public void TestPingCopter()
{
if (crazyradioDrivers != null && crazyradioDrivers.Any())
{
// Use the first available Crazyradio USB dongle returned from the scan in the initialize test methods call.
var crazyradioDriver = crazyradioDrivers.First();
try
{
// Open the Crazyradio USB dongle device for communication and configuration.
crazyradioDriver.Open();
// Get Crazyradio USB dongle to scann for communication channels of Crazyflie quadcopters.
var scanResults = crazyradioDriver.ScanChannels();
if (scanResults.Any())
{
// Pick the first result...
var firstScanResult = scanResults.First();
// Results are grouped by DataRate...
var dataRateWithCrazyflie = firstScanResult.DataRate;
// Pick the first communication RadioChannel...
var channelWithCrazyflie = firstScanResult.Channels.First();
// Set the CrazyradioDriver to use the above communication RadioChannel and DataRate to communicate with the Crazyflie quadcopter using that DataRate and RadioChannel...
crazyradioDriver.DataRate = dataRateWithCrazyflie;
crazyradioDriver.Channel = channelWithCrazyflie;
// Create a ping packet to set to the Crazyflie we're going to ping 10 times.
// We can reuse this same ping packet object. No point in creating a new one for each ping.
var pingPacket = new PingPacket();
// Get ping packet bytes just to print out.
var pingPacketBytes = pingPacket.GetBytes();
int i = 0;
while (i < 10)
{
// Print out the ping packet bytes.
Console.WriteLine("Ping Packet Bytes: {0}", BitConverter.ToString(pingPacketBytes));
// Send the ping packet bytes via the CrazyradioDriver and get ACK (acknowledgement) response bytes.
var ackResponse = crazyradioDriver.SendData(pingPacketBytes);
// Print out the ACK response bytes.
Console.WriteLine("ACK Response Bytes (using driver): {0}", BitConverter.ToString(ackResponse));
// one more time!
i++;
}
}
else
{
throw new Exception("No Crazyflie Quadcopters found!");
}
}
catch (Exception ex)
{
throw new Exception("Error testing Crazyradio.", ex);
}
finally
{
// Close the Crazyradio USB dongle for communication.
crazyradioDriver.Close();
}
}
else
{
throw new Exception("No Crazyradio USB dongles found!");
}
Assert.IsTrue(true);
}
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;
}
}
}
public void TestPingCopter()
{
if (crazyradioDrivers != null && crazyradioDrivers.Any())
{
// Use the first available Crazyradio USB dongle returned from the scan in the initialize test methods call.
var crazyradioDriver = crazyradioDrivers.First();
try
{
// Open the Crazyradio USB dongle device for communication and configuration.
crazyradioDriver.Open();
// Get Crazyradio USB dongle to scann for communication channels of Crazyflie quadcopters.
var scanResults = crazyradioDriver.ScanChannels();
if (scanResults.Any())
{
// Pick the first result...
var firstScanResult = scanResults.First();
// Results are grouped by DataRate...
var dataRateWithCrazyflie = firstScanResult.DataRate;
// Pick the first communication RadioChannel...
var channelWithCrazyflie = firstScanResult.Channels.First();
// Set the CrazyradioDriver to use the above communication RadioChannel and DataRate to communicate with the Crazyflie quadcopter using that DataRate and RadioChannel...
crazyradioDriver.DataRate = dataRateWithCrazyflie;
crazyradioDriver.Channel = channelWithCrazyflie;
// Create a ping packet to set to the Crazyflie we're going to ping 10 times.
// We can reuse this same ping packet object. No point in creating a new one for each ping.
var pingPacket = new PingPacket();
// Get ping packet bytes just to print out.
var pingPacketBytes = pingPacket.GetBytes();
int i = 0;
while (i < 10)
{
// Print out the ping packet bytes.
Console.WriteLine("Ping Packet Bytes: {0}", BitConverter.ToString(pingPacketBytes));
// Send the ping packet bytes via the CrazyradioDriver and get ACK (acknowledgement) response bytes.
var ackResponse = crazyradioDriver.SendData(pingPacketBytes);
// Print out the ACK response bytes.
Console.WriteLine("ACK Response Bytes (using driver): {0}", BitConverter.ToString(ackResponse));
// one more time!
i++;
}
}
else
{
throw new Exception("No Crazyflie Quadcopters found!");
}
}
catch (Exception ex)
{
throw new Exception("Error testing Crazyradio.", ex);
}
finally
{
// Close the Crazyradio USB dongle for communication.
crazyradioDriver.Close();
}
}
else
{
throw new Exception("No Crazyradio USB dongles found!");
}
Assert.IsTrue(true);
}
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;
}
}
}
