Commit 550cf702 authored by Marlene Böhmer's avatar Marlene Böhmer
Browse files

PRRT Link working now

parent 7f892829

salt/drone/debug_data/Bridge Example/prrt_log_2019-09-17_17:16:55.csv

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salt/drone/debug_data/Bridge Example/serial_log_2019-09-17_17:18:50.csv

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salt/drone/debug_data/radio_log_2019-09-09_14:55:50.csv

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salt/drone/debug_data/serial_log_2019-09-06_17:33:10.csv

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salt/drone/scripts/bridge.py

+8 −26
Original line number Diff line number Diff line
@@ -24,7 +24,6 @@ class CrazyflieConnection: 
    def __init__(self, uri, receive_callback):

        self.uri = uri

        self.receive_callback = receive_callback

        # self._platform_information_packet = None



        self._cf = Crazyflie()
@@ -51,7 +50,6 @@ 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.platform.fetch_platform_informations(self._fetched_platform_information)



        except Exception as ex:  # pylint: disable=W0703
@@ -68,11 +66,6 @@ class CrazyflieConnection: 
        # Variable used to keep main loop occupied until disconnect

        self.is_connected = False



    # 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()

        self._cf.connected.call(self.uri)
@@ -80,15 +73,12 @@ 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)

        self._cf.packet_received.callbacks = [self.receive_callback]

        self._cf.incoming.cb = []



    def send(self, 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))
@@ -104,6 +94,8 @@ class CrazyflieConnection: 
    def close(self):

        logger.info('Closing Crazyflie Connection')

        self._cf.close_link()

        self._cf.packet_received.remove_callback(self.receive_callback)

        self.receive_callback = None





class ClientConnection:
@@ -129,15 +121,12 @@ class ClientConnection: 


    def send(self, pk):

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

        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('PRRT receive:', pk)

            return pk

        else:

            return None
@@ -154,32 +143,25 @@ class Bridge: 


        self._client_connection = ClientConnection(client_uri)

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

        self.stop_running = False



    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:

        while not self.stop_running and 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):

        self._client_connection.close()

        self.stop_running = True

        self._crazyflie_connection.close()

        self._client_connection.close()





if __name__ == '__main__':