From f46759230f5c1fe37f7e7d1e1c8f1c7c962af60b Mon Sep 17 00:00:00 2001
From: jtkenny <jtkenny@iastate.edu>
Date: Mon, 23 Oct 2023 22:18:00 +0200
Subject: [PATCH] implementing queueing
---
.../crazyflie_connection.cpython-38.pyc | Bin 0 -> 2650 bytes
.../groundstation_socket.cpython-38.pyc | Bin 0 -> 4253 bytes
cflib_groundstation/groundstation_socket.py | 9 ++---
cflib_groundstation/main.py | 33 ++++++++++++++++--
4 files changed, 36 insertions(+), 6 deletions(-)
create mode 100644 cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
create mode 100644 cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
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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diff --git a/cflib_groundstation/groundstation_socket.py b/cflib_groundstation/groundstation_socket.py
index f0c15296d..803726dc3 100644
--- a/cflib_groundstation/groundstation_socket.py
+++ b/cflib_groundstation/groundstation_socket.py
@@ -1,3 +1,4 @@
+from queue import Queue
import socket
import os
import collections
@@ -8,7 +9,7 @@ socket_path = './cflib_groundstation.socket'
class GroundstationSocket():
metadata = collections.namedtuple("metadata", ["msg_type", "msg_id", "data_len"])
- def groundstation_connect(self):
+ def groundstation_connect(self, inputQueue: Queue):
# remove the socket file if it already exists
try:
os.unlink(socket_path)
@@ -45,8 +46,9 @@ class GroundstationSocket():
print("There was an error decoding the packet")
break
- #TODO: Add the message to the main function queue, which will
+ #Add the message to the main function queue, which will
#which will send the appropriate command to the quad.
+ inputQueue.put(message)
finally:
# close the connection
self.connection.close()
@@ -149,7 +151,6 @@ class MessageTypeID(Enum):
SEND_RT_ID = 20
MAX_TYPE_ID = 21
-if __name__ == '__main__':
- GroundstationSocket().groundstation_connect()
+
diff --git a/cflib_groundstation/main.py b/cflib_groundstation/main.py
index a7d3ccd07..76e489c3c 100644
--- a/cflib_groundstation/main.py
+++ b/cflib_groundstation/main.py
@@ -1,5 +1,34 @@
-
+from email import message
+from queue import Queue
+from threading import Thread
+from groundstation_socket import GroundstationSocket
+from crazyflie_connection import CrazyflieConnection
class main():
- print("main")
\ No newline at end of file
+ def __init__(self) -> None:
+ self.inputQueue = Queue()
+ self.outputQueue = Queue()
+
+
+
+ def processCommands(self):
+ gs = GroundstationSocket()
+ self.inThread = Thread(target = gs.groundstation_connect, args = (self.inputQueue,))
+ self.inThread.start()
+ while True:
+ if self.inputQueue.not_empty:
+ command = self.inputQueue.get()
+ print(command)
+ msg_type = command["msg_type"]
+ print(msg_type)
+
+
+
+
+
+
+if __name__ == '__main__':
+ main().processCommands()
+
+
\ No newline at end of file
--
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