Commit 0593782b authored by Marlene Böhmer's avatar Marlene Böhmer
Browse files

Prrt send and receive - Segmentation fault

parent 43be2f87

salt/drone/scripts/bridge.py

+22 −7
Original line number Diff line number Diff line
@@ -10,8 +10,9 @@ import prrt 


import cflib.crtp

from cflib.crazyflie import Crazyflie, State

from cflib.crtp.crtpstack import CRTPPacket

from cflib.crtp.crtpstack import CRTPPacket, CRTPPort



logging.basicConfig(stream=sys.stdout, level=logging.INFO)

logger = logging.getLogger(__name__)



MTU = 32
@@ -65,7 +66,7 @@ class CrazyflieConnection: 
            self._cf.connection_failed.call(uri, exception_text)



        # Variable used to keep main loop occupied until disconnect

        self.is_connected = True

        self.is_connected = False



    def _get_initial_packet(self, pk):

        self._platform_information_packet = pk
@@ -77,9 +78,11 @@ class CrazyflieConnection: 


    def _connected(self, link_uri):

        logger.info('Connected to {}'.format(link_uri))

        self.is_connected = True

        self._cf.packet_received.add_callback(self.receive_callback)



    def send(self, pk):

        print('Send ' + str(pk))

        self._cf.send_packet(pk)



    def _connection_failed(self, link_uri, msg):
@@ -121,12 +124,20 @@ class ClientConnection: 
        self._prrt_socket.connect((address, port))



    def send(self, pk):

        print('send to client' + pk)

        pk_bytes = bytearray([pk.get_header()]) + pk.data

        self._prrt_socket.send(pk_bytes)



    def receive(self):

        print('receive from client')

        pk = None

        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

        else:

            return None



    def close(self):

        logger.info('Closing Client Connection')
@@ -141,12 +152,15 @@ class Bridge: 
        self._client_connection = ClientConnection(client_uri)

        self._crazyflie_connection = CrazyflieConnection(crazyflie_uri, self._client_connection.send)



    def wait_for_crazyflie_connection(self):

        while not self._crazyflie_connection.is_connected:

            time.sleep(1)



    def run(self):

        while self._crazyflie_connection.is_connected:

            pk = self._client_connection.receive()

            if pk:

                self._crazyflie_connection.send(pk)

            time.sleep(2)

        self.stop()



    def stop(self):
@@ -161,6 +175,7 @@ if __name__ == '__main__': 
    bridge = Bridge(serial_uri, prrt_uri)



    try:

        bridge.wait_for_crazyflie_connection()

        bridge.run()

    except KeyboardInterrupt:

        print('\n')

salt/drone/scripts/prrt_simple_flightscript.py

+1 −1
Original line number Diff line number Diff line
@@ -11,7 +11,7 @@ import cflib.crtp 
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

from cflib.positioning.motion_commander import MotionCommander



URI = 'prrt://10.8.0.208:5000/250'

URI = 'prrt://10.8.0.208:5000'



# Only output errors from the logging framework

logging.basicConfig(level=logging.ERROR)