From 6cb3c15f5d932b7b2c3150b351cf88cc4c518c4a Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Wed, 25 Oct 2023 18:49:22 +0200
Subject: [PATCH] adding functionality to send packets back
---
.../crazyflie_connection.cpython-38.pyc | Bin 2650 -> 2650 bytes
.../groundstation_socket.cpython-38.pyc | Bin 4253 -> 4253 bytes
cflib_groundstation/groundstation_socket.py | 15 +++++++
cflib_groundstation/main.py | 38 +++++++++++++++++-
4 files changed, 52 insertions(+), 1 deletion(-)
diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index 46a66108eef65d96e5e41d73bf7defe483a5523d..e6d5daf61a108acc7e4a3a17e2ac232b2a13e297 100644
GIT binary patch
delta 20
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delta 20
acmca5a!Z6el$V!_0SGLPm~G_t=K=sVeFUfg
diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index 704af640fbe957aa1ab2b02b8e7b8d6685ee8597..8992ae1d5dc36d7cf4ca436430a295654b520bb4 100644
GIT binary patch
delta 857
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delta 857
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diff --git a/cflib_groundstation/groundstation_socket.py b/cflib_groundstation/groundstation_socket.py
index 803726dc3..edbf47da7 100644
--- a/cflib_groundstation/groundstation_socket.py
+++ b/cflib_groundstation/groundstation_socket.py
@@ -92,6 +92,21 @@ class GroundstationSocket():
def EncodePacket(self, messagedata):
print("encoding packet")
+ bytedata = bytearray(Message.BEGIN_CHAR.value)
+ bytedata.append(messagedata["msg_type"] & 0xFF)
+ bytedata.append((messagedata["msg_type"] >> 8) & 0xFF)
+ bytedata.append(messagedata["msg_id"])
+ bytedata.append(messagedata["data_len"] & 0xFF)
+ bytedata.append((messagedata["data_len"] >> 8) & 0xFF)
+ bytedata.append(messagedata["data"])
+ bytedata.append(self.packetChecksum(messagedata, PacketHeader.HDR_SIZE.value + messagedata["data_len"] + ChecksumFormat.CSUM_SIZE.value))
+ return bytedata
+
+ def WriteToBackend(self, message):
+ messagedata = self.EncodePacket(message)
+ self.connection.send(messagedata)
+
+
diff --git a/cflib_groundstation/main.py b/cflib_groundstation/main.py
index 76e489c3c..4f6d633d7 100644
--- a/cflib_groundstation/main.py
+++ b/cflib_groundstation/main.py
@@ -1,7 +1,7 @@
from email import message
from queue import Queue
from threading import Thread
-from groundstation_socket import GroundstationSocket
+from groundstation_socket import GroundstationSocket, MessageTypeID
from crazyflie_connection import CrazyflieConnection
@@ -16,12 +16,48 @@ class main():
gs = GroundstationSocket()
self.inThread = Thread(target = gs.groundstation_connect, args = (self.inputQueue,))
self.inThread.start()
+ cfConnect = CrazyflieConnection()
while True:
if self.inputQueue.not_empty:
command = self.inputQueue.get()
print(command)
msg_type = command["msg_type"]
print(msg_type)
+ if msg_type == MessageTypeID.GETPACKETLOGS_ID.value:
+ cfConnect.GetPacketLogs()
+ elif msg_type == MessageTypeID.UPDATE_ID.value:
+ cfConnect.Update()
+ elif msg_type == MessageTypeID.BEGINUPDATE_ID.value:
+ cfConnect.BeginUpdate()
+ elif msg_type == MessageTypeID.OUTPUT_OVERRIDE_ID.value:
+ cfConnect.OverrideOuput()
+ elif msg_type == MessageTypeID.GETNODES_ID.value:
+ cfConnect.GetNodes()
+ elif msg_type == MessageTypeID.SETPARAM_ID.value:
+ cfConnect.SetParam()
+ elif msg_type == MessageTypeID.GETPARAM_ID.value:
+ cfConnect.GetParam()
+ elif msg_type == MessageTypeID.SETSOURCE_ID.value:
+ cfConnect.SetSource()
+ elif msg_type == MessageTypeID.GETSOURCE_ID.value:
+ cfConnect.GetSource()
+ elif msg_type == MessageTypeID.RESPSOURCE_ID.value:
+ cfConnect.RespSource()
+ elif msg_type == MessageTypeID.GETOUTPUT_ID.value:
+ cfConnect.GetOutput()
+ elif msg_type == MessageTypeID.GETNODES_ID.value:
+ cfConnect.GetNodes()
+ elif msg_type == MessageTypeID.ADDNODE_ID.value:
+ cfConnect.AddNode()
+ elif msg_type == MessageTypeID.LOG_ID.value:
+ cfConnect.GetLogFile()
+ elif msg_type == MessageTypeID.LOG_END_ID.value:
+ cfConnect.LogBlockCommand()
+
+ if self.outputQueue.not_empty:
+ message = self.outputQueue.get()
+ gs.WriteToBackend(message)
+
--
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