python scripts for Python3; adapt salt drone init script.

.gitmodules

@@ -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

+Subproject commit eb6be503ae753cdb5f3627daa89e9e7d9f23b790

salt/drone/init.sls

 include:
     - drone.scripts
 
-pigpio:
+python3-serial:
     pkg.installed
 
-python-pigpio:
-    pkg.installed
-
-python3-pigpio:
-    pkg.installed
-    
 python3-setuptools:
     pkg.installed
 
@@ -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

@@ -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

@@ -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)