From cca187ca5160d326a838f1cdf07a4d816b66b16b Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Wed, 25 Oct 2023 23:48:27 +0200
Subject: [PATCH] new thread for output
---
.../crazyflie_connection.cpython-38.pyc | Bin 5887 -> 5921 bytes
.../groundstation_socket.cpython-38.pyc | Bin 4722 -> 4710 bytes
cflib_groundstation/main.py | 51 ++++++++++--------
3 files changed, 29 insertions(+), 22 deletions(-)
diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index c4249331c166cdd16323d98a46de616822643865..95e0b2d206542122c47f17c1bc791704cb6a436a 100644
GIT binary patch
delta 221
zcmeybyHJlel$V!_0SH!iS*G6F$a|AT(nUWbKQ~oBDYGQGD6uM4-#0V4DBsyJC}cA?
z>sMAY#$X0brYgPQ)V!2pg~Xg3h2qqbg8a<9l46Cl{33-!h4jp_)I5d6-2BqK5{3LU
zg_6wNRKLmjLQ<2JxFwibsuU+L6cU*n$Q{cVzIi>j6BA?P<WIam8S^*4;ge-zESbzD
zIGu6wWPV|V$%h0Z7^ebR%9HJc!WgGdUeB#Cd8<$)<4mAfIpgff?ZTyub0_}=vgc1O
U6{%-jwE3$DCnF>4;{T$I08LIw3jhEB
delta 178
zcmZ3e_g|Mcl$V!_0SH{`EmN;-<h{wF8laz%pPQ<mlv$EolvtIj?~+=aU6Nm*pI($-
znwL^sl30?NpSSrx%U9OP0zyiYUAQHfnX42hKV%Y~T*Mv67`FK$w-Xa%#AFe^pNx5%
z`S@j-7>g(C2u^35G}%yCVe%8f2*xQumh$8Tp)kg2lP_{BOujA@$v6WjR?awU@=D=S
e#yOMaMamiHO`a}N&$w{2xF{zhBg<k%F-8ES3pu0!
diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index 8a732cdc4af311c7f155b3d8ce0fe128b8971509..39e080287b02284dc8b442133a25e79e43321bd7 100644
GIT binary patch
delta 50
zcmeyQ@=S#*l$V!_0SI2WZRDzDk#y0|$j?pHPs%JwE=sIQ)%VRzF3NXy3<}x2hUFM9
E0DzJZPXGV_
delta 62
zcmaE+@=1j&l$V!_0SN3WHgeUns0Qd~<maa9CuNo-7bRAu>bs;CXP4v`=%*Lum*%Au
Qmn4>C=I3o*z;cWi09W%BSpWb4
diff --git a/cflib_groundstation/main.py b/cflib_groundstation/main.py
index 4f6d633d7..70adb824c 100644
--- a/cflib_groundstation/main.py
+++ b/cflib_groundstation/main.py
@@ -1,3 +1,4 @@
+from ast import While
from email import message
from queue import Queue
from threading import Thread
@@ -11,12 +12,19 @@ class main():
self.outputQueue = Queue()
-
- def processCommands(self):
+ def start(self):
gs = GroundstationSocket()
self.inThread = Thread(target = gs.groundstation_connect, args = (self.inputQueue,))
self.inThread.start()
- cfConnect = CrazyflieConnection()
+ self.cfConnect = CrazyflieConnection()
+ self.commandThread = Thread(target = self.processCommands)
+ self.commandThread.start()
+ while True:
+ if self.outputQueue.not_empty:
+ message = self.outputQueue.get()
+ gs.WriteToBackend(message)
+
+ def processCommands(self):
while True:
if self.inputQueue.not_empty:
command = self.inputQueue.get()
@@ -24,40 +32,39 @@ class main():
msg_type = command["msg_type"]
print(msg_type)
if msg_type == MessageTypeID.GETPACKETLOGS_ID.value:
- cfConnect.GetPacketLogs()
+ self.cfConnect.GetPacketLogs()
elif msg_type == MessageTypeID.UPDATE_ID.value:
- cfConnect.Update()
+ self.cfConnect.Update()
elif msg_type == MessageTypeID.BEGINUPDATE_ID.value:
- cfConnect.BeginUpdate()
+ self.cfConnect.BeginUpdate()
elif msg_type == MessageTypeID.OUTPUT_OVERRIDE_ID.value:
- cfConnect.OverrideOuput()
+ self.cfConnect.OverrideOuput()
elif msg_type == MessageTypeID.GETNODES_ID.value:
- cfConnect.GetNodes()
+ self.cfConnect.GetNodes()
elif msg_type == MessageTypeID.SETPARAM_ID.value:
- cfConnect.SetParam()
+ self.cfConnect.SetParam()
elif msg_type == MessageTypeID.GETPARAM_ID.value:
- cfConnect.GetParam()
+ self.cfConnect.GetParam()
elif msg_type == MessageTypeID.SETSOURCE_ID.value:
- cfConnect.SetSource()
+ self.cfConnect.SetSource()
elif msg_type == MessageTypeID.GETSOURCE_ID.value:
- cfConnect.GetSource()
+ self.cfConnect.GetSource()
elif msg_type == MessageTypeID.RESPSOURCE_ID.value:
- cfConnect.RespSource()
+ self.cfConnect.RespSource()
elif msg_type == MessageTypeID.GETOUTPUT_ID.value:
- cfConnect.GetOutput()
+ self.cfConnect.GetOutput()
elif msg_type == MessageTypeID.GETNODES_ID.value:
- cfConnect.GetNodes()
+ self.cfConnect.GetNodes()
elif msg_type == MessageTypeID.ADDNODE_ID.value:
- cfConnect.AddNode()
+ self.cfConnect.AddNode()
elif msg_type == MessageTypeID.LOG_ID.value:
- cfConnect.GetLogFile()
+ self.cfConnect.GetLogFile()
elif msg_type == MessageTypeID.LOG_END_ID.value:
- cfConnect.LogBlockCommand()
+ self.cfConnect.LogBlockCommand()
+
- if self.outputQueue.not_empty:
- message = self.outputQueue.get()
- gs.WriteToBackend(message)
+
@@ -65,6 +72,6 @@ class main():
if __name__ == '__main__':
- main().processCommands()
+ main().start()
\ No newline at end of file
--
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