Commit ce577ca6 authored by Marlene Böhmer's avatar Marlene Böhmer
Browse files

python scripts for Python3; adapt salt drone init script.

parent cbff1d73

.gitmodules

+3 −0
Original line number Diff line number Diff line
@@ -10,3 +10,6 @@ 
[submodule "salt/video/files/gst-prrt"]

	path = salt/video/files/gst-prrt

	url = git@git.nt.uni-saarland.de:LARN/gst-prrt.git

[submodule "salt/drone/crazyflie-lib-python"]

	path = salt/drone/crazyflie-lib-python

	url = git@git.nt.uni-saarland.de:s9meboeh/crazyflie-lib-python.git

crazyflie-lib-python @ eb6be503

Original line number Diff line number Diff line 
Subproject commit eb6be503ae753cdb5f3627daa89e9e7d9f23b790

salt/drone/init.sls

+2 −8
Original line number Diff line number Diff line 
include:

    - drone.scripts



pigpio:

    pkg.installed



python-pigpio:

    pkg.installed



python3-pigpio:

python3-serial:

    pkg.installed



python3-setuptools:
@@ -25,7 +19,7 @@ cf_lib_dir: 
cf_lib_repro:

    file.recurse:

        - name: /opt/crazyflie-lib-python

        - source: salt://drone/my-crazyflie-lib-python

        - source: salt://drone/crazyflie-lib-python

        - clean: True

        - user: rna

        - group: rna

salt/drone/scripts/flightscript_i2c.py→salt/drone/scripts/flightscript_uart.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 = 'i2c://'

URI = 'serial://pi'



# Only output errors from the logging framework

logging.basicConfig(level=logging.ERROR)

salt/drone/scripts/uart_test.py

+7 −6
Original line number Diff line number Diff line
@@ -9,7 +9,7 @@ SYSLINK_RADIO_RAW = 0x00 


received_data = []



ser = serial.Serial("/dev/ttyS0", 115200)

ser = serial.Serial(port="/dev/ttyS0", baudrate=115200)



def compute_cksum(list):

    cksum0, cksum1 = 0, 0
@@ -20,18 +20,19 @@ def compute_cksum(list): 


while True:



    received_data = map(ord, list(ser.read_until(chr(START_BYTE1)))[-1:])

    received_data += map(ord, list(ser.read(1)))

    received_data = bytearray()

    received_data += ser.read_until(bytes([START_BYTE1]))[-1:]

    received_data += ser.read(1)

    if received_data[1] != START_BYTE2:

        print("ERROR START")

        continue



    received_data += map(ord, list(ser.read(2)))

    received_data += ser.read(2)

    if received_data[3] > MTU:

        print("ERROR LENGTH")

        continue



    received_data += map(ord, list(ser.read(received_data[3]+2)))

    received_data += ser.read(received_data[3]+2)

    cksum = compute_cksum(received_data[2:-2])

    if cksum[0] != received_data[-2] or cksum[1] != received_data[-1]:

        print("ERROR CKSUM")
@@ -47,5 +48,5 @@ while True: 
    out_data += pk

    out_data += compute_cksum(header+pk)



    written = ser.write(bytearray(out_data))

    written = ser.write(bytes(out_data))

    print(written)