From f36bf079875794ea407c92ee3a20047e6edab379 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Fri, 1 Dec 2023 20:13:47 +0100
Subject: [PATCH] attempting timer
---
cflib_groundstation/SetpointHandler.py | 30 ++++++++++--------
.../__pycache__/LogfileHandler.cpython-38.pyc | Bin 5394 -> 5394 bytes
.../SetpointHandler.cpython-38.pyc | Bin 7058 -> 7662 bytes
.../crazyflie_connection.cpython-38.pyc | Bin 10349 -> 10524 bytes
.../groundstation_socket.cpython-38.pyc | Bin 4730 -> 4730 bytes
.../__pycache__/uCartCommander.cpython-38.pyc | Bin 7993 -> 7993 bytes
cflib_groundstation/crazyflie_connection.py | 8 +++--
.../logs/cflie1_2023_12_01_19:57:31.txt | 1 +
.../logs/cflie1_2023_12_01_19:57:44.txt | 1 +
.../logs/cflie1_2023_12_01_19:58:02.txt | 0
.../logs/cflie1_2023_12_01_20:00:03.txt | 1 +
.../logs/cflie1_2023_12_01_20:05:31.txt | 1 +
12 files changed, 26 insertions(+), 16 deletions(-)
create mode 100644 cflib_groundstation/logs/cflie1_2023_12_01_19:57:31.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_12_01_19:57:44.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_12_01_19:58:02.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_12_01_20:00:03.txt
create mode 100644 cflib_groundstation/logs/cflie1_2023_12_01_20:05:31.txt
diff --git a/cflib_groundstation/SetpointHandler.py b/cflib_groundstation/SetpointHandler.py
index 352ef3c2c..9a93d361e 100644
--- a/cflib_groundstation/SetpointHandler.py
+++ b/cflib_groundstation/SetpointHandler.py
@@ -5,10 +5,12 @@ the controls tab.
"""
+from ast import While, arg
from enum import Enum
+from time import sleep
from PyQt5.QtCore import QTimer
from uCartCommander import Commander
-from threading import Semaphore, Timer
+from threading import Semaphore, Thread, Timer
class FlightMode(Enum):
@@ -61,23 +63,28 @@ class SetpointHandler:
self.setpoint_semaphore = Semaphore(1)
self._flight_mode = FlightMode.TYPE_STOP
self.is_running = False
+ self.setpoint_time = 0
+ self.curr_time = 0
# Send setpoints to crazyflie every 20 ms.
- def start(self):
- if not self.is_running:
- self.timer = Timer(0.2, self.update)
- self.timer.start()
- self.is_running = True
- def stop(self):
- self.timer.cancel()
- self.is_running = False
+ def updateThread(self):
+ while self.is_running:
+ if self.curr_time < self.setpoint_time:
+ self.update()
+ sleep(.2)
+
+ def startSetpointThread(self):
+ setpointThread = Thread(target = self.updateThread, args=None)
+ setpointThread.start()
+ """"
def setTimer(self, time) :
#A way to set the timer so the setpoint is reguluarly sent
self.timer.stop()
self.timer.timeout.connect(self.update)
self.timer.start(time)
+ """
def setCommander(self, commander: Commander):
@@ -92,9 +99,6 @@ class SetpointHandler:
self.commander = None
def update(self):
- self.is_running = False
- self.start()
- print("update")
""" If the flight mode is not stopped, send the current setpoint. """
if self._flight_mode != FlightMode.TYPE_STOP:
self.sendSetpoint()
@@ -148,7 +152,7 @@ class SetpointHandler:
self.setpoint.pitch = pitch
self.setpoint.roll = roll
self.setpoint.thrust = thrust
- self.sendSetpointUnsafe()
+ #self.sendSetpointUnsafe()
self.setpoint_semaphore.release()
diff --git a/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc
index fac69a6d1b9e4014f14f747ad3fc8027b237b5fb..ffd3eb187ae669b573249628651bb2b325cdd03d 100644
GIT binary patch
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delta 20
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diff --git a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
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diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
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diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
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delta 20
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diff --git a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
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GIT binary patch
delta 332
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diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 8e98010d8..d079bf50d 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -80,7 +80,7 @@ class CrazyflieConnection:
# refresh the logging page so that it displays the toc
# refresh the parameter page so that it displays the correct information
self.setpoint_handler.setCommander(self.scf.cf.commander)
- #self.setpoint_handler.start()
+ self.setpoint_handler.startSetpointThread()
def disconnect(self):
""" Disconnect from crazyflie. """
@@ -135,8 +135,10 @@ class CrazyflieConnection:
raise Exception # Not implemented
else :
raise Exception
-
- self.setpoint_handler.setSetpoint(yaw, pitch, roll, thrust)
+ if self.setpoint_handler.setpoint.pitch != pitch or self.setpoint_handler.setpoint.yaw != yaw or self.setpoint_handler.setpoint.roll != roll or self.setpoint_handler.setpoint.thrust != thrust:
+ self.setpoint_handler.setSetpoint(yaw, pitch, roll, thrust)
+ self.setpoint_handler.setpoint_time = time
+ self.setpoint_handler.curr_time = 0
#self.setpoint_handler.sendSetpoint()
def GetNodeIds():
diff --git a/cflib_groundstation/logs/cflie1_2023_12_01_19:57:31.txt b/cflib_groundstation/logs/cflie1_2023_12_01_19:57:31.txt
new file mode 100644
index 000000000..f2deb3d7f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_01_19:57:31.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_01_19:57:44.txt b/cflib_groundstation/logs/cflie1_2023_12_01_19:57:44.txt
new file mode 100644
index 000000000..f2deb3d7f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_01_19:57:44.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_01_19:58:02.txt b/cflib_groundstation/logs/cflie1_2023_12_01_19:58:02.txt
new file mode 100644
index 000000000..e69de29bb
diff --git a/cflib_groundstation/logs/cflie1_2023_12_01_20:00:03.txt b/cflib_groundstation/logs/cflie1_2023_12_01_20:00:03.txt
new file mode 100644
index 000000000..f2deb3d7f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_01_20:00:03.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
diff --git a/cflib_groundstation/logs/cflie1_2023_12_01_20:05:31.txt b/cflib_groundstation/logs/cflie1_2023_12_01_20:05:31.txt
new file mode 100644
index 000000000..f2deb3d7f
--- /dev/null
+++ b/cflib_groundstation/logs/cflie1_2023_12_01_20:05:31.txt
@@ -0,0 +1 @@
+#Crazyflie
#Controller:Unknown
\ No newline at end of file
--
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