crazyflie-zmq 0.1.0

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data/Gemfile

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+# -*- ruby -*-
+
+source 'https://rubygems.org'
+
+gemspec

data/LICENSE

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data/crazyflie-zmq.gemspec

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+# -*- encoding: utf-8 -*-
+$:.unshift File.expand_path("../lib", __FILE__)
+require "crazyflie-zmq"
+
+Gem::Specification.new do |s|
+  s.name          = "crazyflie-zmq"
+  s.version       = CrazyflieZMQ::VERSION
+  s.authors       = [ "Stephane D'Alu" ]
+  s.email         = [ "stephane.dalu@insa-lyon.fr" ]
+  s.homepage      = "http://github.com/sdalu/crazyflie-zmq"
+  s.summary       = "Control Crazyflie via ZMQ protocol"
+
+  s.add_dependency 'ffi-rzmq'
+
+  s.add_development_dependency "yard"
+  s.add_development_dependency "rake"
+
+  s.has_rdoc      = 'yard'
+
+  s.license       = 'Apache-2.0'
+  
+
+  s.files         = %w[ LICENSE Gemfile crazyflie-zmq.gemspec ] + 
+		     Dir['lib/**/*.rb'] 
+end

data/lib/crazyflie-zmq.rb

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+require 'thread'
+require 'json'
+require 'csv'
+require 'ffi-rzmq'
+
+class CrazyflieZMQ
+    VERSION = "0.1.0"
+
+    class Error        < StandardError ; end
+    class ZMQError     < Error         ; end
+    class NotConnected < Error         ; end
+    class RequestError < Error         ; end
+
+
+    attr_reader :connected
+    
+    def initialize(url, log: nil)
+        @url          = url
+        @log_cb       = log
+        @log_data_cb  = {}
+        @log_file     = {}
+        @log_count    = {}
+        @log_blocks   = nil
+        
+        @param  = {}
+        @log    = {}
+        @connected = nil
+        
+        @ctx    = ZMQ::Context.create(1)
+
+        @client_sock = @ctx.socket(ZMQ::REQ)
+        _zmq_ok!(@client_sock.setsockopt(ZMQ::LINGER, 0),  "client setsockopt")
+        _zmq_ok!(@client_sock.connect("#{@url}:2000"),     "client connect"   )
+
+        
+        @param_sock = @ctx.socket(ZMQ::SUB)
+        _zmq_ok!(@param_sock.setsockopt(ZMQ::LINGER, 0),   "param setsockopt" )
+        _zmq_ok!(@param_sock.setsockopt(ZMQ::SUBSCRIBE,''),"param setsockopt" )
+        _zmq_ok!(@param_sock.connect("#{@url}:2002"),      "param connect"    )
+
+        @param_thr = Thread.new {
+            loop {
+                data = ''
+                @param_sock.recv_string(data)
+                resp = JSON.parse(data)
+                version     = resp.delete('version'  )
+                name        = resp.delete('name'     )
+                value       = resp.delete('value'    )
+                group, name = name.split('.', 2)
+                @param.dig(group, name)&.merge('value' => value.to_s)
+            }
+        }
+        @param_thr.abort_on_exception = true
+
+        
+        @log_sock = @ctx.socket(ZMQ::SUB)
+        _zmq_ok!(@log_sock.setsockopt(ZMQ::LINGER, 0),     "log setsockopt"   )
+        _zmq_ok!(@log_sock.setsockopt(ZMQ::SUBSCRIBE, ''), "log setsockopt"   )
+        _zmq_ok!(@log_sock.connect("#{@url}:2001"),        "log connect"      )
+
+        @log_thr = Thread.new {
+            loop {
+                data = ''
+                @log_sock.recv_string(data)
+                resp = JSON.parse(data)
+                version   = resp.delete('version'  )
+                event     = resp.delete('event'    ).to_sym
+                name      = resp.delete('name'     ).to_sym
+                timestamp = resp.delete('timestamp')
+                resp = Hash[resp.map {|key, value| [ key.to_sym, value ] }]
+                @log_cb&.(event, name, timestamp, resp)
+                @log_data_cb[name]&.each {|cb|
+                    cb.(timestamp, resp) } if event == :data
+            }
+        }
+        @log_thr.abort_on_exception = true
+    end
+
+    
+
+    def scan()
+        _request(cmd: :scan)
+    end
+
+
+    
+    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?
+                self.log_create(key, *variables, period: period || 100)
+            }
+        end
+        
+        self
+    end
+
+    def disconnect()
+        @log_blocks&.each_key {|key| self.log_delete(key) }
+        _request(cmd: :disconnect)
+        @connected = @param = @log = @log_blocks = nil
+        self
+    end
+
+    def is_connected?
+        !@connected.nil?
+    end
+
+    def is_connected!
+        raise NotConnected unless is_connected?
+    end
+       
+
+
+    def log_create(name, *variables, period: 1000)
+        _request(cmd: :log, action: :create, name: name,
+                 variables: variables, period: period)
+        self
+    end
+
+    def log_start(name, file: nil, &block)
+        count = (@log_count[name] || 0) + 1
+
+        if block
+            (@log_data_cb[name] ||= []) << block
+        end
+
+        if file
+            case file
+            when String
+                if ! file.end_with?('.csv')
+                    raise ArgumentError,
+                          "only file with csv extension/format is supported"
+                end
+            when :csv
+                prefix = [ @connected.strftime("%Y%m%dT%H%M"),
+                           count
+                         ].join('-')
+                file   = "#{prefix}-#{name}.csv"
+            else
+                raise ArgumentError, "unsupported file specification"
+            end
+            
+            variables = case data = @log_blocks[name]
+                        when Array then data
+                        when Hash  then data[:variables]
+                        end
+            io = @log_file[name] =
+                CSV.open(file, 'wb',
+                         :write_headers => true,
+                         :headers       => [ 'timestamp' ] + variables)
+            (@log_data_cb[name] ||= []) << ->(timestamp, variables:) {
+                io << variables.merge('timestamp' => timestamp)
+            }
+        end
+
+        _request(cmd: :log, action: :start,  name: name)
+        @log_count[name] = count
+        self
+    end
+   
+    def log_stop(name)
+        _request(cmd: :log, action: :stop,   name: name)
+        @log_data_cb.delete(name)
+        @log_file.delete(name)&.close
+        self
+    end
+
+    def log_delete(name)
+        _request(cmd: :log, action: :delete, name: name)
+        self
+    end
+
+    def []=(group=nil, name, value)
+        name = [ group, name ].join('.') if group
+        _request(cmd: :param, name: name, value: value)
+        value
+    end
+
+    def [](group=nil, name)
+        group, name = name.split('.', 2) if group.nil?
+        @param.dig(group, name, 'value')
+    end
+
+
+    private
+
+    def _zmq_ok!(rc, msg = nil)
+        if !ZMQ::Util.resultcode_ok?(rc)
+            raise ZMQError, msg
+        end
+    end
+    
+    def _request(data)
+        data = data.merge(version: 1)
+        resp = ''
+        @client_sock.send_string(data.to_json)
+        @client_sock.recv_string(resp)
+        resp = JSON.parse(resp)
+        version = resp.delete('version')
+        status  = resp.delete('status')
+        unless status.nil? || status.zero?
+            raise RequestError, "#{status}: #{resp['msg']}"
+        end
+        resp
+    end    
+end

metadata

@@ -0,0 +1,90 @@
+--- !ruby/object:Gem::Specification
+name: crazyflie-zmq
+version: !ruby/object:Gem::Version
+  version: 0.1.0
+platform: ruby
+authors:
+- Stephane D'Alu
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2018-01-10 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: ffi-rzmq
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: yard
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+description: 
+email:
+- stephane.dalu@insa-lyon.fr
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- Gemfile
+- LICENSE
+- crazyflie-zmq.gemspec
+- lib/crazyflie-zmq.rb
+homepage: http://github.com/sdalu/crazyflie-zmq
+licenses:
+- Apache-2.0
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.7.4
+signing_key: 
+specification_version: 4
+summary: Control Crazyflie via ZMQ protocol
+test_files: []