Bridge: rename variables; do not check for connection

salt/drone/scripts/bridge.py

@@ -3,6 +3,7 @@
 import sys
 import threading
 import signal
+import time
 
 import cflib.crtp as crtp
 from cflib.crtp.crtpstack import CRTPPacket, CRTPPort
@@ -13,16 +14,17 @@ class ForwardBridge(threading.Thread):
         threading.Thread.__init__(self)
         self._crazyflie_connection = crazyflie_connection
         self._client_connection = client_connection
-        self.stop_running = False
+        self._stop_running = False
 
     def run(self):
-        while not self.stop_running:
+        while not self._stop_running:
             pk = self._client_connection.receive_packet(-1)
-            if pk and not self.stop_running:
+            if pk and not self._stop_running:
                 self._crazyflie_connection.send_packet(pk)
+            time.sleep(0.001)
 
     def stop(self):
-        self.stop_running = True
+        self._stop_running = True
 
 
 class BackwardBridge(threading.Thread):
@@ -30,58 +32,60 @@ class BackwardBridge(threading.Thread):
         threading.Thread.__init__(self)
         self._crazyflie_connection = crazyflie_connection
         self._client_connection = client_connection
-        self.stop_running = False
+        self._stop_running = False
 
     def run(self):
-        while not self.stop_running:
+        while not self._stop_running:
             pk = self._crazyflie_connection.receive_packet(-1)
-            if pk and not self.stop_running:
+            if pk and not self._stop_running:
                 self._client_connection.send_packet(pk)
+            time.sleep(0.001)
+
 
     def stop(self):
-        self.stop_running = True
+        self._stop_running = True
 
 
 class Bridge:
     def __init__(self, crazyflie_uri, client_uri):
         print('Initializing Bridge ...')
-        self.crazyflie_uri = crazyflie_uri
-        self.client_uri = client_uri
+        self._crazyflie_uri = crazyflie_uri
+        self._client_uri = client_uri
 
         crtp.init_drivers(enable_debug_driver=False)
 
-        self._crazyflie_connection = crtp.get_link_driver(self.crazyflie_uri, None, None)
+        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)
+            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)
+            raise Exception('No diver found for Client URI ' + self._client_uri)
 
-        self.forward_thread = None
-        self.backward_thread = None
+        self._forward_thread = None
+        self._backward_thread = None
         print('Bridge initialized.')
 
     def check_for_crazyflie_connection(self):
-        print('Connecting to ' + str(self.crazyflie_uri) + ' ...')
+        print('Connecting to ' + str(self._crazyflie_uri) + ' ...')
         packet = CRTPPacket()
         packet.port = CRTPPort.LINKCTRL
         packet.channel = 1
         self._crazyflie_connection.send_packet(packet)
         self._crazyflie_connection.receive_packet(-1)
-        print('Connected to ' + str(self.crazyflie_uri) + '.')
+        print('Connected to ' + str(self._crazyflie_uri) + '.')
 
     def start(self):
-        self.forward_thread = ForwardBridge(self._crazyflie_connection, self._client_connection)
-        self.backward_thread = BackwardBridge(self._crazyflie_connection, self._client_connection)
-        self.forward_thread.daemon = True
-        self.backward_thread.daemon = True
-        self.forward_thread.start()
-        self.backward_thread.start()
+        self._forward_thread = ForwardBridge(self._crazyflie_connection, self._client_connection)
+        self._backward_thread = BackwardBridge(self._crazyflie_connection, self._client_connection)
+        self._forward_thread.daemon = True
+        self._backward_thread.daemon = True
+        self._forward_thread.start()
+        self._backward_thread.start()
 
     def stop(self):
         print('\nStopping threads ...')
-        self.forward_thread.stop()
-        self.backward_thread.stop()
+        self._forward_thread.stop()
+        self._backward_thread.stop()
         print('Closing connections ...')
         self._crazyflie_connection.close()
         self._client_connection.close()
@@ -95,11 +99,11 @@ if __name__ == '__main__':
         sys.exit(0)
 
     serial_uri = 'serial://pi'
-    prrt_uri = sys.argv[1]
+    prrt_uri = 'prrt://' + sys.argv[1] + ':5000'
 
     bridge = Bridge(serial_uri, prrt_uri)
 
-    bridge.check_for_crazyflie_connection()  # optional
+#    bridge.check_for_crazyflie_connection()  # optional
     bridge.start()
 
     print('\nSetup finished.\nUse "Ctrl+C" to stop.\n')