Bridge: rename variables; do not check for connection (d032e3a6) · Commits · LARN / RNA / Software

salt/drone/scripts/bridge.py

+32 −28

Original line number	Diff line number	Diff line
		@@ -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')