crubyflie 0.1.1 → 0.1.2

checksums.yaml

@@ -1,7 +1,7 @@
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data/README.md

@@ -7,6 +7,12 @@ Crubyflie is a Ruby rewrite of the [Crazyflie quadcopter](http://www.bitcraze.se
 
 The Crazyflie is awesome, but I did not know where to start contributing. Therefore I thought that rewriting the code in Ruby would be one way of knowing what is going on and how it works. Along the way I took the time to document all the code so that others can understand it and create tests.
 
+You may be also interested in some other unofficial Crazyflie clients:
+
+ * C++:     https://github.com/fairlight1337/libcflie
+ * Node.js: https://github.com/ceejbot/aerogel
+ * Haskell: https://github.com/orclev/crazyflie-haskell
+
 Disclaimer
 ----------
 
@@ -17,7 +23,8 @@ Features
 
  * Crubyflie can be used to fly a Crazyflie device using a Joystick and the Crazyradio USB dongle
  * Crubyflie exposes an API that allows to control the copter, read logging, parameters and console easily
- * Crubyflie runs headless
+ * Crubyflie runs headless  
+ * Lightweight: If you just want to fly, Crubyflie consumes around 1/2 memory and 1/3 CPU compared to the original Python `cfheadless` utility.
 
 Not included...
 ----------------
@@ -45,6 +52,16 @@ If you are wondering about your Joystick's axis IDs, ranges etc, you will find a
 
 If you need help just open an issue or contact me.
 
+Raspberri Pi
+------------
+
+If you want to use Crubyflie in your Raspberry Pi you need to:
+
+    sudo apt-get install ruby ruby-dev libsdl-dev
+    sudo gem install crubyflie
+
+This should provide everything you need to run the `crubyflie` command. Of course you might need to put your user in the `input` group and modify `udev` rules as explained in the [Crazyflie wiki](http://wiki.bitcraze.se/projects:crazyflie:hacks:rasberrypi).
+
 Using the Crazyflie API
 -----------------------
 

data/bin/crubyflie

@@ -72,11 +72,16 @@ Signal.trap("SIGINT") do
 end
 
 while cf.active? && !exit do
-    # We should be good sending 10 ticks per second
-    # it says that somewhere in the docs
+    start_time = Time.now.to_f
     joystick.read_input()
     joystick.apply_input(cf)
-    sleep 0.1
+    # We should be good sending 10 ticks per second,
+    # as it says that somewhere in the docs, so we have
+    # 1/10 secs of time per loop. If we are fast, we can sleep
+    # a little bit
+    consumed_time = Time.now.to_f - start_time
+    sleep_time = 0.1 - (consumed_time)
+    sleep sleep_time if sleep_time > 0
 end
 
 joystick.quit()

data/lib/crubyflie/input/input_reader.rb

@@ -147,7 +147,7 @@ module Crubyflie
 
             if pitch && roll && yaw && thrust
                 m = "Sending R: #{roll} P: #{pitch} Y: #{yaw} T: #{thrust}"
-                #logger.debug(m)
+                logger.debug(m)
                 crazyflie.commander.send_setpoint(roll, pitch, yaw, thrust,
                                                   @xmode)
             end

data/lib/crubyflie/input/joystick_input_reader.rb

@@ -36,6 +36,8 @@ module Crubyflie
         DEFAULT_INPUT_RANGE = "-32768:32767"
         # Default Crazyflie min/max angles in degrees
         DEFAULT_OUTPUT_RANGE = "-30:30"
+        # Default dead zone range
+        DEFAULT_DEAD_ZONE = "0:0"
         # Default configuration file
         DEFAULT_CONFIG_PATH = File.join(File.dirname(__FILE__), "..","..","..",
                                         "configs", "joystick_default.yaml")
@@ -87,12 +89,36 @@ module Crubyflie
                 end
 
                 axis[id] = action
+
+                # Parse and fill in ranging values
+                [[:input_range, DEFAULT_INPUT_RANGE],
+                 [:output_range, DEFAULT_OUTPUT_RANGE],
+                 [:dead_zone, DEFAULT_DEAD_ZONE]].each do |id, default|
+                    range_s = axis_cfg[id] || default
+                    start, rend = range_s.split(':')
+                    start = start.to_i; rend = rend.to_i
+                    range = {
+                        :start => start.to_f,
+                        :end => rend.to_f,
+                        :width => (Range.new(start,rend).to_a.size() - 1).to_f
+                    }
+                    axis_cfg[id] = range
+                end
+
+                # output value max jump per second. We covert to rate/ms
+                max_chrate = axis_cfg[:max_change_rate] || 10000
+                axis_cfg[:max_change_rate] = max_chrate.to_f / 1000
+
+                axis_cfg[:last_poll] ||= 0
+                axis_cfg[:last_value] ||= 0
+                axis_cfg[:invert] ||= false
+                axis_cfg[:calibration] ||= 0
+
             end
 
             buttons = {}
-            if config_h[:buttons].nil?
-                raise JoystickException.new("No buttons section")
-            end
+            config_h[:buttons] = buttons if config_h[:buttons].nil?
+
             config_h[:buttons].each do |id, button_cfg|
                 action = button_cfg[:action]
                 if action.nil?
@@ -141,44 +167,37 @@ module Crubyflie
             return 0 if axis_conf.nil?
             is_thrust = axis_conf[:action] == :thrust
 
+            last_poll = axis_conf[:last_poll]
+            last_value = axis_conf[:last_value]
+            invert = axis_conf[:invert]
+            calibration = axis_conf[:calibration]
 
-            last_poll = axis_conf[:last_poll] || 0
-            last_value = axis_conf[:last_value] || 0
-            invert = axis_conf[:invert] || false
-            calibration = axis_conf[:calibration] || 0
-
-            input_range_s = axis_conf[:input_range] || DEFAULT_INPUT_RANGE
-            ir_start, ir_end = input_range_s.split(':')
-            input_range = Range.new(ir_start.to_i, ir_end.to_i)
-
-            output_range_s = axis_conf[:output_range] || DEFAULT_OUTPUT_RANGE
-            or_start, or_end = output_range_s.split(':')
-            output_range = Range.new(or_start.to_i, or_end.to_i)
+            input_range = axis_conf[:input_range]
+            output_range = axis_conf[:output_range]
 
-            # output value max jump per second. We covert to rate/ms
-            max_chrate = axis_conf[:max_change_rate] || 10000
-            max_chrate = max_chrate.to_f / 1000
+            max_chrate = axis_conf[:max_change_rate]
 
-            dead_zone = axis_conf[:dead_zone] || "0:0" # % deadzone around 0
-            dz_start, dz_end = dead_zone.split(':')
-            dead_zone_range = Range.new(dz_start.to_i, dz_end.to_i)
+            dead_zone = axis_conf[:dead_zone]
 
             value = @joystick.axis(axis_id)
+
             value *= -1 if invert
             value += calibration
 
-            # Make sure input falls with the expected range
-            if value > input_range.last then value = input_range.last end
-            if value < input_range.first then value = input_range.first end
-            # Dead zone
 
-            if dead_zone_range.first < value && dead_zone_range.last > value
+            # Make sure input falls with the expected range and take care of
+            # the dead zone
+            if dead_zone[:start] < value && dead_zone[:end] > value
                 value = 0
+            elsif value > input_range[:end]
+                value = input_range[:end]
+            elsif value < input_range[:start]
+                value = input_range[:start]
             end
+
             # Convert
             if is_thrust
-                value = pre_normalize_thrust(value, input_range, output_range)
-                value = normalize_thrust(value)
+                value = normalize_thrust(value, input_range, output_range)
             else
                 value = normalize(value, input_range, output_range)
             end
@@ -210,24 +229,34 @@ module Crubyflie
             return value
         end
 
-        # The thrust axis is disabled for values < 0. What we do here is to
-        # convert it to a thrust 0-100% value first and then make sure it
-        # stays within the limits provided for output range
-        def pre_normalize_thrust(value, input_range, output_range)
-            value = normalize(value, input_range, (-100..100))
+
+        # Returns integer from 9.500 to 60.000 which is what the crazyflie
+        # expects
+        def normalize_thrust(value, input_range, output_range)
             value = 0 if value < 0
-            if value > output_range.last then value = output_range.last
-            elsif value < output_range.first then value = output_range.first
+            range = {
+                :start => -100.0,
+                :end => 100.0,
+                :width => 200.0
+            }
+            value = normalize(value, input_range, range)
+
+            if value > output_range[:end] then value = output_range[:end]
+            elsif value < output_range[:start] then value = output_range[:start]
             end
-            return value
-        end
-        private :pre_normalize_thrust
 
-
-        # Returns integer from 10.000 to 60.000 which is what the crazyflie
-        # expects
-        def normalize_thrust(value)
-            return normalize(value, (0..100), (9500..60000)).round
+            range = {
+                :start => 0.0,
+                :end => 100.0,
+                :width => 100.0
+            }
+
+            cf_range = {
+                :start => 9500.0,
+                :end => 60000.0,
+                :width => 50500.0
+            }
+            return normalize(value, range, cf_range).round
         end
         private :normalize_thrust
 
@@ -263,15 +292,16 @@ module Crubyflie
 
         # Linear-transforms a value in one range to a different range
         # @param value [Fixnum, Float] the value in the original range
-        # @param from_range [Range] the range from which we want to normalize
-        # @param to_range [Range] the destination range
+        # @param from_range [Hash] the range from which we want to normalize.
+        #                          a range must have :start, :end, :width keys
+        # @param to_range [Hash] the destination range
         # @return [Float] the linear-corresponding value in the destination
         #                 range
         def normalize(value, from_range, to_range)
-            from_w = from_range.to_a.size.to_f - 1
-            to_w = to_range.to_a.size.to_f - 1
-            from_min = from_range.first.to_f
-            to_min = to_range.first.to_f
+            from_min = from_range[:start]
+            to_min = to_range[:start]
+            to_w = to_range[:width]
+            from_w = from_range[:width]
             # puts "#{to_min}+(#{value.to_f}-#{from_min})*(#{to_w}/#{from_w})
             r = to_min + (value.to_f - from_min) * (to_w / from_w)
             return r.round(3)

data/lib/crubyflie/version.rb

@@ -18,5 +18,5 @@
 
 module Crubyflie
     # Current gem version
-    VERSION = "0.1.1"
+    VERSION = "0.1.2"
 end

data/spec/joystick_input_reader_spec.rb

@@ -91,12 +91,12 @@ describe Joystick do
         it "should raise exception if the axis or buttons are missing" do
             cfg = {
                 :type => "Joystick",
-                :axis => {0 => {:action => :yaw}},
+                :buttons => {0 => {:action => :yaw}},
             }
             expect(YAML).to receive(:load_file).and_return(cfg)
             expect {
                 @joystick.read_configuration('baa')
-            }.to raise_exception(JoystickException, "No buttons section")
+            }.to raise_exception(JoystickException, "No axis section")
         end
 
         it "should raise exception if an axis has no action" do
@@ -131,93 +131,178 @@ describe Joystick do
 
     describe "#read_axis" do
         it "should read the axis value with all the defaults" do
-            @joystick.config[:axis][8] = {:action => :test}
+            config = {
+                :type => "Joystick",
+                :axis => {
+                    8 =>{
+                        :action => :test,
+                    }
+                }
+            }
+            expect(YAML).to receive(:load_file).and_return(config)
             expect(@sdl_joystick).to receive(:axis).with(8).and_return(-32768)
+            @joystick.read_configuration('baa')
             value = @joystick.read_axis(8)
             value.should == -30
         end
 
         it "should put values out of range in range" do
-            @joystick.config[:axis][8] = {:action => :test}
+            config = {
+                :type => "Joystick",
+                :axis => {
+                    8 =>{
+                        :action => :test,
+                    }
+                }
+            }
+            expect(YAML).to receive(:load_file).and_return(config)
             expect(@sdl_joystick).to receive(:axis).with(8).and_return(-40000)
+            @joystick.read_configuration('baa')
             value = @joystick.read_axis(8)
             value.should == -30
         end
 
         it "should invert values if requested" do
-            @joystick.config[:axis][8] = {:action => :test, :invert => true}
+            config = {
+                :type => "Joystick",
+                :axis => {
+                    8 =>{
+                        :action => :test,
+                        :invert => true
+                    }
+                }
+            }
+            expect(YAML).to receive(:load_file).and_return(config)
             expect(@sdl_joystick).to receive(:axis).with(8).and_return(-32767)
+            @joystick.read_configuration('baa')
             value = @joystick.read_axis(8)
             value.should == 30
         end
 
         it "should put values in the deadzone as 0" do
-            @joystick.config[:axis][8] = {
-                :action => :test,
-                :dead_zone => "-40:40"
+            config = {
+                :type => "Joystick",
+                :axis => {
+                    8 =>{
+                        :action => :test,
+                        :dead_zone => "-40:40"
+                    }
+                }
             }
+            expect(YAML).to receive(:load_file).and_return(config)
             expect(@sdl_joystick).to receive(:axis).with(8).and_return(23)
+            @joystick.read_configuration('baa')
             value = @joystick.read_axis(8)
             value.should == 0
         end
 
         it "should normalize the thrust correctly" do
-            @joystick.config[:axis][8] = {
-                :action => :thrust,
-                :output_range => "0:100"
+            config = {
+                :type => "Joystick",
+                :axis => {
+                    8 =>{
+                        :action => :thrust,
+                        :output_range => "0:100"
+                    }
+                }
             }
+            expect(YAML).to receive(:load_file).and_return(config)
             expect(@sdl_joystick).to receive(:axis).with(8).and_return(32767)
+            @joystick.read_configuration('baa')
             value = @joystick.read_axis(8)
             value.should == 60000
         end
 
         it "should throotle the change rate correctly" do
-            @joystick.config[:axis][8] = {
-                :action => :test,
-                :output_range => "100:200",
-                :input_range => "0:100",
-                :max_change_rate => 1,
-                :last_poll => 0.500,
-                :last_value => 150
+            config = {
+                :type => "Joystick",
+                :axis => {
+                    8 => {
+                        :action => :thrust,
+                        :output_range => "0:100",
+                        :input_range => "100:200",
+                        :max_change_rate => 1,
+                        :last_poll => 0.500,
+                        :last_value => 34750
+                    }
+                }
             }
+            expect(YAML).to receive(:load_file).and_return(config)
+
             allow(Time).to receive(:now).and_return(1.0) # 0.5 secs after
-            expect(@sdl_joystick).to receive(:axis).with(8).and_return(60)
+            expect(@sdl_joystick).to receive(:axis).with(8).and_return(140)
+            @joystick.read_configuration('baa')
             value = @joystick.read_axis(8)
-            value.should == 150.5
+            value.should == 34749.5
         end
 
         it "should not throotle the change rate when increasing thrust" do
-            @joystick.config[:axis][8] = {
-                :action => :thrust,
-                :output_range => "0:100",
-                :input_range => "0:100",
-                :max_change_rate => 1,
-                :last_poll => 0.500,
-                :last_value => 50
+            config = {
+                :type => "Joystick",
+                :axis => {
+                    8 =>{
+                        :action => :thrust,
+                        :output_range => "0:100",
+                        :input_range => "0:100",
+                        :max_change_rate => 1,
+                        :last_poll => 0.500,
+                        :last_value => 50
+                    }
+                }
             }
+            expect(YAML).to receive(:load_file).and_return(config)
+
             allow(Time).to receive(:now).and_return(1.0) # 0.5 secs after
             expect(@sdl_joystick).to receive(:axis).with(8).and_return(100)
+            @joystick.read_configuration('baa')
             value = @joystick.read_axis(8)
             value.should == 60000
         end
     end
 
-    describe "#pre_normalize_thrust" do
-        it "should discard negative axis values" do
-            v = @joystick.send(:pre_normalize_thrust, -12, (-20..20), (0..100))
-            v.should == 0
+    describe "#normalize_thrust" do
+        it "should return values within the range expected by the CF" do
+            v = @joystick.send(:normalize_thrust, 5000,
+                               {
+                                   :start => -10000.0,
+                                   :end   => 10000.0,
+                                   :width => 20000.0
+                               },{
+                                   :start => 0.0,
+                                   :end   => 80.0,
+                                   :width => 80.0
+                               })
+            v.should == 34750
+            v.should be_an_instance_of Fixnum
         end
 
-        it "should pre-normalize to the expected" do
-            v = @joystick.send(:pre_normalize_thrust, 5, (-10..10), (0..50))
-            v.should == 50
+        it "should set values under the given range to the min" do
+            v = @joystick.send(:normalize_thrust, 0,
+                               {
+                                   :start => -10000.0,
+                                   :end   => 10000.0,
+                                   :width => 20000.to_f
+                               },{
+                                   :start => 30.0,
+                                   :end   => 80.0,
+                                   :width => 50.0
+                               })
+            v.should == 24650 # 30% of 9500-60000
+            v.should be_an_instance_of Fixnum
         end
-    end
 
-    describe "#normalize_thrust" do
-        it "should return values within the range expected by the CF" do
-            v = @joystick.send(:normalize_thrust, 50)
-            v.should == 34750
+        it "should set values over the given range to the max" do
+            v = @joystick.send(:normalize_thrust, 32767,
+                               {
+                                   :start => -10000.0,
+                                   :end   => +10000.0,
+                                   :width => 20000.to_f
+                               },{
+                                   :start => 0.0,
+                                   :end   => 80.0,
+                                   :width => 80.0
+                               })
+            v.should == 49900 # 80% of 9500-60000
             v.should be_an_instance_of Fixnum
         end
     end

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: crubyflie
 version: !ruby/object:Gem::Version
-  version: 0.1.1
+  version: 0.1.2
 platform: ruby
 authors:
 - Hector Sanjuan