crubyflie 0.1.3 → 0.2.0

checksums.yaml

@@ -1,7 +1,7 @@
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-  data.tar.gz: 92b4e05341df2db63e05149e82b17099d5015eb3
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data/.travis.yml

@@ -3,6 +3,8 @@ rvm:
   - 1.9.2
   - 1.9.3
   - 2.0.0
+  - 2.1.6
+  - 2.2.2
 before_install:
  - sudo apt-get update -qq
- -  sudo apt-get install -qq libsdl1.2-dev
+ - sudo apt-get install -qq libsdl1.2-dev

data/README.md

@@ -1,11 +1,11 @@
 Crubyflie - A Ruby client for Crazyflie
 =======================================
 
-[![Build Status](https://travis-ci.org/hsanjuan/crubyflie.png?branch=master)](https://travis-ci.org/hsanjuan/crubyflie) [![Coverage Status](https://coveralls.io/repos/hsanjuan/crubyflie/badge.png)](https://coveralls.io/r/hsanjuan/crubyflie)
+[![Gem Version](https://badge.fury.io/rb/crubyflie.svg)](http://badge.fury.io/rb/crubyflie) [![Build Status](https://travis-ci.org/hsanjuan/crubyflie.png?branch=master)](https://travis-ci.org/hsanjuan/crubyflie) [![Coverage Status](https://coveralls.io/repos/hsanjuan/crubyflie/badge.png)](https://coveralls.io/r/hsanjuan/crubyflie)
 
-Crubyflie is a Ruby rewrite of the [Crazyflie quadcopter](http://www.bitcraze.se/category/crazyflie/) Python [client libraries](https://bitbucket.org/bitcraze/crazyflie-pc-client), with some customizations.
+Crubyflie is a Ruby rewrite of the [Crazyflie 1.0 quadcopter](http://www.bitcraze.se/category/crazyflie/) Python [client libraries](https://github.com/bitcraze/crazyflie-clients-python), with some customizations.
 
-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.
+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.
 
 You may be also interested in some other unofficial Crazyflie clients:
 
@@ -13,25 +13,22 @@ You may be also interested in some other unofficial Crazyflie clients:
  * Node.js: https://github.com/ceejbot/aerogel
  * Haskell: https://github.com/orclev/crazyflie-haskell
 
-Disclaimer
-----------
-
-Crubyflie is in early stage of development, very untested.
-
 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.
+ * Hovering mode (see requirements below)
+
+Requirements
+------------
+
+Crubyflie versions `>= 0.2.0` support hovering mode and are compatible with the latest firmware of `Crazyradio` ([Version 0.53](https://github.com/bitcraze/crazyradio-firmware/releases/tag/0.53)) and `Crazyflie` ([Version 2015.1](https://github.com/bitcraze/crazyflie-firmware/releases/tag/2015.1))
+
+Old versions should probably work, otherwise you can try with the `0.1.3` gem version.
 
-Not included...
-----------------
- * No fancy UI.
- * No flash utility (yet?).
- * No idea how this works in other OSs that are not Linux, but in theory it should work in all with some small fixes. I welcome you to take on this task if you are interested.
- * No support for Ruby <= 1.8.7 (maybe it works who knows... I haven't tested but since Crubyflie relies heavily on threading probably it does not work so good).
 
 Installation
 ------------
@@ -42,17 +39,17 @@ Crubyflie depends on `rubysdl`, for which you will need the SDL library and head
 
 That's all.
 
-Fyling the Crazyflie
+Flying the Crazyflie
 --------------------
 
 The easiest way to do it is to `gem install crubyflie` and then run the `crubyflie` command. This will connect to the first visible quadcopter using the first available joystick on your computer (you can modify this parameters with the appropiate flags):
 
-    > crubyflie2.0 -h
+    > crubyflie -h
     Options:
       --joystick-id, -j <i>:   Joystick ID (default: 0)
            --cf-uri, -f <s>:   Crazyflie URI (defaults to first one found in scan)
            --config, -c <s>:   Joystick configuration, defaults to default cfg in configs/ (default:
-                               /usr/lib64/ruby/gems/2.0.0/gems/crubyflie-0.0.1/lib/crubyflie/input/../../../configs/joystick_default.yaml)
+                               /usr/lib64/ruby/gems/2.1.0/gems/crubyflie-0.2.0/lib/crubyflie/input/../../../configs/joystick_default.yaml)
                  --help, -h:   Show this message
 
 There is a [template/default configuration file](https://github.com/hsanjuan/crubyflie/blob/master/configs/joystick_default.yaml) with instructions (which works for me and my PS3-like controller :) ). You should modify this file to fit it to your needs (configuration parameters are commented). The most tricky parameter in axis is the `:max_change_rate`. Depending on your controller, you will find the input is excessively throotled or not. I recommend that you play with this value.
@@ -96,15 +93,15 @@ end
 
 
 # Interface to the param facility
-@cf.param.get_value(...) do |value|
+@cf.param.get_value('param1.name') do |value|
   ...
 end
 
-@cf.param.get_value(...) do |value|
+@cf.param.get_value('param2.name') do |value|
   ...
 end
 
-@cf.param.set_value(...)
+@cf.param.set_value('param.name', 1)
 
 # Interface to the commander facility
 @cf.commander.send_setpoint(...)
@@ -115,10 +112,11 @@ end
 end
 ```
 
-That's pretty much all. As you see, instead of declaring callbacks, registering them etc. We let the user pass blocks, which are run when the data is available. 
+That's pretty much all. As you see, instead of declaring callbacks, registering them etc. We let the user pass blocks, which are run when the data is available.
+
 In Crubyflie, params are read and set synchronously, while the block passed to `start_logging()` will be called repeteadly and asynchrnously until `stop_logging()` is invoked. Console offers both synchronous `read()` and asynchronous `start_reading()` options.
 
-There are some examples in the `examples` folder. Read the gem documentation to get full information of the parameters for each function call.
+**There are some examples in the `examples` folder**. Read the gem documentation to get full information of the parameters for each function call.
 
 
 Contributing

data/bin/crubyflie

@@ -17,6 +17,8 @@
 # You should have received a copy of the GNU General Public License
 # along with Crubyflie.  If not, see <http://www.gnu.org/licenses/>
 
+$: << File.join(File.dirname(__FILE__), '..', 'lib')
+
 require 'crubyflie'
 require 'trollop'
 
@@ -73,6 +75,8 @@ Signal.trap("SIGINT") do
     exit = true
 end
 
+logger.info("Cleared for take-off!")
+
 while cf.active? && !exit do
     start_time = Time.now.to_f
     joystick.read_input()

data/configs/joystick_default.yaml

@@ -42,6 +42,7 @@
 # :pitch - Controls pitch. Assignable a axis or a button with value tag.
 # :thrust - Controls thrust. Assignable a axis or a button with value tag.
 # :yaw - Controls yaw. Assignable a axis or a button with value tag.
+# :hover - Enables/disables hovering mode
 # :switch_xmode - Enables/disables xmode. Assignable to a button.
 # :close_link - Kills the link and shuts Crubyflie. Assignable to a button.
 # :switch_scaled_output_mode - Enables/disabled scaled output mode. Assignable
@@ -103,4 +104,6 @@
     # When enabled, this mode will will multiply axis readings (except thrust)
     # by the value of the button (must be a positive number)
     :action: :switch_scaled_output_mode
-    :value: 0.50 # Softer output, useful for landing
+    :value: 0.50 # Softer output, useful for landing
+  5:
+    :action: :hover

data/crubyflie.gemspec

@@ -29,7 +29,7 @@ Gem::Specification.new do |spec|
 Client library to control a Crazyflie. This library allows to talk to a
 crazyflie using the USB radio dongle.
 EOF
-    spec.summary       = "Crazyflie ruby client"
+    spec.summary       = "A Ruby client for the Crazyflie quadcopter"
     spec.homepage      = "https://github.com/hsanjuan/crubyflie"
     spec.license       = "GPLv3"
 

data/examples/params_and_logging.rb

@@ -44,13 +44,13 @@ puts cf.param.toc.to_s
 
 # Read some parameters
 puts "--------"
-cf.param.get_value("attitudepid.kp_pitch") do |value|
+cf.param.get_value("pid_attitude.pitch_kp") do |value|
     puts "kp_pitch: #{value}"
 end
-cf.param.get_value("attitudepid.ki_pitch") do |value|
+cf.param.get_value("pid_attitude.pitch_ki") do |value|
     puts "ki_pitch: #{value}"
 end
-cf.param.get_value("attitudepid.kd_pitch") do |value|
+cf.param.get_value("pid_attitude.pitch_kd") do |value|
     puts "kd_pitch: #{value}"
 end
 puts "--------"

data/lib/crubyflie/crazyflie.rb

@@ -106,7 +106,7 @@ module Crubyflie
                 sleep 0.5 # Allow setup and failures
                 setup_connection() if @link
             rescue Exception
-                #logger.warn $!.backtrace.join("\n")
+                # logger.warn $!.backtrace.join("\n")
                 call_cb(:connection_failed, $!.message)
                 close_link()
             end

data/lib/crubyflie/driver/crtp_packet.rb

@@ -26,6 +26,7 @@ module Crubyflie
             :console => 0x00,
             :param => 0x02,
             :commander => 0x03,
+            :mem => 0x04,
             :logging => 0x05,
             :debugdriver => 0x0E,
             :linkctrl => 0x0F,
@@ -134,7 +135,10 @@ module Crubyflie
         # Concat the header and the data and return it
         # @return [Array] header concatenated with data
         def pack
-            [@header].concat(@data)
+            # According to official client, bytes 3 and 4 need
+            # to be set for legacy support of the bootloader
+            # (no matter what)
+            [@header | 0x3 << 2].concat(@data)
         end
 
         # Pack the data of the packet into unsigned chars when needed

data/lib/crubyflie/driver/radio_driver.rb

@@ -29,12 +29,12 @@ module Crubyflie
     # Small URI class since Ruby URI < 1.9.3 gives problems parsing
     # Crazyflie URIs
     class CrubyflieURI
-        attr_reader :scheme, :dongle, :channel, :rate
+        attr_reader :scheme, :dongle, :channel, :rate, :address
         # Initialize an URI
         # @param uri_str [String] the URI
         def initialize(uri_str)
             @uri_str = uri_str
-            @scheme, @dongle, @channel, @rate = split()
+            @scheme, @dongle, @channel, @rate, @address = split()
             if @scheme.nil? || @dongle.nil? || @channel.nil? || @rate.nil? ||
                     @scheme != 'radio'
                 raise InvalidURIException.new('Bad URI')
@@ -67,7 +67,7 @@ module Crubyflie
         # Default size for the outgoing queue
         OUT_QUEUE_MAX_SIZE = 50
         # Default number of retries before disconnecting
-        RETRIES_BEFORE_DISCONNECT = 20
+        RETRIES_BEFORE_DISCONNECT = 10
 
         attr_reader :uri
         attr_reader :retries_before_disconnect, :out_queue_max_size
@@ -110,6 +110,19 @@ module Crubyflie
             dongle_number = @uri.dongle.to_i
             channel = @uri.channel.to_i
             rate = @uri.rate
+            address = @uri.address
+
+            if address
+                begin
+                    # The official driver does this. Takes address as decimal
+                    # number, calculate the binary and pack it as 5 byte.
+                    hex_addr = address.to_i.to_s(16)
+                    bin_addr = hex_addr.scan(/../).map { |x| x.hex }.pack('C*')
+                    address = bin_addr.unpack('CCCCC')
+                rescue
+                    raise InvalidURIException.new("Address not valid: #{$!.message}")
+                end
+            end
 
             # @todo this should be taken care of in crazyradio
             case rate
@@ -140,7 +153,8 @@ module Crubyflie
             # Initialize Crazyradio and run thread
             cradio_opts = {
                 :channel => channel,
-                :data_rate => rate
+                :data_rate => rate,
+                :address => address
             }
             @crazyradio = Crazyradio.factory(cradio_opts)
             start_radio_thread()
@@ -221,8 +235,7 @@ module Crubyflie
                 raise
             rescue Exception
                 retries ||= 0
-                logger.error("Unknown error scanning interface: #{$!}")
-                @crazyradio.reopen()
+                logger.error("Error scanning interface: #{$!}")
                 retries += 1
                 if retries < 2
                     logger.error("Retrying")

data/lib/crubyflie/input/input_reader.rb

@@ -39,7 +39,7 @@ module Crubyflie
                          :roll_inc_cal, :roll_dec_cal,
                          :pitch_inc_cal, :pitch_dec_cal,
                          :switch_scaled_output_mode,
-                         :switch_xmode,  :close_link]
+                         :switch_xmode, :hover, :close_link]
 
         attr_reader :axis, :buttons, :axis_readings, :button_readings
         attr_accessor :xmode
@@ -55,6 +55,7 @@ module Crubyflie
             @buttons = buttons
             @calibrations = {}
             @xmode = false
+            @hover = false
             @output_scale = 0 # off
 
             # Calibrate defaults to 0
@@ -105,9 +106,12 @@ module Crubyflie
                 :roll => nil,
                 :pitch => nil,
                 :yaw => nil,
-                :thrust => nil
+                :thrust => nil,
+                :hover => 0
             }
 
+            set_althold = false
+
             @button_readings.each do |action, value|
                 case action
                 when :roll
@@ -118,6 +122,12 @@ module Crubyflie
                     setpoint[:yaw] = value
                 when :thrust
                     setpoint[:thrust] = value
+                when :hover
+                    if value > 0
+                        @hover = !@hover
+                        logger.info("Hover is #{@hover}")
+                        set_althold = true
+                    end
                 when :roll_inc_cal
                     @calibrations[:roll] += 1
                 when :roll_dec_cal
@@ -173,6 +183,9 @@ module Crubyflie
                 crazyflie.commander.send_setpoint(roll, pitch, yaw, thrust,
                                                   @xmode)
             end
+            if set_althold
+                crazyflie.param.set_value('flightmode.althold', @hover ? 1 : 0)
+            end
         end
 
         private

data/lib/crubyflie/input/joystick_input_reader.rb

@@ -43,6 +43,7 @@ module Crubyflie
                                         "configs", "joystick_default.yaml")
         THRUST_MAX = 60000
         THRUST_MIN = 9500
+        THRUST_IDLE = 32767 # for hovering
 
         attr_reader :config, :joystick_index
         # Initializes the Joystick configuration and the SDL library
@@ -226,8 +227,12 @@ module Crubyflie
             # How much have we changed/ms
             change = (value - last_value) / timespan_ms.to_f
 
-            # Skip rate limitation if change is positive and this is thurst
-            if !is_thrust || (is_thrust && change <= 0)
+            # Rate limitation applies to all inputs except thrust
+            # Thrust is only affected when no hovering and decreasing
+            # except thrust+hovering
+            # and thrust increase (needs to be quick)
+            if !is_thrust ||
+                    (is_thrust && !@hover && change <= 0)
                 # If the change rate exceeds  the max change rate per ms...
                 if change.abs > max_chrate
                     # new value is the max change possible for the timespan
@@ -249,7 +254,16 @@ module Crubyflie
         # 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
+            # Yes, we now can have negative values for althold mode
+            value = 0 if value < 0 if !@hover
+            if @hover && value == 0
+                return THRUST_IDLE
+            end
+            # in any other case,
+            # first normalize to -100->100
+            # and then if not @hovering, put the value in users
+            # output-range (which is 0 to 100%). Finally,
+            # normalize to Crazyflie THRUST_MIN -> MAX
             range = {
                 :start => -100.0,
                 :end => 100.0,
@@ -257,15 +271,17 @@ module Crubyflie
             }
             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
+            if !@hover
+                if value > output_range[:end] then value = output_range[:end]
+                elsif value < output_range[:start] then value = output_range[:start]
+                end
 
-            range = {
-                :start => 0.0,
-                :end => 100.0,
-                :width => 100.0
-            }
+                range = {
+                    :start => 0.0,
+                    :end => 100.0,
+                    :width => 100.0
+                }
+            end
 
             cf_range = {
                 :start => THRUST_MIN,

data/lib/crubyflie/version.rb

@@ -18,5 +18,5 @@
 
 module Crubyflie
     # Current gem version
-    VERSION = "0.1.3"
+    VERSION = "0.2.0"
 end

data/spec/crazyradio_spec.rb

@@ -79,7 +79,7 @@ describe Crazyradio do
 
     describe "#has_fw_scan" do
         it "should say false" do
-            @crazyradio.has_fw_scan.should be_false
+            @crazyradio.has_fw_scan.should be(nil)
         end
     end
 

data/spec/crtp_packet_spec.rb

@@ -57,14 +57,14 @@ describe CRTPPacket do
 
     describe "#unpack" do
         it "should return an empty package if data is empty or not array" do
-            CRTPPacket.unpack("abc").pack.should == [0]
-            CRTPPacket.unpack([]).pack.should == [0]
+            CRTPPacket.unpack("abc").pack.should == [0b00001100]
+            CRTPPacket.unpack([]).pack.should == [0b00001100]
         end
 
         it "should unpack a data array correctly into header and data" do
             packet = CRTPPacket.unpack([1,2,3])
             packet.data.should == [2,3]
-            packet.header.should == 1
+            packet.header.should == 0b00000001
         end
     end
 
@@ -73,7 +73,7 @@ describe CRTPPacket do
             header = 0b11101010 # channel 10; port 1110
             payload = [1,2,3]
             packet = CRTPPacket.new(header, payload)
-            packet.pack.should == [0b11101010, 1, 2, 3]
+            packet.pack.should == [0b11101110, 1, 2, 3]
         end
     end
 end

metadata

@@ -1,139 +1,139 @@
 --- !ruby/object:Gem::Specification
 name: crubyflie
 version: !ruby/object:Gem::Version
-  version: 0.1.3
+  version: 0.2.0
 platform: ruby
 authors:
 - Hector Sanjuan
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-08-14 00:00:00.000000000 Z
+date: 2015-06-20 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: libusb
   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: rubysdl
   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: trollop
   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: bundler
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - ~>
+    - - "~>"
       - !ruby/object:Gem::Version
         version: '1.3'
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - ~>
+    - - "~>"
       - !ruby/object:Gem::Version
         version: '1.3'
 - !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'
 - !ruby/object:Gem::Dependency
   name: rspec
   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: 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: simplecov
   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: coveralls
   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: |
@@ -146,8 +146,8 @@ executables:
 extensions: []
 extra_rdoc_files: []
 files:
-- .gitignore
-- .travis.yml
+- ".gitignore"
+- ".travis.yml"
 - Gemfile
 - LICENSE.txt
 - README.md
@@ -202,20 +202,20 @@ 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: 2.0.0
+rubygems_version: 2.2.2
 signing_key: 
 specification_version: 4
-summary: Crazyflie ruby client
+summary: A Ruby client for the Crazyflie quadcopter
 test_files:
 - spec/commander_spec.rb
 - spec/console_spec.rb