crazyflie-zmq 0.1.1 → 0.1.2

checksums.yaml

@@ -1,7 +1,7 @@
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data/crazyflie-zmq.gemspec

@@ -1,6 +1,6 @@
 # -*- encoding: utf-8 -*-
 $:.unshift File.expand_path("../lib", __FILE__)
-require "crazyflie-zmq"
+require "crazyflie-zmq/version"
 
 Gem::Specification.new do |s|
   s.name          = "crazyflie-zmq"

data/lib/crazyflie-zmq.rb

@@ -5,6 +5,8 @@ require 'json'
 require 'csv'
 require 'ffi-rzmq'
 
+require_relative 'crazyflie-zmq/version'
+
 
 # Allow control of a {https://www.bitcraze.io/crazyflie-2/ Crazyflie}
 # drone using the ZMQ protocol.
@@ -16,13 +18,24 @@ require 'ffi-rzmq'
 #
 #   crazyflie-clients-python/bin/cfzmq --url tcp://* -d
 #
+# Small demonstration:
+#
+#   $cf = CrazyflieZMQ.new('tcp://_ip_address_') # Connect to ZMQ sockets
+#   $cf.connect('radio://0/80/1M/E7E7E7E7E7')    # Connect to drone
+#   $cf.log_create(:range,                       # Create log block
+#      'ranging.distance0', 'ranging.distance1', 'ranging.distance2')
+#   $cf['posCtlPid','xKp']= 1.0                  # Parameter (group, name notation)
+#   $cf['posCtlPid.yKp'  ]= 1.0                  # Paramerer (name dotted notation)
+#   $cf.log_start(:range, file: :csv)            # Log to csv generated file
+#   sleep(120)                                   # Wait 2 minutes
+#   $cf.log_stop(:range)                         # Stop logging of :range
+#   $cf.disconnect                               # Disconnect from drone
+#
 # @see https://wiki.bitcraze.io/doc:crazyflie:client:cfzmq:index
 # @see https://wiki.bitcraze.io/doc:crazyflie:dev:arch:logparam
 # @see https://wiki.bitcraze.io/projects:crazyflie:firmware:comm_protocol
 # @see https://wiki.bitcraze.io/doc:crazyflie:crtp:log
 class CrazyflieZMQ
-    VERSION = "0.1.1"  # CrazyflieZMQ version
-
     # Standard error for {CrazyflieZMQ}
     class Error        < StandardError ; end
 
@@ -38,7 +51,7 @@ class CrazyflieZMQ
 
 
 
-    # Create a CrazyflieZMQ instance
+    # Create a {CrazyflieZMQ} instance
     #
     # @param url [String] the url to connect to the ZMQ socket
     def initialize(url, log: nil)
@@ -49,9 +62,9 @@ class CrazyflieZMQ
         @log_count    = {}
         @log_blocks   = nil
         
-        @param  = {}
-        @log    = {}
-        @connected = nil
+        @param        = {}
+        @log          = {}
+        @connected    = nil
         
         @ctx    = ZMQ::Context.create(1)
 
@@ -69,7 +82,7 @@ class CrazyflieZMQ
             loop {
                 data = ''
                 @param_sock.recv_string(data)
-                resp = JSON.parse(data)
+                resp = JSON.parse(_json_fix(data))
                 version     = resp.delete('version'  )
                 name        = resp.delete('name'     )
                 value       = resp.delete('value'    )
@@ -89,7 +102,7 @@ class CrazyflieZMQ
             loop {
                 data = ''
                 @log_sock.recv_string(data)
-                resp = JSON.parse(data)
+                resp = JSON.parse(_json_fix(data))
                 version   = resp.delete('version'  )
                 event     = resp.delete('event'    ).to_sym
                 name      = resp.delete('name'     ).to_sym
@@ -105,8 +118,9 @@ class CrazyflieZMQ
 
     
     # Returns the list of available crazyflie
+    # @return [Array<Hash{String=>String}>] list of available interfaces
     def scan()
-        _request(cmd: :scan)
+        _request(cmd: :scan).dig('interfaces')
     end
 
 
@@ -117,23 +131,23 @@ class CrazyflieZMQ
     # @return [self]
     def connect(uri, log_blocks: nil)
         toc = _request(cmd: :connect, uri: uri)
-        @param     = toc['param'] || {}
-        @log       = toc['log'  ] || {}
-        @connected = Time.now.freeze
-
-        if @log_blocks = log_blocks
-            @log_blocks.each {|key, data|
-                variables, period =
-                    case data
-                    when Hash   then [ data[:variables], data[:period] ]
-                    when Array  then [ data ]
-                    when String then [ [ data ] ]
-                    end
-
-                next if variables.nil? || variables.empty?
+        @param      = toc['param'] || {}
+        @log        = toc['log'  ] || {}
+        @connected  = Time.now.freeze
+        @log_blocks = log_blocks
+
+        @log_blocks&.each {|key, data|
+            variables, period =
+                case data
+                when Hash   then [ data[:variables], data[:period] ]
+                when Array  then [ data ]
+                when String then [ [ data ] ]
+                end
+
+            if !variables.nil? && !variables.empty?
                 self.log_create(key, *variables, period: period || 100)
-            }
-        end
+            end
+        }
         
         self
     end
@@ -166,10 +180,11 @@ class CrazyflieZMQ
        
     
     # Create a log block
+    #
     # @note logging is usually done through the crazyflie radio link
-    #       so you are limited in the number of variable that you
+    #       so you are limited in the number of variables that you
     #       can log at the same time as well as the minimal logging
-    #       period that you can use
+    #       period that you can use.
     #
     # @param name [Symbole,String] log block name
     # @param variables [Array<String>] name of the variable to logs
@@ -191,7 +206,7 @@ class CrazyflieZMQ
     #
     # @param name [Symbol, String]    name of the log block to start
     # @param file [String, :csv, nil] name or type of file where to automatically log data
-    # @param block                    block called on each new log
+    # @yield                    log data
     # @return [self]
     def log_start(name, file: nil, &block)
         count = (@log_count[name] || 0) + 1
@@ -272,7 +287,7 @@ class CrazyflieZMQ
     # Get a parameter value from the crazyflie
     #
     # If a parameter group is not specified it is possible
-    # to use a +'.'+ in the parameter name to indicate it:
+    # to use a +.+ in the parameter name to indicate it:
     # +"group.name"+
     #
     # @param group [String,nil] group on which the parameter belongs
@@ -285,6 +300,12 @@ class CrazyflieZMQ
 
     private
 
+    def _json_fix(str)
+        str.gsub(/(?<=:)
+                   (?:[\+\-]?Infinity|NaN)
+                   (?=,|\})/x, 'null')
+    end
+    
     def _zmq_ok!(rc, msg = nil)
         if !ZMQ::Util.resultcode_ok?(rc)
             raise ZMQError, msg
@@ -296,7 +317,7 @@ class CrazyflieZMQ
         resp = ''
         @client_sock.send_string(data.to_json)
         @client_sock.recv_string(resp)
-        resp = JSON.parse(resp)
+        resp = JSON.parse(_json_fix(resp))
         version = resp.delete('version')
         status  = resp.delete('status')
         unless status.nil? || status.zero?

data/lib/crazyflie-zmq/version.rb

@@ -0,0 +1,3 @@
+class CrazyflieZMQ
+    VERSION = "0.1.2"  # CrazyflieZMQ version
+end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: crazyflie-zmq
 version: !ruby/object:Gem::Version
-  version: 0.1.1
+  version: 0.1.2
 platform: ruby
 authors:
 - Stephane D'Alu
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2018-01-10 00:00:00.000000000 Z
+date: 2018-01-23 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: ffi-rzmq
@@ -77,6 +77,7 @@ files:
 - LICENSE
 - crazyflie-zmq.gemspec
 - lib/crazyflie-zmq.rb
+- lib/crazyflie-zmq/version.rb
 homepage: http://github.com/sdalu/crazyflie-zmq
 licenses:
 - Apache-2.0