Initial checkpoint: Crazyflie mission client (DearPyGui)
Two-step ARM -> LAUNCH -> LAND flight flow for a Crazyflie + Flow v2 deck: - controller.py: cflib link + flight logic on one worker thread with a command queue. Supervisor arming, Kalman estimator reset/convergence wait, high-level-commander takeoff/land, configurable hover height (0.2-2.0 m), emergency stop, graceful land-on-shutdown, thread-safe snapshot()/scan(). States: DISCONNECTED/CONNECTING/READY/ARMING/ARMED/ FLYING/LANDING/EMERGENCY/ERROR. - mission_client.py: DearPyGui front-end, manual render loop polling snapshot() each frame. Context button ARM(green)->LAUNCH(blue)->LAND (yellow), secondary Disarm, hover-height slider, console log, and an Estimator state panel (x/y/z, yaw, flow counts) for drift inspection. - uv-managed (pyproject.toml + uv.lock); run `uv run mission_client.py`. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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cache/
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README.md
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README.md
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# Crazyflie Mission Client
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A small [DearPyGui](https://github.com/hoffstadt/DearPyGui) cockpit for flying a
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Bitcraze **Crazyflie** with a **Flow v2 deck** (same GUI binding as the
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test-stand app). Arm it and the drone lifts off to **1 m** above the ground and
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holds position; disarm to land gently; emergency-stop to cut the motors
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instantly.
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```
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┌──────────────────────────────────────────────┐
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│ Connection │
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│ [ radio://0/80/2M/E7E7E7E7E7 ▾ ] [Scan][Connect]│
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│ ──────────────────────────────────────────────│
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│ Status │
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│ Hovering at 1.40 m ← colour-coded │
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│ Battery: 3.92 V Height: 1.41 m │
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│ Flow v2 deck: attached │
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│ Supervisor: armed, flying │
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│ ──────────────────────────────────────────────│
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│ Estimator state │
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│ Pos (m): x +0.02 y -0.01 z +1.00 │
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│ Yaw: +1.4 deg │
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│ Flow counts: dx +5 dy -3 │
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│ ──────────────────────────────────────────────│
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│ Flight │
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│ Hover height [====●========] 1.40 m │
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│ [ LAUNCH (to 1.40 m) ] ← ARM→LAUNCH→LAND │
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│ [ Disarm ] ← only while ARMED │
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│ [ EMERGENCY STOP (SPACE) ] │
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│ ──────────────────────────────────────────────│
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│ Console [Clear] │
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│ 12:00:01 I controller: [READY] … │
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│ 12:00:03 I controller: [ARMED] ready to LAUNCH │
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│ 12:00:08 I controller: [FLYING] Hovering 1.40 m│
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│ 12:00:09 I crazyflie.console: ...fw output... │
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└──────────────────────────────────────────────┘
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```
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Flight is a **two-step flow** with one context button:
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| State | Button | Colour | Action |
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|-------|--------|--------|--------|
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| Ready | **ARM** | green | reset estimator + arm; drone idles armed on the ground |
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| Armed | **LAUNCH (to N m)** | blue | take off to the hover height and hold |
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| Flying | **LAND** | yellow | gentle descent + disarm |
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While **ARMED** on the ground a separate **Disarm** button backs out without
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launching (the firmware also auto-disarms after ~30 s if you never launch). The
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**Hover height** slider (0.2–2.0 m) can be adjusted right up until LAUNCH (it
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latches there) and locks once airborne. Below everything, a **console log** of
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roughly the same height shows mission events, cflib messages, and firmware
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console output (auto-scrolls while at the bottom; **Clear** empties it). Use
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**Scan** to discover URIs, or type/select one in the combo before connecting.
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## Hardware
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- Crazyflie 2.x with up-to-date firmware (protocol v7+ recommended for the
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supervisor arming system; older firmware falls back to the thrust-unlock path).
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- **Flow v2 deck** mounted underneath (provides optical-flow XY + laser Z hold).
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- Crazyradio PA / 2.0 plugged into the host.
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- Charged battery, propellers in good shape, and **clear space above the drone**.
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## Install
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This project uses [uv](https://docs.astral.sh/uv/). From `autover/`:
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```bash
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uv sync
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```
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That creates `.venv/` and installs `cflib` and `dearpygui` (a self-contained
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wheel with its own GL/windowing backend — no system GUI packages needed).
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On Linux you also need udev permissions for the Crazyradio (see the
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[cflib USB docs](https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/installation/usb_permissions/)).
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> `requirements.txt` is kept for non-uv (`pip install -r requirements.txt`) setups;
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> `pyproject.toml` is the source of truth for uv.
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## Run
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```bash
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uv run mission_client.py
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# Use a non-default radio URI:
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CFLIB_URI=radio://0/80/2M/E7E7E7E7E7 uv run mission_client.py
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```
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## Flying
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1. **Connect** — opens the radio link, starts telemetry, and probes for the
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Flow deck. (Optionally **Scan** first and pick a URI from the combo.)
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2. **ARM** — runs pre-flight checks (Flow deck present, battery ≥ 3.10 V, not
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tumbled/locked), resets and waits for the Kalman estimator to converge, and
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arms the motors. The drone then **idles armed on the ground** (props at idle)
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in the ARMED state; the button turns blue and reads **LAUNCH**. (Back out any
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time with **Disarm**; the firmware also auto-disarms after ~30 s if idle.)
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3. **Set the hover height** with the slider (0.2–2.0 m, default 1 m) — adjustable
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until launch — then **LAUNCH**: takes off to the chosen height (climb timed
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for a gentle ~0.35 m/s) and hovers. The button turns yellow and reads **LAND**.
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4. **LAND** — descends gently, stops the commander, and disarms.
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5. **EMERGENCY STOP** (button or **SPACE**) — cuts the motors immediately.
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On protocol-v7 firmware this latches the supervisor, so you must **reboot the
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drone** before it will fly again.
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Closing the window (or **Ctrl-C**) lands the drone first (if airborne) before
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disconnecting.
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## Drift inspection
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The **Estimator state** panel streams the estimator pose and raw optical-flow counts
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(`stateEstimate.x/y` + `stateEstimate.z`, `stabilizer.yaw`, `motion.deltaX/deltaY`)
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so you can diagnose a small circular/looping drift ("toilet-bowl effect"):
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- **Yaw creeping steadily** while hovering → heading-estimate drift; the position
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hold corrects in a rotated frame and orbits. Power-cycle for a clean gyro start.
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- **x/y tracing a circle** rather than jittering around zero → same orbiting hold.
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- **Flow counts near zero or erratic** while the drone is clearly moving → poor
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surface/lighting for the deck (try a textured, matte, well-lit floor at ~0.7–1 m).
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## Safety notes
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- Place the drone on a flat, level surface before arming — the estimator and
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supervisor expect it level and stationary.
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- The Flow deck needs a textured floor and reasonable light to hold position;
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over a blank/reflective surface it can drift.
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- This client commands a stationary hover at the configured height (0.2–2.0 m)
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with no horizontal movement. Keep a hand near the emergency stop (spacebar)
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the first few flights.
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## Layout
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| File | Responsibility |
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|---------------------|-------------------------------------------------------------|
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| `controller.py` | All flight logic + cflib link on one worker thread. |
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| `mission_client.py` | DearPyGui front-end; polls `controller.snapshot()` per frame.|
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| `requirements.txt` | Python dependencies. |
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`controller.py` has no UI dependencies, so the flight logic can be reviewed and
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driven independently of the GUI. The UI reads state through the thread-safe
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`snapshot()` each frame and issues commands (`connect`/`arm`/`disarm`/
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`emergency_stop`) that the worker thread executes.
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controller.py
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controller.py
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"""Flight controller for the Crazyflie mission client.
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Owns the Crazyflie radio link on a single dedicated worker thread and exposes a
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small, thread-safe command API to the UI (connect / disconnect / arm / disarm /
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emergency_stop / shutdown). Keeping every cflib call on one thread means the UI
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thread never blocks on radio I/O and there is exactly one place that can command
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the motors.
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Flight strategy: this uses the firmware's *high-level commander* (takeoff / land
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/ hover) together with the *supervisor* arming system. The high-level commander
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holds position autonomously in firmware once airborne, so a stalled or slow UI
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thread cannot make the drone drift or fall the way a missed stream of manual
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setpoints would. Position/altitude hold is provided by the Flow v2 deck.
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The API is intentionally tiny and all mutating commands go through a queue that
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only the worker thread consumes, except emergency_stop which *also* fires
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directly from the caller for minimum latency.
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"""
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from __future__ import annotations
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import collections
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import dataclasses
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import logging
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import queue
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import threading
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import time
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from dataclasses import dataclass
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from enum import Enum, auto
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import cflib.crtp
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from cflib.crazyflie import Crazyflie
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from cflib.crazyflie.log import LogConfig
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from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
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from cflib.crazyflie.syncLogger import SyncLogger
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from cflib.utils import uri_helper
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logger = logging.getLogger(__name__)
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class _StaleLogFilter(logging.Filter):
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"""Drop cflib's benign "no LogEntry to handle id=N" warnings.
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Firmware streams log-data for a block id the host no longer tracks when a
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stale block is left over from a prior/parallel session. We already delete
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our blocks on disconnect, but a handful of in-flight packets can still
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arrive right after reconnecting; they're harmless (power-cycle to clear),
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so keep them out of the console rather than alarming the user.
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"""
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def filter(self, record: logging.LogRecord) -> bool:
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return 'no LogEntry to handle' not in record.getMessage()
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class LogBuffer(logging.Handler):
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"""A thread-safe ring buffer of formatted log lines for the UI console.
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cflib logs from its own thread, so reads/writes are guarded by a lock. A
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monotonic version counter lets the UI cheaply detect when there's something
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new to render.
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"""
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def __init__(self, capacity: int = 500) -> None:
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super().__init__()
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self._lines: collections.deque = collections.deque(maxlen=capacity)
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self._lock = threading.Lock()
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self._version = 0
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self.setFormatter(logging.Formatter(
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'%(asctime)s %(levelname).1s %(name)s: %(message)s', '%H:%M:%S'))
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def emit(self, record: logging.LogRecord) -> None:
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try:
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line = self.format(record)
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except Exception:
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return
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with self._lock:
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self._lines.append(line)
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self._version += 1
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def snapshot(self) -> tuple[int, list[str]]:
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with self._lock:
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return self._version, list(self._lines)
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def clear(self) -> None:
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with self._lock:
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self._lines.clear()
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self._version += 1
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# Single shared console buffer, attached to the root logger once. Firmware
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# console output is logged under its own name so it's easy to spot.
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LOG_BUFFER = LogBuffer()
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_CONSOLE_LOGGER = logging.getLogger('crazyflie.console')
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_LOGGING_READY = False
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def _install_console_logging() -> None:
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"""Route cflib + app logs into LOG_BUFFER for the UI console (idempotent)."""
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global _LOGGING_READY
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if _LOGGING_READY:
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return
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logging.getLogger('cflib.crazyflie.log').addFilter(_StaleLogFilter())
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root = logging.getLogger()
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if root.level == logging.NOTSET or root.level > logging.INFO:
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root.setLevel(logging.INFO)
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LOG_BUFFER.setLevel(logging.INFO)
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root.addHandler(LOG_BUFFER)
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_LOGGING_READY = True
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# Radio URI. Override with the CFLIB_URI environment variable.
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DEFAULT_URI = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
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# Mission parameters.
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TARGET_HEIGHT_M = 1.0 # default hover height above the ground
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MIN_HEIGHT_M = 0.2 # configurable hover-height bounds (Flow v2 range)
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MAX_HEIGHT_M = 2.0
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CLIMB_RATE_MPS = 0.35 # ascent/descent speed used to time takeoff & land
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MIN_RAMP_S = 1.5 # floor on takeoff/land duration for low hovers
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MIN_SAFE_VBAT = 3.10 # refuse to arm below this pack voltage
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def clamp_height(height: float) -> float:
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"""Clamp a requested hover height to the safe configurable range."""
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return max(MIN_HEIGHT_M, min(MAX_HEIGHT_M, float(height)))
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def ramp_duration(height: float) -> float:
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"""Time to climb/descend `height` metres at a gentle, consistent rate."""
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return max(MIN_RAMP_S, abs(height) / CLIMB_RATE_MPS)
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# supervisor.info bitfield (see crazyflie-firmware src/modules/src/supervisor.c).
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SUP_CAN_ARM = 0x0001
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SUP_IS_ARMED = 0x0002
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SUP_AUTO_ARM = 0x0004
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SUP_CAN_FLY = 0x0008
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SUP_IS_FLYING = 0x0010
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SUP_IS_TUMBLED = 0x0020
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SUP_IS_LOCKED = 0x0040
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SUP_IS_CRASHED = 0x0080
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SUP_DECK_FAULT = 0x0800 # a deck reported a hardware fault
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class State(Enum):
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"""High-level mission state, surfaced to the UI."""
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DISCONNECTED = auto()
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CONNECTING = auto()
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READY = auto() # connected, on the ground, disarmed
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ARMING = auto() # transient: estimator reset + arming request
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ARMED = auto() # armed and idle on the ground, ready to LAUNCH
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FLYING = auto() # taking off or hovering at target height
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LANDING = auto() # controlled descent in progress
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EMERGENCY = auto() # motors cut; reboot required to fly again
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ERROR = auto() # connection or radio failure
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@dataclass
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class Telemetry:
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"""Latest known drone state. Plain values; safe to copy across threads."""
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vbat: float = 0.0
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height: float = 0.0
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# Estimator pose + raw optical-flow counts, for drift inspection.
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x: float = 0.0
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y: float = 0.0
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yaw: float = 0.0
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flow_dx: int = 0
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flow_dy: int = 0
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flow_deck: bool | None = None # None = not yet probed
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can_arm: bool = False
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armed: bool = False
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flying: bool = False
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tumbled: bool = False
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locked: bool = False
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crashed: bool = False
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deck_fault: bool = False
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@dataclass
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class Update:
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"""Immutable snapshot handed to the UI listener."""
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state: State
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message: str
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telemetry: Telemetry
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||||
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class DroneController:
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"""Threaded Crazyflie flight controller.
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||||
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Usage:
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c = DroneController(uri, listener=on_update)
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c.start() # init radio drivers + spawn worker
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c.connect() # open link
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c.arm() # reset estimator + arm; idle armed on the ground
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c.launch(1.0) # take off to 1 m and hover
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c.disarm() # land if flying, else disarm on the ground
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c.emergency_stop() # cut motors immediately
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c.shutdown() # land if needed, close link, stop worker
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"""
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||||
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def __init__(self, uri: str = DEFAULT_URI, listener=None,
|
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cache_dir: str = './cache'):
|
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self._uri = uri
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self._listener = listener or (lambda update: None)
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self._cache_dir = cache_dir
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||||
self._cmd_q: queue.Queue[str] = queue.Queue()
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||||
self._target_height = TARGET_HEIGHT_M # latched at arm time
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||||
self._state = State.DISCONNECTED
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self._message = 'Disconnected'
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self._telemetry = Telemetry()
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# Latest immutable snapshot, replaced atomically in _emit() and read
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||||
# without a lock by per-frame UIs via snapshot().
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||||
self._latest = Update(State.DISCONNECTED, 'Disconnected', Telemetry())
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||||
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||||
self._scf: SyncCrazyflie | None = None
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||||
self._console_buf = '' # partial firmware console line
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self._log_configs: list = [] # active log blocks, deleted on teardown
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self._proto_v7 = False # supervisor/arming available?
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self._session_result = '' # 'disconnect' | 'shutdown' | ''
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self._lock = threading.Lock() # guards _scf access from other threads
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self._thread = threading.Thread(
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target=self._run, name='drone-worker', daemon=True)
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# ----------------------------------------------------------------- API ---
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||||
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||||
@property
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def uri(self) -> str:
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||||
return self._uri
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||||
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||||
def set_listener(self, listener) -> None:
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||||
"""Register an optional push callback. Per-frame UIs can instead poll
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||||
snapshot(); the listener is kept for event-driven consumers."""
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||||
self._listener = listener or (lambda update: None)
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||||
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||||
def snapshot(self) -> Update:
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"""Return the latest state/telemetry snapshot. Thread-safe and cheap;
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intended to be polled once per render frame."""
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return self._latest
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||||
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@staticmethod
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||||
def scan() -> list[str]:
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||||
"""URIs of Crazyflies reachable on any installed interface."""
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||||
try:
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||||
return [entry[0] for entry in cflib.crtp.scan_interfaces()]
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||||
except Exception:
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logger.warning('scan failed', exc_info=True)
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||||
return []
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||||
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||||
def start(self) -> None:
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||||
_install_console_logging()
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||||
cflib.crtp.init_drivers()
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||||
self._thread.start()
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||||
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||||
def connect(self, uri: str | None = None) -> None:
|
||||
if uri:
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||||
self._uri = uri
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||||
self._cmd_q.put('connect')
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||||
|
||||
def disconnect(self) -> None:
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||||
self._cmd_q.put('disconnect')
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||||
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||||
def arm(self) -> None:
|
||||
"""Arm the motors and hold on the ground (two-step flow). The drone
|
||||
idles armed in the ARMED state until launch() or disarm(); the firmware
|
||||
auto-disarms after ~30 s if it never flies."""
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||||
self._cmd_q.put('arm')
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||||
|
||||
def launch(self, height: float | None = None) -> None:
|
||||
"""Take off from the ARMED state to `height` metres (clamped), then
|
||||
hover. Height is latched here, so the slider can be adjusted right up
|
||||
until launch."""
|
||||
if height is not None:
|
||||
self._target_height = clamp_height(height)
|
||||
self._cmd_q.put('launch')
|
||||
|
||||
def disarm(self) -> None:
|
||||
"""Context-sensitive: land if flying, else disarm on the ground."""
|
||||
self._cmd_q.put('disarm')
|
||||
|
||||
def emergency_stop(self) -> None:
|
||||
# Queue it so the worker breaks out of any flight loop and updates
|
||||
# state, but ALSO fire immediately from the caller thread so motors
|
||||
# are cut with the least possible latency.
|
||||
self._cmd_q.put('estop')
|
||||
with self._lock:
|
||||
scf = self._scf
|
||||
if scf is not None:
|
||||
try:
|
||||
self._cut_motors(scf)
|
||||
except Exception:
|
||||
logger.exception('direct emergency stop failed')
|
||||
|
||||
def shutdown(self) -> None:
|
||||
self._cmd_q.put('shutdown')
|
||||
|
||||
def alive(self) -> bool:
|
||||
return self._thread.is_alive()
|
||||
|
||||
def join(self, timeout: float | None = None) -> None:
|
||||
"""Wait for the worker thread to finish (after shutdown()). Ensures the
|
||||
radio link is closed before the process exits so libusb is never torn
|
||||
down while the worker is still using it."""
|
||||
if self._thread.is_alive():
|
||||
self._thread.join(timeout)
|
||||
|
||||
# ----------------------------------------------------------- worker loop -
|
||||
|
||||
def _run(self) -> None:
|
||||
while True:
|
||||
cmd = self._cmd_q.get()
|
||||
if cmd == 'shutdown':
|
||||
return
|
||||
if cmd == 'connect':
|
||||
self._session()
|
||||
if self._session_result == 'shutdown':
|
||||
return
|
||||
# any other command while disconnected is ignored
|
||||
|
||||
def _session(self) -> None:
|
||||
"""Open the link and service commands until disconnect/shutdown."""
|
||||
self._session_result = ''
|
||||
self._set_state(State.CONNECTING, f'Connecting to {self._uri} …')
|
||||
try:
|
||||
cf = Crazyflie(rw_cache=self._cache_dir)
|
||||
with SyncCrazyflie(self._uri, cf=cf) as scf:
|
||||
with self._lock:
|
||||
self._scf = scf
|
||||
self._proto_v7 = self._detect_protocol(scf)
|
||||
self._setup_logging(scf)
|
||||
self._probe_flow_deck(scf)
|
||||
self._set_state(State.READY, 'Connected — ready to arm')
|
||||
try:
|
||||
self._command_loop(scf)
|
||||
finally:
|
||||
# Delete our log blocks while the link is still open so the
|
||||
# firmware stops streaming them. Skipping this leaves blocks
|
||||
# registered in firmware until the next power-cycle, which
|
||||
# later shows up as "no LogEntry to handle id=N" warnings.
|
||||
self._teardown_logging()
|
||||
except Exception as exc:
|
||||
logger.exception('session error')
|
||||
self._set_state(State.ERROR, f'Connection error: {exc}')
|
||||
finally:
|
||||
with self._lock:
|
||||
self._scf = None
|
||||
if self._session_result != 'shutdown':
|
||||
self._set_state(State.DISCONNECTED, 'Disconnected')
|
||||
|
||||
def _command_loop(self, scf: SyncCrazyflie) -> None:
|
||||
"""Service commands on the ground (READY / ARMED); delegates the
|
||||
airborne phase to _do_launch()."""
|
||||
while True:
|
||||
# If we were armed on the ground but the firmware disarmed us
|
||||
# (≈30 s pre-flight timeout, a bump/tumble, or low battery),
|
||||
# fall back to READY so the UI reflects it.
|
||||
if (self._state == State.ARMED and self._proto_v7
|
||||
and not self._telemetry.armed):
|
||||
self._set_state(State.READY,
|
||||
'Auto-disarmed (armed too long or unsafe)')
|
||||
try:
|
||||
cmd = self._cmd_q.get(timeout=0.2)
|
||||
except queue.Empty:
|
||||
continue
|
||||
|
||||
if cmd == 'arm':
|
||||
if self._state in (State.READY, State.EMERGENCY):
|
||||
self._do_arm(scf)
|
||||
elif cmd == 'launch':
|
||||
if self._state == State.ARMED:
|
||||
follow_up = self._do_launch(scf)
|
||||
if follow_up in ('disconnect', 'shutdown'):
|
||||
self._session_result = follow_up
|
||||
return
|
||||
elif cmd == 'disarm':
|
||||
if self._state == State.ARMED:
|
||||
self._do_disarm_ground(scf)
|
||||
elif cmd == 'disconnect':
|
||||
if self._state == State.ARMED:
|
||||
self._do_disarm_ground(scf)
|
||||
self._session_result = 'disconnect'
|
||||
return
|
||||
elif cmd == 'shutdown':
|
||||
if self._state == State.ARMED:
|
||||
self._do_disarm_ground(scf)
|
||||
self._session_result = 'shutdown'
|
||||
return
|
||||
elif cmd == 'estop':
|
||||
self._do_estop(scf)
|
||||
# 'connect' while on the ground: nothing to do.
|
||||
|
||||
# --------------------------------------------------------------- flight --
|
||||
|
||||
def _do_arm(self, scf: SyncCrazyflie) -> None:
|
||||
"""Run pre-flight checks and arm the motors; on success enter ARMED
|
||||
(idle on the ground). Does NOT take off — that's _do_launch()."""
|
||||
cf = scf.cf
|
||||
|
||||
# --- pre-flight safety checks -------------------------------------
|
||||
if self._telemetry.flow_deck is False:
|
||||
self._set_state(State.READY, 'Arm refused: no Flow v2 deck detected')
|
||||
return
|
||||
ok, why = self._battery_ok()
|
||||
if not ok:
|
||||
self._set_state(State.READY, f'Arm refused: {why}')
|
||||
return
|
||||
if self._telemetry.tumbled:
|
||||
self._set_state(State.READY,
|
||||
'Arm refused: drone is tumbled — set it level')
|
||||
return
|
||||
if self._telemetry.locked:
|
||||
self._set_state(State.READY,
|
||||
'Arm refused: supervisor locked — reboot the drone')
|
||||
return
|
||||
|
||||
# --- reset the position estimator and let it settle ---------------
|
||||
self._set_state(State.ARMING, 'Resetting position estimator …')
|
||||
self._reset_estimator(scf)
|
||||
|
||||
# --- arm (firmware supervisor) ------------------------------------
|
||||
if self._proto_v7:
|
||||
# Don't gate on the `canArm` bit: stock firmware builds with
|
||||
# AUTO_ARMING=1, where the supervisor auto-arms the instant
|
||||
# pre-flight checks pass, so `canArm` is only ever true for a
|
||||
# single tick and a client essentially never observes it. The
|
||||
# real signal is the `armed` bit. Requesting arming is harmless
|
||||
# if already auto-armed (firmware no-ops it).
|
||||
cf.supervisor.send_arming_request(True)
|
||||
if not self._wait_until(lambda: self._telemetry.armed, 5.0):
|
||||
self._set_state(State.READY,
|
||||
f'Arm failed: {self._arm_failure_reason()}')
|
||||
return
|
||||
else:
|
||||
# Legacy firmware: unlock the thrust-safety latch with a zero
|
||||
# setpoint before the high-level commander will spin the motors.
|
||||
cf.commander.send_setpoint(0, 0, 0, 0)
|
||||
|
||||
self._set_state(State.ARMED, 'Armed — ready to LAUNCH (auto-disarms '
|
||||
'in ~30 s if idle)')
|
||||
|
||||
def _do_disarm_ground(self, scf: SyncCrazyflie) -> None:
|
||||
"""Disarm without flying (back out of the ARMED state)."""
|
||||
if self._proto_v7:
|
||||
scf.cf.supervisor.send_arming_request(False)
|
||||
self._set_state(State.READY, 'Disarmed')
|
||||
|
||||
def _do_launch(self, scf: SyncCrazyflie) -> str | None:
|
||||
"""Take off from ARMED to self._target_height, then hover until told to
|
||||
stop. Returns 'disconnect'/'shutdown' if such a command arrived
|
||||
mid-flight (so the caller tears down after landing), else None."""
|
||||
cf = scf.cf
|
||||
|
||||
# The firmware may have auto-disarmed between ARM and LAUNCH.
|
||||
if self._proto_v7 and not self._telemetry.armed:
|
||||
self._set_state(State.READY, 'Launch aborted: no longer armed')
|
||||
return None
|
||||
|
||||
height = self._target_height
|
||||
ascent_s = ramp_duration(height)
|
||||
self._set_state(State.FLYING, f'Taking off to {height:.2f} m …')
|
||||
cf.high_level_commander.takeoff(height, ascent_s)
|
||||
|
||||
ascent_done_at = time.monotonic() + ascent_s
|
||||
hovering_announced = False
|
||||
while True:
|
||||
cmd = self._poll_cmd()
|
||||
if cmd == 'estop':
|
||||
self._do_estop(scf)
|
||||
return None
|
||||
if cmd in ('disarm', 'disconnect', 'shutdown'):
|
||||
self._land(scf)
|
||||
return cmd if cmd in ('disconnect', 'shutdown') else None
|
||||
# ignore 'arm'/'launch'/'connect' — already flying.
|
||||
|
||||
if not hovering_announced and time.monotonic() >= ascent_done_at:
|
||||
self._set_state(State.FLYING, f'Hovering at {height:.2f} m')
|
||||
hovering_announced = True
|
||||
time.sleep(0.05)
|
||||
|
||||
def _land(self, scf: SyncCrazyflie) -> None:
|
||||
"""Controlled descent, then stop the commander and disarm."""
|
||||
cf = scf.cf
|
||||
descent_s = ramp_duration(self._target_height)
|
||||
self._set_state(State.LANDING, 'Landing …')
|
||||
cf.high_level_commander.land(0.0, descent_s)
|
||||
|
||||
end = time.monotonic() + descent_s
|
||||
while time.monotonic() < end:
|
||||
# Stay responsive to an emergency stop during descent.
|
||||
if self._poll_cmd() == 'estop':
|
||||
self._do_estop(scf)
|
||||
return
|
||||
time.sleep(0.05)
|
||||
|
||||
cf.high_level_commander.stop()
|
||||
if self._proto_v7:
|
||||
cf.supervisor.send_arming_request(False)
|
||||
self._set_state(State.READY, 'Landed — on the ground, disarmed')
|
||||
|
||||
def _do_estop(self, scf: SyncCrazyflie) -> None:
|
||||
try:
|
||||
self._cut_motors(scf)
|
||||
except Exception:
|
||||
logger.exception('emergency stop failed')
|
||||
self._set_state(State.EMERGENCY,
|
||||
'EMERGENCY STOP — motors cut (reboot to fly again)')
|
||||
|
||||
def _cut_motors(self, scf: SyncCrazyflie) -> None:
|
||||
"""Cut motors immediately. Safe to call from any thread."""
|
||||
cf = scf.cf
|
||||
if self._proto_v7:
|
||||
cf.supervisor.send_emergency_stop()
|
||||
else:
|
||||
cf.commander.send_stop_setpoint()
|
||||
try:
|
||||
cf.high_level_commander.stop()
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
# ----------------------------------------------------- estimator helper --
|
||||
|
||||
def _reset_estimator(self, scf: SyncCrazyflie) -> None:
|
||||
cf = scf.cf
|
||||
cf.param.set_value('kalman.resetEstimation', '1')
|
||||
time.sleep(0.1)
|
||||
cf.param.set_value('kalman.resetEstimation', '0')
|
||||
self._wait_for_position_estimator(scf)
|
||||
|
||||
def _wait_for_position_estimator(self, scf: SyncCrazyflie,
|
||||
threshold: float = 0.001,
|
||||
timeout: float = 10.0) -> None:
|
||||
"""Block until the Kalman position variance converges (or times out)."""
|
||||
log_conf = LogConfig(name='kalman_var', period_in_ms=100)
|
||||
log_conf.add_variable('kalman.varPX', 'float')
|
||||
log_conf.add_variable('kalman.varPY', 'float')
|
||||
log_conf.add_variable('kalman.varPZ', 'float')
|
||||
|
||||
history = {'x': [1000.0] * 10, 'y': [1000.0] * 10, 'z': [1000.0] * 10}
|
||||
deadline = time.monotonic() + timeout
|
||||
try:
|
||||
with SyncLogger(scf, log_conf) as sync_log:
|
||||
for _, data, _ in sync_log:
|
||||
for key, var in (('x', 'kalman.varPX'),
|
||||
('y', 'kalman.varPY'),
|
||||
('z', 'kalman.varPZ')):
|
||||
history[key].append(data[var])
|
||||
history[key].pop(0)
|
||||
spread = max(max(h) - min(h) for h in history.values())
|
||||
if spread < threshold:
|
||||
return
|
||||
if time.monotonic() > deadline:
|
||||
logger.warning('estimator did not converge in %.0fs '
|
||||
'(spread=%.4f); proceeding', timeout,
|
||||
spread)
|
||||
return
|
||||
except Exception:
|
||||
# Don't let a logging hiccup block takeoff entirely.
|
||||
logger.exception('estimator convergence wait failed')
|
||||
|
||||
# ---------------------------------------------------------- log / param --
|
||||
|
||||
def _detect_protocol(self, scf: SyncCrazyflie) -> bool:
|
||||
try:
|
||||
return scf.cf.platform.get_protocol_version() >= 7
|
||||
except Exception:
|
||||
logger.exception('could not read protocol version')
|
||||
return False
|
||||
|
||||
def _setup_logging(self, scf: SyncCrazyflie) -> None:
|
||||
self._log_configs = []
|
||||
|
||||
# Mirror the firmware's console output into the UI console. The cf
|
||||
# object is recreated each session, so callbacks don't accumulate.
|
||||
self._console_buf = ''
|
||||
scf.cf.console.receivedChar.add_callback(self._on_console)
|
||||
|
||||
tlm = LogConfig(name='mission_tlm', period_in_ms=200)
|
||||
tlm.add_variable('pm.vbat', 'float')
|
||||
tlm.add_variable('stateEstimate.z', 'float')
|
||||
scf.cf.log.add_config(tlm)
|
||||
tlm.data_received_cb.add_callback(self._on_telemetry)
|
||||
tlm.start()
|
||||
self._log_configs.append(tlm)
|
||||
|
||||
if self._proto_v7:
|
||||
sup = LogConfig(name='mission_sup', period_in_ms=200)
|
||||
sup.add_variable('supervisor.info', 'uint16_t')
|
||||
scf.cf.log.add_config(sup)
|
||||
sup.data_received_cb.add_callback(self._on_supervisor)
|
||||
sup.start()
|
||||
self._log_configs.append(sup)
|
||||
|
||||
# Drift-inspection block: estimator pose + raw flow counts. motion.*
|
||||
# only exists with a Flow deck attached, so set it up best-effort.
|
||||
try:
|
||||
diag = LogConfig(name='mission_diag', period_in_ms=200)
|
||||
diag.add_variable('stateEstimate.x', 'float')
|
||||
diag.add_variable('stateEstimate.y', 'float')
|
||||
diag.add_variable('stabilizer.yaw', 'float')
|
||||
diag.add_variable('motion.deltaX', 'int16_t')
|
||||
diag.add_variable('motion.deltaY', 'int16_t')
|
||||
scf.cf.log.add_config(diag)
|
||||
diag.data_received_cb.add_callback(self._on_diag)
|
||||
diag.start()
|
||||
self._log_configs.append(diag)
|
||||
except (KeyError, AttributeError) as exc:
|
||||
logger.warning('drift-inspection logging unavailable: %s', exc)
|
||||
|
||||
def _teardown_logging(self) -> None:
|
||||
"""Stop and delete our log blocks so firmware stops streaming them."""
|
||||
for conf in getattr(self, '_log_configs', []):
|
||||
try:
|
||||
conf.stop()
|
||||
conf.delete()
|
||||
except Exception:
|
||||
logger.exception('failed to delete log config %s', conf.name)
|
||||
self._log_configs = []
|
||||
|
||||
def _on_console(self, text: str) -> None:
|
||||
# Firmware console arrives in chunks; emit one log line per newline.
|
||||
self._console_buf += text
|
||||
while '\n' in self._console_buf:
|
||||
line, self._console_buf = self._console_buf.split('\n', 1)
|
||||
line = line.rstrip('\r')
|
||||
if line:
|
||||
_CONSOLE_LOGGER.info(line)
|
||||
|
||||
def _on_telemetry(self, _ts, data, _logconf) -> None:
|
||||
self._telemetry.vbat = data['pm.vbat']
|
||||
self._telemetry.height = data['stateEstimate.z']
|
||||
self._emit()
|
||||
|
||||
def _on_diag(self, _ts, data, _logconf) -> None:
|
||||
t = self._telemetry
|
||||
t.x = data['stateEstimate.x']
|
||||
t.y = data['stateEstimate.y']
|
||||
t.yaw = data['stabilizer.yaw']
|
||||
t.flow_dx = int(data['motion.deltaX'])
|
||||
t.flow_dy = int(data['motion.deltaY'])
|
||||
self._emit()
|
||||
|
||||
def _on_supervisor(self, _ts, data, _logconf) -> None:
|
||||
info = data['supervisor.info']
|
||||
t = self._telemetry
|
||||
t.can_arm = bool(info & SUP_CAN_ARM)
|
||||
t.armed = bool(info & SUP_IS_ARMED)
|
||||
t.flying = bool(info & SUP_IS_FLYING)
|
||||
t.tumbled = bool(info & SUP_IS_TUMBLED)
|
||||
t.locked = bool(info & SUP_IS_LOCKED)
|
||||
t.crashed = bool(info & SUP_IS_CRASHED)
|
||||
t.deck_fault = bool(info & SUP_DECK_FAULT)
|
||||
self._emit()
|
||||
|
||||
def _probe_flow_deck(self, scf: SyncCrazyflie) -> None:
|
||||
try:
|
||||
value = scf.cf.param.get_value('deck.bcFlow2', timeout=5)
|
||||
self._telemetry.flow_deck = bool(int(value))
|
||||
except Exception:
|
||||
logger.exception('could not read deck.bcFlow2')
|
||||
self._telemetry.flow_deck = None
|
||||
self._emit()
|
||||
|
||||
def _arm_failure_reason(self) -> str:
|
||||
"""Best-effort explanation for why the drone would not arm."""
|
||||
t = self._telemetry
|
||||
if t.locked:
|
||||
return 'supervisor locked — reboot the drone'
|
||||
if t.tumbled:
|
||||
return 'drone is tumbled — set it level and still'
|
||||
if t.deck_fault:
|
||||
return 'a deck reported a hardware fault — reseat decks / reboot'
|
||||
if t.crashed:
|
||||
return 'supervisor in crashed state — flip level to recover'
|
||||
# Pre-flight checks never passed; usually means the drone is not level
|
||||
# and stationary, or a sensor is still calibrating.
|
||||
return ('pre-flight checks did not pass — place the drone level and '
|
||||
'stationary, then retry')
|
||||
|
||||
# --------------------------------------------------------------- utils ---
|
||||
|
||||
def _battery_ok(self) -> tuple[bool, str]:
|
||||
# Wait briefly for the first battery reading after connect.
|
||||
end = time.monotonic() + 1.5
|
||||
while self._telemetry.vbat == 0.0 and time.monotonic() < end:
|
||||
time.sleep(0.05)
|
||||
v = self._telemetry.vbat
|
||||
if v and v < MIN_SAFE_VBAT:
|
||||
return False, f'battery low ({v:.2f} V, need {MIN_SAFE_VBAT:.2f} V)'
|
||||
return True, ''
|
||||
|
||||
def _poll_cmd(self) -> str | None:
|
||||
try:
|
||||
return self._cmd_q.get_nowait()
|
||||
except queue.Empty:
|
||||
return None
|
||||
|
||||
def _wait_until(self, predicate, timeout: float) -> bool:
|
||||
end = time.monotonic() + timeout
|
||||
while time.monotonic() < end:
|
||||
if predicate():
|
||||
return True
|
||||
time.sleep(0.05)
|
||||
return False
|
||||
|
||||
def _set_state(self, state: State, message: str) -> None:
|
||||
self._state = state
|
||||
self._message = message
|
||||
logger.info('[%s] %s', state.name, message)
|
||||
self._emit()
|
||||
|
||||
def _emit(self) -> None:
|
||||
snapshot = Update(
|
||||
state=self._state,
|
||||
message=self._message,
|
||||
telemetry=dataclasses.replace(self._telemetry),
|
||||
)
|
||||
self._latest = snapshot # atomic publish for snapshot() pollers
|
||||
try:
|
||||
self._listener(snapshot)
|
||||
except Exception:
|
||||
logger.exception('listener raised')
|
||||
363
mission_client.py
Normal file
363
mission_client.py
Normal file
@@ -0,0 +1,363 @@
|
||||
#!/usr/bin/env python3
|
||||
"""DearPyGui cockpit for the Crazyflie mission client.
|
||||
|
||||
Pops up a UI to fly a Bitcraze Crazyflie with a Flow v2 deck. When you ARM, the
|
||||
drone resets its position estimator, arms, and lifts off to 1 m, holding
|
||||
position with the Flow deck. DISARM lands it gently; EMERGENCY STOP (button or
|
||||
SPACE) cuts the motors immediately.
|
||||
|
||||
Run:
|
||||
python mission_client.py
|
||||
CFLIB_URI=radio://0/80/2M/E7E7E7E7E7 python mission_client.py # custom URI
|
||||
|
||||
The render loop is driven manually (same pattern as the test-stand app): every
|
||||
frame we poll the controller's thread-safe snapshot() and refresh the widgets.
|
||||
All radio I/O stays on the controller's worker thread.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import os
|
||||
import sys
|
||||
|
||||
import dearpygui.dearpygui as dpg
|
||||
|
||||
# Allow `python mission_client.py` from any working directory.
|
||||
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
|
||||
|
||||
from controller import ( # noqa: E402
|
||||
DEFAULT_URI,
|
||||
LOG_BUFFER,
|
||||
MAX_HEIGHT_M,
|
||||
MIN_HEIGHT_M,
|
||||
TARGET_HEIGHT_M,
|
||||
DroneController,
|
||||
State,
|
||||
)
|
||||
|
||||
# Status text colour per state (R, G, B).
|
||||
STATE_COLOUR = {
|
||||
State.DISCONNECTED: (150, 150, 150),
|
||||
State.CONNECTING: (220, 180, 60),
|
||||
State.READY: (60, 200, 90),
|
||||
State.ARMING: (220, 180, 60),
|
||||
State.ARMED: (90, 150, 235),
|
||||
State.FLYING: (60, 200, 90),
|
||||
State.LANDING: (220, 180, 60),
|
||||
State.EMERGENCY: (235, 70, 70),
|
||||
State.ERROR: (235, 70, 70),
|
||||
}
|
||||
|
||||
# States in which a link exists (connected through to on-the-ground emergency).
|
||||
CONNECTED_STATES = {State.READY, State.ARMING, State.ARMED, State.FLYING,
|
||||
State.LANDING, State.EMERGENCY}
|
||||
# Two-step flow gates for the primary button:
|
||||
ARMABLE_STATES = {State.READY, State.EMERGENCY} # ARM (green)
|
||||
LAUNCHABLE_STATES = {State.ARMED} # LAUNCH (blue)
|
||||
FLYING_STATES = {State.FLYING} # LAND (yellow)
|
||||
# States where the hover-height slider is locked (airborne or transient).
|
||||
HEIGHT_LOCKED_STATES = {State.ARMING, State.FLYING, State.LANDING}
|
||||
|
||||
|
||||
class MissionClientApp:
|
||||
def __init__(self) -> None:
|
||||
self.controller = DroneController(
|
||||
os.environ.get('CFLIB_URI', DEFAULT_URI))
|
||||
self._console_version = -1 # last LOG_BUFFER version rendered
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# UI construction
|
||||
# ------------------------------------------------------------------
|
||||
def build(self) -> None:
|
||||
dpg.create_context()
|
||||
|
||||
with dpg.theme() as estop_theme:
|
||||
with dpg.theme_component(dpg.mvButton):
|
||||
dpg.add_theme_color(dpg.mvThemeCol_Button, (170, 30, 30))
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonHovered, (210, 40, 40))
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonActive, (240, 60, 60))
|
||||
self._estop_theme = estop_theme
|
||||
|
||||
with dpg.theme() as arm_theme:
|
||||
with dpg.theme_component(dpg.mvButton):
|
||||
dpg.add_theme_color(dpg.mvThemeCol_Button, (30, 120, 50))
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonHovered, (40, 150, 65))
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonActive, (50, 175, 80))
|
||||
self._arm_theme = arm_theme
|
||||
|
||||
# Flying: yellow LAND, with darkened label text for contrast.
|
||||
with dpg.theme() as disarm_theme:
|
||||
with dpg.theme_component(dpg.mvButton):
|
||||
dpg.add_theme_color(dpg.mvThemeCol_Button, (205, 170, 40))
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonHovered, (225, 190, 55))
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonActive, (240, 205, 70))
|
||||
dpg.add_theme_color(dpg.mvThemeCol_Text, (35, 30, 0))
|
||||
self._disarm_theme = disarm_theme
|
||||
|
||||
# Armed-on-ground: blue LAUNCH.
|
||||
with dpg.theme() as launch_theme:
|
||||
with dpg.theme_component(dpg.mvButton):
|
||||
dpg.add_theme_color(dpg.mvThemeCol_Button, (40, 95, 185))
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonHovered, (55, 115, 210))
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonActive, (70, 135, 230))
|
||||
self._launch_theme = launch_theme
|
||||
|
||||
with dpg.window(tag='primary'):
|
||||
# Controls stacked on top; the console fills the space below so it
|
||||
# is roughly the same height as the rest of the UI above it.
|
||||
self._build_connection()
|
||||
dpg.add_separator()
|
||||
self._build_status()
|
||||
dpg.add_separator()
|
||||
self._build_diagnostics()
|
||||
dpg.add_separator()
|
||||
self._build_controls()
|
||||
dpg.add_separator()
|
||||
self._build_console()
|
||||
|
||||
# SPACE = emergency stop, available anywhere.
|
||||
with dpg.handler_registry():
|
||||
dpg.add_key_press_handler(dpg.mvKey_Spacebar,
|
||||
callback=self._on_estop)
|
||||
|
||||
dpg.create_viewport(title='Crazyflie Mission Client',
|
||||
width=560, height=820)
|
||||
dpg.setup_dearpygui()
|
||||
dpg.show_viewport()
|
||||
dpg.set_primary_window('primary', True)
|
||||
|
||||
def _build_connection(self) -> None:
|
||||
dpg.add_text('Connection')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_combo([self.controller.uri], tag='uri_combo', width=320,
|
||||
default_value=self.controller.uri)
|
||||
dpg.add_button(label='Scan', tag='scan_btn', callback=self._on_scan)
|
||||
dpg.add_button(label='Connect', tag='connect_btn',
|
||||
callback=self._on_connect_toggle)
|
||||
|
||||
def _build_status(self) -> None:
|
||||
dpg.add_text('Status')
|
||||
dpg.add_text('Disconnected', tag='status_text',
|
||||
color=STATE_COLOUR[State.DISCONNECTED])
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Battery:')
|
||||
dpg.add_text('-- V', tag='vbat_text')
|
||||
dpg.add_text(' Height:')
|
||||
dpg.add_text('-- m', tag='height_text')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Flow v2 deck:')
|
||||
dpg.add_text('unknown', tag='flow_text')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Supervisor:')
|
||||
dpg.add_text('idle', tag='sup_text')
|
||||
|
||||
def _build_diagnostics(self) -> None:
|
||||
# Live estimator pose + flow counts for diagnosing circular drift:
|
||||
# a steady yaw drift or a circular x/y trace points at a heading-estimate
|
||||
# problem; flow counts near zero suggest a poor surface for the deck.
|
||||
dpg.add_text('Estimator state')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Pos (m):')
|
||||
dpg.add_text('x -- y -- z --', tag='diag_pos')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Yaw:')
|
||||
dpg.add_text('-- deg', tag='diag_yaw')
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Flow counts:')
|
||||
dpg.add_text('dx -- dy --', tag='diag_flow')
|
||||
|
||||
def _build_controls(self) -> None:
|
||||
dpg.add_text('Flight')
|
||||
dpg.add_slider_float(label='Hover height', tag='height_slider',
|
||||
default_value=TARGET_HEIGHT_M,
|
||||
min_value=MIN_HEIGHT_M, max_value=MAX_HEIGHT_M,
|
||||
format='%.2f m', width=-80)
|
||||
# Primary action button; label/theme/enabled all driven per frame in
|
||||
# update(): ARM (green) -> LAUNCH (blue) -> LAND (yellow).
|
||||
dpg.add_button(label='ARM', tag='arm_btn', width=-1, height=46,
|
||||
callback=self._on_primary, enabled=False)
|
||||
# Secondary: back out of ARMED without launching. Enabled only in ARMED.
|
||||
dpg.add_button(label='Disarm', tag='disarm_btn', width=-1,
|
||||
callback=self._on_disarm, enabled=False)
|
||||
estop = dpg.add_button(label='EMERGENCY STOP (SPACE)', tag='estop_btn',
|
||||
width=-1, height=46, callback=self._on_estop)
|
||||
dpg.bind_item_theme(estop, self._estop_theme)
|
||||
|
||||
def _build_console(self) -> None:
|
||||
# Header row, then a scrolling region that fills the remaining height
|
||||
# below the controls (height=-1) — same width as the rest of the UI.
|
||||
with dpg.group(horizontal=True):
|
||||
dpg.add_text('Console')
|
||||
dpg.add_button(label='Clear', callback=lambda: LOG_BUFFER.clear())
|
||||
with dpg.child_window(tag='console_child', width=-1, height=-1):
|
||||
dpg.add_text('', tag='console_text', wrap=520)
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Callbacks
|
||||
# ------------------------------------------------------------------
|
||||
def _on_scan(self) -> None:
|
||||
uris = self.controller.scan()
|
||||
if uris:
|
||||
dpg.configure_item('uri_combo', items=uris)
|
||||
dpg.set_value('uri_combo', uris[0])
|
||||
else:
|
||||
dpg.configure_item('uri_combo', items=[self.controller.uri])
|
||||
dpg.set_value('uri_combo', '(none found)')
|
||||
|
||||
def _on_connect_toggle(self) -> None:
|
||||
state = self.controller.snapshot().state
|
||||
if state in CONNECTED_STATES or state == State.CONNECTING:
|
||||
self.controller.disconnect()
|
||||
return
|
||||
uri = dpg.get_value('uri_combo')
|
||||
if uri and uri.startswith(('radio://', 'usb://')):
|
||||
self.controller.connect(uri)
|
||||
|
||||
def _on_primary(self) -> None:
|
||||
# Context action for the single primary button: ARM -> LAUNCH -> LAND.
|
||||
state = self.controller.snapshot().state
|
||||
if state in ARMABLE_STATES:
|
||||
self.controller.arm()
|
||||
elif state in LAUNCHABLE_STATES:
|
||||
self.controller.launch(dpg.get_value('height_slider'))
|
||||
elif state in FLYING_STATES:
|
||||
self.controller.disarm() # land
|
||||
|
||||
def _on_disarm(self) -> None:
|
||||
# Secondary button: back out of ARMED on the ground (no takeoff).
|
||||
if self.controller.snapshot().state in LAUNCHABLE_STATES:
|
||||
self.controller.disarm()
|
||||
|
||||
def _on_estop(self, *_) -> None:
|
||||
self.controller.emergency_stop()
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Per-frame update
|
||||
# ------------------------------------------------------------------
|
||||
def update(self) -> None:
|
||||
upd = self.controller.snapshot()
|
||||
state, t = upd.state, upd.telemetry
|
||||
|
||||
dpg.set_value('status_text', upd.message or state.name)
|
||||
dpg.configure_item('status_text',
|
||||
color=STATE_COLOUR.get(state, (200, 200, 200)))
|
||||
|
||||
dpg.set_value('vbat_text', f'{t.vbat:.2f} V' if t.vbat else '-- V')
|
||||
dpg.set_value('height_text', f'{t.height:.2f} m')
|
||||
|
||||
if t.flow_deck is None:
|
||||
dpg.set_value('flow_text', 'unknown')
|
||||
elif t.flow_deck:
|
||||
dpg.set_value('flow_text', 'attached')
|
||||
else:
|
||||
dpg.set_value('flow_text', 'NOT DETECTED')
|
||||
|
||||
dpg.set_value('sup_text', self._supervisor_text(t))
|
||||
|
||||
# Drift-inspection readout.
|
||||
dpg.set_value('diag_pos',
|
||||
f'x {t.x:+.3f} y {t.y:+.3f} z {t.height:+.3f}')
|
||||
dpg.set_value('diag_yaw', f'{t.yaw:+.1f} deg')
|
||||
dpg.set_value('diag_flow', f'dx {t.flow_dx:+d} dy {t.flow_dy:+d}')
|
||||
|
||||
# Connect / Disconnect button.
|
||||
connecting = state == State.CONNECTING
|
||||
connected = state in CONNECTED_STATES
|
||||
dpg.configure_item(
|
||||
'connect_btn', enabled=not connecting,
|
||||
label='Disconnect' if (connected or connecting) else 'Connect')
|
||||
dpg.configure_item('scan_btn', enabled=not (connected or connecting))
|
||||
dpg.configure_item('uri_combo', enabled=not (connected or connecting))
|
||||
|
||||
# Hover height is a pre-launch setting; lock the slider once airborne
|
||||
# or mid-arm transient.
|
||||
dpg.configure_item('height_slider',
|
||||
enabled=state not in HEIGHT_LOCKED_STATES)
|
||||
|
||||
# Primary button — frame-driven across the two-step flow:
|
||||
# armable -> green "ARM"
|
||||
# armed -> blue "LAUNCH (to N m)"
|
||||
# flying -> yellow "LAND"
|
||||
# otherwise -> disabled, no theme (default greyed)
|
||||
if state in ARMABLE_STATES:
|
||||
dpg.configure_item('arm_btn', enabled=True, label='ARM')
|
||||
dpg.bind_item_theme('arm_btn', self._arm_theme)
|
||||
elif state in LAUNCHABLE_STATES:
|
||||
height = dpg.get_value('height_slider')
|
||||
dpg.configure_item('arm_btn', enabled=True,
|
||||
label=f'LAUNCH (to {height:.2f} m)')
|
||||
dpg.bind_item_theme('arm_btn', self._launch_theme)
|
||||
elif state in FLYING_STATES:
|
||||
dpg.configure_item('arm_btn', enabled=True, label='LAND')
|
||||
dpg.bind_item_theme('arm_btn', self._disarm_theme)
|
||||
else:
|
||||
dpg.configure_item('arm_btn', enabled=False, label='ARM')
|
||||
dpg.bind_item_theme('arm_btn', 0)
|
||||
|
||||
# Secondary Disarm button: only usable while armed on the ground.
|
||||
dpg.configure_item('disarm_btn', enabled=state in LAUNCHABLE_STATES)
|
||||
|
||||
dpg.configure_item('estop_btn', enabled=connected)
|
||||
|
||||
self._refresh_console()
|
||||
|
||||
def _refresh_console(self) -> None:
|
||||
version, lines = LOG_BUFFER.snapshot()
|
||||
if version == self._console_version:
|
||||
return
|
||||
self._console_version = version
|
||||
# Keep following the tail only if the user is already at the bottom.
|
||||
try:
|
||||
at_bottom = (dpg.get_y_scroll('console_child')
|
||||
>= dpg.get_y_scroll_max('console_child') - 2.0)
|
||||
except Exception:
|
||||
at_bottom = True
|
||||
dpg.set_value('console_text', '\n'.join(lines))
|
||||
if at_bottom:
|
||||
dpg.set_y_scroll('console_child', -1.0)
|
||||
|
||||
@staticmethod
|
||||
def _supervisor_text(t) -> str:
|
||||
flags = []
|
||||
if t.locked:
|
||||
flags.append('LOCKED')
|
||||
if t.tumbled:
|
||||
flags.append('TUMBLED')
|
||||
if t.crashed:
|
||||
flags.append('CRASHED')
|
||||
if t.deck_fault:
|
||||
flags.append('DECK-FAULT')
|
||||
if t.armed:
|
||||
flags.append('armed')
|
||||
if t.flying:
|
||||
flags.append('flying')
|
||||
return ', '.join(flags) if flags else 'idle'
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Run loop
|
||||
# ------------------------------------------------------------------
|
||||
def run(self) -> None:
|
||||
self.controller.start()
|
||||
self.build()
|
||||
try:
|
||||
while dpg.is_dearpygui_running():
|
||||
self.update()
|
||||
dpg.render_dearpygui_frame()
|
||||
finally:
|
||||
# Never leave the drone airborne: ask the controller to land (if
|
||||
# flying) and close the link, and wait for the worker to finish so
|
||||
# libusb is never torn down mid-call. Bounded so we can't hang.
|
||||
try:
|
||||
self.controller.shutdown()
|
||||
self.controller.join(timeout=12)
|
||||
except Exception:
|
||||
pass
|
||||
dpg.destroy_context()
|
||||
|
||||
|
||||
def main() -> None:
|
||||
MissionClientApp().run()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
17
pyproject.toml
Normal file
17
pyproject.toml
Normal file
@@ -0,0 +1,17 @@
|
||||
[project]
|
||||
name = "crazyflie-mission-client"
|
||||
version = "0.1.0"
|
||||
description = "Tkinter mission client that flies a Crazyflie + Flow v2 deck to a 1 m hover"
|
||||
readme = "README.md"
|
||||
requires-python = ">=3.10"
|
||||
dependencies = [
|
||||
# Crazyflie radio link, logging, commander, supervisor arming API.
|
||||
# 0.1.25 is the first release with cf.supervisor.send_arming_request().
|
||||
"cflib>=0.1.25",
|
||||
# Immediate-mode GUI (same binding as the test-stand app).
|
||||
"dearpygui>=2.0",
|
||||
]
|
||||
|
||||
[tool.uv]
|
||||
# Flat-module application, not an installable package — don't try to build it.
|
||||
package = false
|
||||
6
requirements.txt
Normal file
6
requirements.txt
Normal file
@@ -0,0 +1,6 @@
|
||||
# Crazyflie Python library (radio link, logging, commander, supervisor).
|
||||
# 0.1.25 is the first release with the supervisor arming API used here.
|
||||
cflib>=0.1.25
|
||||
|
||||
# Immediate-mode GUI (same binding as the test-stand app).
|
||||
dearpygui>=2.0
|
||||
503
uv.lock
generated
Normal file
503
uv.lock
generated
Normal file
@@ -0,0 +1,503 @@
|
||||
version = 1
|
||||
revision = 3
|
||||
requires-python = ">=3.10"
|
||||
resolution-markers = [
|
||||
"python_full_version >= '3.12'",
|
||||
"python_full_version == '3.11.*'",
|
||||
"python_full_version < '3.11'",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cflib"
|
||||
version = "0.1.32"
|
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Reference in New Issue
Block a user