bridge script: remove initial packet save, debug prints

salt/drone/scripts/bridge.py

@@ -24,7 +24,7 @@ class CrazyflieConnection:
     def __init__(self, uri, receive_callback):
         self.uri = uri
         self.receive_callback = receive_callback
-        self._platform_information_packet = None
+        # self._platform_information_packet = None
 
         self._cf = Crazyflie()
 
@@ -51,7 +51,7 @@ class CrazyflieConnection:
             else:
                 # Add a callback so we can check that any data is coming back from the copter
                 self._cf.packet_received.add_callback(self._cf._check_for_initial_packet_cb)
-                self._cf.packet_received.add_callback(self._get_initial_packet)
+                # self._cf.packet_received.add_callback(self._get_initial_packet)
                 self._cf.platform.fetch_platform_informations(self._fetched_platform_information)
 
         except Exception as ex:  # pylint: disable=W0703
@@ -68,9 +68,10 @@ class CrazyflieConnection:
         # Variable used to keep main loop occupied until disconnect
         self.is_connected = False
 
-    def _get_initial_packet(self, pk):
-        self._platform_information_packet = pk
-        self._cf.packet_received.remove_callback(self._get_initial_packet)
+    # def _get_initial_packet(self, pk):
+    #     if pk.port == CRTPPort.LINKCTRL and pk.channel == 1:
+    #         self._platform_information_packet = pk
+    #         self._cf.packet_received.remove_callback(self._get_initial_packet)
 
     def _fetched_platform_information(self):
         self._cf.connected_ts = datetime.datetime.now()
@@ -82,9 +83,12 @@ class CrazyflieConnection:
         self._cf.packet_received.add_callback(self.receive_callback)
 
     def send(self, pk):
-        print('Send ' + str(pk))
+        print('Serial send:', pk)
         self._cf.send_packet(pk)
 
+    # def get_platform_information_packet(self):
+    #     return self._platform_information_packet
+
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie at the speficied address)"""
         logger.info('Connection to {} failed: {}'.format(link_uri, msg))
@@ -125,17 +129,16 @@ class ClientConnection:
 
     def send(self, pk):
         pk_bytes = bytearray([pk.get_header()]) + pk.data
-        self._prrt_socket.send(pk_bytes)
+        print('PRRT try sending:', pk_bytes)
+        self._prrt_socket.send_sync(pk_bytes)
+        print('PRRT completed sending')
 
     def receive(self):
         pk_bytes, _ = self._prrt_socket.receive_asap()
         if len(pk_bytes) > 0:
             pk = CRTPPacket(pk_bytes[0], pk_bytes[1:])
-            print('Received: ' + str(pk) + ' Data Length: ' + str(len(pk.data)))
-            if pk.port == CRTPPort.LINKCTRL and pk.channel == 3:
-                return None
-            else:
-                return pk
+            print('PRRT receive:', pk)
+            return pk
         else:
             return None
 
@@ -160,7 +163,18 @@ class Bridge:
         while self._crazyflie_connection.is_connected:
             pk = self._client_connection.receive()
             if pk:
+                if pk.port == CRTPPort.LINKCTRL and pk.channel == 3:
+                    continue
+                # elif pk.port == CRTPPort.LINKCTRL and pk.channel == 1:
+                #     print('platform information request')
+                #     platform_information = self._crazyflie_connection.get_platform_information_packet()
+                #     if platform_information is not None:
+                #         print('platform information reply')
+                #         self._client_connection.send(platform_information)
+                #         print('platform information reply send')
+                #         continue
                 self._crazyflie_connection.send(pk)
+                print('Bridge send finished')
         self.stop()
 
     def stop(self):