attempting timer

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()
 

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():

cflib_groundstation/logs/cflie1_2023_12_01_19:57:31.txt

+#Crazyflie
#Controller:Unknown
\ No newline at end of file

cflib_groundstation/logs/cflie1_2023_12_01_19:57:44.txt

+#Crazyflie
#Controller:Unknown
\ No newline at end of file

cflib_groundstation/logs/cflie1_2023_12_01_20:00:03.txt

+#Crazyflie
#Controller:Unknown
\ No newline at end of file

cflib_groundstation/logs/cflie1_2023_12_01_20:05:31.txt

+#Crazyflie
#Controller:Unknown
\ No newline at end of file