private ICrazyradioDriver SetupCrazyflieDriver()
{
IEnumerable <ICrazyradioDriver> crazyradioDrivers = null;
try
{
// Scan for connected Crazyradio USB dongles
crazyradioDrivers = CrazyradioDriver.GetCrazyradios();
}
catch (Exception ex)
{
WriteToConsole("Error getting Crazyradio USB dongle devices connected to computer.");
}
// If we found any
if (crazyradioDrivers != null && crazyradioDrivers.Any())
{
// Use first available Crazyradio dongle
var crazyradioDriver = crazyradioDrivers.First();
try
{
// Initialize driver
crazyradioDriver.Open();
// Scan for any Crazyflie quadcopters ready for communication
var scanResults = crazyradioDriver.ScanChannels();
if (scanResults.Any())
{
// Use first online Crazyflie quadcopter found
var firstScanResult = scanResults.First();
// Set CrazyradioDriver's DataRate and Channel to that of online Crazyflie
var dataRateWithCrazyflie = firstScanResult.DataRate;
var channelWithCrazyflie = firstScanResult.Channels.First();
crazyradioDriver.DataRate = dataRateWithCrazyflie;
crazyradioDriver.Channel = channelWithCrazyflie;
return(crazyradioDriver);
}
else
{
WriteToConsole("No Crazyflie quadcopters available for communication.");
return(null);
}
}
catch (Exception ex)
{
WriteToConsole("Error initializing Crazyradio USB dongle for communication with a Crazyflie quadcopter.");
throw;
}
}
else
{
WriteToConsole("No Crazyradio USB dongles found!");
return(null);
}
}
private static ICrazyradioDriver GetCrazyDriver()
{
IEnumerable <ICrazyradioDriver> crazyradioDrivers = null;
crazyradioDrivers = CrazyradioDriver.GetCrazyradios();
if (crazyradioDrivers != null && crazyradioDrivers.Any())
{
return(crazyradioDrivers.First());
}
throw new Exception("No Crazyradio USB dongles found!");
}
public void Initailize()
{
crazyradioDrivers = null;
try
{
// Scan and return a collection of Crazyradio USB dongles connected to the computer.
crazyradioDrivers = CrazyradioDriver.GetCrazyradios();
if (crazyradioDrivers == null || !crazyradioDrivers.Any())
{
throw new Exception("No Crazyradio USB dongle devices found using GetCrazyradio method call.");
}
}
catch (Exception ex)
{
throw new Exception("Error getting Crazyradios.", ex);
}
}
private ICrazyradioDriver SetupCrazyflieDriver()
{
IEnumerable <ICrazyradioDriver> crazyradioDrivers = null;
try
{
// Scan for connected Crazyradio USB dongles
crazyradioDrivers = CrazyradioDriver.GetCrazyradios();
}
catch (Exception ex)
{
var msg = "Error getting Crazyradio USB dongle devices connected to computer.";
_log.Error(msg, ex);
throw new ApplicationException(msg, ex);
}
// If we found any
if (crazyradioDrivers != null && crazyradioDrivers.Any())
{
try
{
// Use first available Crazyradio dongle
var crazyradioDriver = crazyradioDrivers.First();
crazyradioDriver.Open();
return(crazyradioDriver);
}
catch (Exception ex)
{
_log.Error("Failed to enable crazy radio", ex);
throw new ApplicationException("Failed to enable crazy radio");
}
}
else
{
_log.Error("no crarzyradio USB dongle device found");
throw new ApplicationException("no crazyradio found. check if usb device connected and libusb driver installed");
}
}
private static void Main(string[] args)
{
SetUpLogging();
IEnumerable <ICrazyradioDriver> crazyradioDrivers = null;
try
{
Log.Debug("Starting Crazyradio USB dongle tests.");
crazyradioDrivers = CrazyradioDriver.GetCrazyradios();
}
catch (Exception ex)
{
Log.Error("Error getting Crazyradios.", ex);
}
if (crazyradioDrivers != null && crazyradioDrivers.Any())
{
var crazyradioDriver = crazyradioDrivers.First();
try
{
crazyradioDriver.Open();
var scanResults = crazyradioDriver.ScanChannels();
if (scanResults.Any())
{
var firstScanResult = scanResults.First();
var dataRateWithCrazyflie = firstScanResult.DataRate;
var channelWithCrazyflie = firstScanResult.Channels.First();
crazyradioDriver.DataRate = dataRateWithCrazyflie;
crazyradioDriver.Channel = channelWithCrazyflie;
var pingPacket = new PingPacket();
var pingPacketBytes = pingPacket.GetBytes();
var crazyRadioMessenger = new CrazyradioMessenger(crazyradioDriver);
var loop = true;
while (loop)
{
// test 2 (using CTRP lib)
{
Log.InfoFormat("Ping Packet Bytes: {0}", BitConverter.ToString(pingPacketBytes));
var ackPacket = crazyRadioMessenger.SendMessage(new PingPacket());
var ackPacketBytes = ackPacket.GetBytes();
Log.InfoFormat("ACK Response Bytes (using CTRP): {0}", BitConverter.ToString(ackPacketBytes));
}
if (Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Spacebar)
{
loop = false;
}
}
}
else
{
Log.Warn("No Crazyflie Quadcopters found!");
}
}
catch (Exception ex)
{
Log.Error("Error testing Crazyradio.", ex);
}
finally
{
crazyradioDriver.Close();
}
}
else
{
Log.Warn("No Crazyradio USB dongles found!");
}
Log.Info("Sleepy time...Hit space to exit.");
var sleep = true;
while (sleep)
{
if (Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Spacebar)
{
sleep = false;
}
}
}
