Commit 2932a150 authored by Marlene Böhmer's avatar Marlene Böhmer
Browse files

target delay parameter and ntp

parent 46078a3d

crazyflie-lib-python @ fee47c6a

Compare b3ef5eb2 to fee47c6a
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Subproject commit b3ef5eb222f83f71a5d0a6e7ab29965783e51523
 
Subproject commit fee47c6a26e7e9bb343ec30400b7d53ae18de43e

salt/drone/init.sls

+1 −0
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include:

    - drone.install-ntp

    - prrt.python

    - drone.python-libs

    - drone.crazyflie-lib

salt/drone/install-ntp.sls

0 → 100644
+5 −0
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ntp:

    pkg.installed



ntpdate:

    pkg.installed

salt/drone/scripts/bridge.py

+12 −10
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@@ -2,11 +2,9 @@ 


import sys

import threading



import signal



from cflib.crtp.serialdriver import SerialDriver

from cflib.crtp.prrtdriver import PrrtDriver

import cflib.crtp as crtp

from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
@@ -45,15 +43,19 @@ class BackwardBridge(threading.Thread): 




class Bridge:

    def __init__(self, crazyflie_driver, crazyflie_uri, client_driver, client_uri):

    def __init__(self, crazyflie_uri, client_uri):

        print('Initializing Bridge ...')

        self._crazyflie_connection = crazyflie_driver

        self.crazyflie_uri = crazyflie_uri

        self._client_connection = client_driver

        self.client_uri = client_uri



        self._crazyflie_connection.connect(crazyflie_uri, None, None)

        self._client_connection.connect(client_uri, None, None)

        crtp.init_drivers(enable_debug_driver=False)



        self._crazyflie_connection = crtp.get_link_driver(self.crazyflie_uri, None, None)

        if not self._crazyflie_connection:

            raise Exception('No diver found for Crazyflie URI ' + self.crazyflie_uri)

        self._client_connection = crtp.get_link_driver(self.client_uri, None, None)

        if not self._client_connection:

            raise Exception('No diver found for Client URI ' + self.client_uri)



        self.forward_thread = None

        self.backward_thread = None
@@ -95,9 +97,9 @@ if __name__ == '__main__': 
    serial_uri = 'serial://pi'

    prrt_uri = sys.argv[1]



    bridge = Bridge(SerialDriver(), serial_uri, PrrtDriver(), prrt_uri)

    bridge = Bridge(serial_uri, prrt_uri)



    bridge.check_for_crazyflie_connection()

    bridge.check_for_crazyflie_connection()  # optional

    bridge.start()



    print('\nSetup finished.\nUse "Ctrl+C" to stop.\n')