # Callbacks will fire in some specific situations
    # Specially when receiving packages
    @callbacks = {}
    CALLBACKS.each do |cb|
        @callbacks[cb] = {}
    end
    register_default_callbacks()

    @crtp_queues = {}
    CRTP_PORTS.keys().each do |k|
        @crtp_queues[k] = Queue.new
    end

    # Thread that regularly checks for packages
    @receive_packet_thread = nil
    @retry_packets_thread = nil

    # A hash with keys "port_<portnumber>"
    @retry_packets = {}

    @commander = Commander.new(self)
    @console   = Console.new(self)
    @param     = Param.new(self)
    @log       = Log.new(self)

    @link = nil
end

Instance Attribute Details

#cache_folderObject (readonly)

Returns the value of attribute cache_folder


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# File 'lib/crubyflie/crazyflie.rb', line 52

def cache_folder
  @cache_folder
end

#callbacksObject

Returns the value of attribute callbacks


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# File 'lib/crubyflie/crazyflie.rb', line 51

def callbacks
  @callbacks
end

#commanderObject (readonly)

Returns the value of attribute commander


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# File 'lib/crubyflie/crazyflie.rb', line 52

def commander
  @commander
end

#consoleObject (readonly)

Returns the value of attribute console


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# File 'lib/crubyflie/crazyflie.rb', line 52

def console
  @console
end

#crtp_queuesObject (readonly)

Returns the value of attribute crtp_queues


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# File 'lib/crubyflie/crazyflie.rb', line 53

def crtp_queues
  @crtp_queues
end

Returns the value of attribute link


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# File 'lib/crubyflie/crazyflie.rb', line 53

def link
  @link
end

#logObject (readonly)

Returns the value of attribute log


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# File 'lib/crubyflie/crazyflie.rb', line 52

def log
  @log
end

#paramObject (readonly)

Returns the value of attribute param


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# File 'lib/crubyflie/crazyflie.rb', line 52

def param
  @param
end

Instance Method Details

#active?TrueClass, FalseClass

Checks if there is an open link

Returns:

  • (TrueClass, FalseClass)

    true if there is an open link


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# File 'lib/crubyflie/crazyflie.rb', line 136

def active?
    return !@link.nil?
end

Close the link and clean up Attemps to disconnect from the crazyflie.


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# File 'lib/crubyflie/crazyflie.rb', line 117

def close_link
    @commander.send_setpoint(0,0,0,0) if @link
    sleep 0.05
    uri = @link ? @link.uri.to_s : "nowhere"
    @link.disconnect(force=true) if @link
    @link = nil
    @receive_packet_thread.kill() if @receive_packet_thread
    @receive_packet_thread = nil
    @retry_packets_thread.kill() if @retry_packets_thread
    @log.stop_packet_reader_thread()
    @retry_packets.clear()
    @crtp_queues.each do |k,q|
        q.clear()
    end
    call_cb(:disconnected, uri)
end

Connect to a Crazyflie using the radio driver

Parameters:

  • uri (String)

    radio uri to connect to


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# File 'lib/crubyflie/crazyflie.rb', line 91

def open_link(uri)
    call_cb(:connection_initiated, uri)
    begin
        @link = RadioDriver.new()
        link_cbs = {
            :link_quality_cb => @callbacks[:link][:quality],
            :link_error_cb  => @callbacks[:link][:error]
        }

        @link.connect(uri, link_cbs)
        @callbacks[:received_packet][:connected] = Proc.new do |packet|
            logger.info "Connected!"
            @callbacks[:received_packet].delete(:connected)
        end
        receive_packet_thread()
        sleep 0.5 # Allow setup and failures
        setup_connection() if @link
    rescue Exception
        #logger.warn $!.backtrace.join("\n")
        call_cb(:connection_failed, $!.message)
        close_link()
    end
end

#scan_interfaceArray

Calls #RadioDriver::scan_interface()

Returns:

  • (Array)

    List of radio URIs where a crazyflie was found


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# File 'lib/crubyflie/crazyflie.rb', line 142

def scan_interface
    if @link
        logger.error "Cannot scan when link is open. Disconnect first"
        return []
    end
    begin
        RadioDriver.new().scan_interface()
    rescue Exception
        logger.error("Cannot scan interfaces: #{$!}")
        return []
    end
end

#send_packet(packet, expect_answer = false) ⇒ Object

Send a packet

Parameters:

  • packet (CRTPPacket)

    packet to send

  • expect_answer (TrueClass, FalseClass) (defaults to: false)

    if set to true, a timer will be set up to resend the package if no response has been received in 0.1secs


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# File 'lib/crubyflie/crazyflie.rb', line 162

def send_packet(packet, expect_answer=false)
    return if @link.nil?
    @link.send_packet(packet)
    setup_retry(packet) if expect_answer
end