#include <Crazyflie.h>

Classes
struct	batchRequest
struct	logInfo
struct	LogTocEntry
struct	MemoryTocEntry
struct	paramInfo
struct	ParamTocEntry
union	ParamValue
struct	poly4d
Public Types
enum	BootloaderTarget { TargetSTM32 = 0xFF, TargetNRF51 = 0xFE }
enum	LogType { LogTypeUint8 = 1, LogTypeUint16 = 2, LogTypeUint32 = 3, LogTypeInt8 = 4, LogTypeInt16 = 5, LogTypeInt32 = 6, LogTypeFloat = 7, LogTypeFP16 = 8 }
enum	MemoryType { MemoryTypeEEPROM = 0x00, MemoryTypeOneWire = 0x01, MemoryTypeLED12 = 0x10, MemoryTypeLOCO = 0x11, MemoryTypeTRAJ = 0x12 }
enum	ParamType { ParamTypeUint8 = 0x00 \| (0x00<<2) \| (0x01<<3), ParamTypeInt8 = 0x00 \| (0x00<<2) \| (0x00<<3), ParamTypeUint16 = 0x01 \| (0x00<<2) \| (0x01<<3), ParamTypeInt16 = 0x01 \| (0x00<<2) \| (0x00<<3), ParamTypeUint32 = 0x02 \| (0x00<<2) \| (0x01<<3), ParamTypeInt32 = 0x02 \| (0x00<<2) \| (0x00<<3), ParamTypeFloat = 0x02 \| (0x01<<2) \| (0x00<<3) }
Public Member Functions
struct Crazyflie::poly4d	__attribute__ ((packed))
template<class T >
void	addSetParam (uint8_t id, const T &value)
void	alloff ()
	Crazyflie (const std::string &link_uri, Logger &logger=EmptyLogger, std::function< void(const char *)> consoleCb=nullptr)
void	emergencyStop ()
void	emergencyStopWatchdog ()
std::string	getDeviceTypeName ()
std::string	getFirmwareVersion ()
template<class T >
T	getParam (uint8_t id) const
const ParamTocEntry *	getParamTocEntry (const std::string &group, const std::string &name) const
int	getProtocolVersion ()
void	goTo (float x, float y, float z, float yaw, float duration, bool relative=false, uint8_t groupMask=0)
void	land (float height, float duration, uint8_t groupMask=0)
void	logReset ()
std::vector< LogTocEntry > ::const_iterator	logVariablesBegin () const
std::vector< LogTocEntry > ::const_iterator	logVariablesEnd () const
std::vector< MemoryTocEntry > ::const_iterator	memoriesBegin () const
std::vector< MemoryTocEntry > ::const_iterator	memoriesEnd () const
std::vector< ParamTocEntry > ::const_iterator	paramsBegin () const
std::vector< ParamTocEntry > ::const_iterator	paramsEnd () const
void	queueOutgoingPacket (const crtpPacket_t &packet)
void	readFlash (BootloaderTarget target, size_t size, std::vector< uint8_t > &data)
void	reboot ()
void	rebootFromBootloader ()
uint64_t	rebootToBootloader ()
void	requestLogToc (bool forceNoCache=false)
void	requestMemoryToc ()
void	requestParamToc (bool forceNoCache=false)
void	sendExternalPoseUpdate (float x, float y, float z, float qx, float qy, float qz, float qw)
void	sendExternalPositionUpdate (float x, float y, float z)
void	sendFullStateSetpoint (float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, float qx, float qy, float qz, float qw, float rollRate, float pitchRate, float yawRate)
void	sendHoverSetpoint (float vx, float vy, float yawrate, float zDistance)
void	sendPing ()
void	sendPositionSetpoint (float x, float y, float z, float yaw)
void	sendSetpoint (float roll, float pitch, float yawrate, uint16_t thrust)
void	sendStop ()
void	setConsoleCallback (std::function< void(const char *)> cb)
void	setEmptyAckCallback (std::function< void(const crtpPlatformRSSIAck *)> cb)
void	setGenericPacketCallback (std::function< void(const ITransport::Ack &)> cb)
void	setGroupMask (uint8_t groupMask)
void	setLinkQualityCallback (std::function< void(float)> cb)
template<class T >
void	setParam (uint8_t id, const T &value)
void	setRequestedParams ()
void	startSetParamRequest ()
void	startTrajectory (uint8_t trajectoryId, float timescale=1.0, bool reversed=false, bool relative=true, uint8_t groupMask=0)
void	stop (uint8_t groupMask=0)
void	sysoff ()
void	syson ()
void	takeoff (float height, float duration, uint8_t groupMask=0)
void	transmitPackets ()
void	uploadTrajectory (uint8_t trajectoryId, uint32_t pieceOffset, const std::vector< poly4d > &pieces)
float	vbat ()
void	writeFlash (BootloaderTarget target, const std::vector< uint8_t > &data)
Static Public Member Functions
static size_t	size (LogType t)
Private Member Functions
template<typename R >
void	addRequest (const R &request, size_t numBytesToMatch)
void	addRequestInternal (const uint8_t *data, size_t numBytes, size_t numBytesToMatch)
void	addSetParam (uint8_t id, const ParamValue &value)
const LogTocEntry *	getLogTocEntry (const std::string &group, const std::string &name) const
const ParamValue &	getParam (uint8_t id) const
template<typename R >
const R *	getRequestResult (size_t index) const
void	handleAck (const ITransport::Ack &result)
void	handleBatchAck (const ITransport::Ack &result, bool crtpMode)
void	handleRequests (bool crtpMode=true, bool useSafeLink=ENABLE_SAFELINK, float baseTime=2.0, float timePerRequest=0.2)
uint8_t	registerLogBlock (std::function< void(crtpLogDataResponse *, uint8_t)> cb)
template<typename R >
void	sendPacket (const R &request, ITransport::Ack &result, bool useSafeLink=ENABLE_SAFELINK)
template<typename R >
void	sendPacket (const R &request, bool useSafeLink=ENABLE_SAFELINK)
void	sendPacketInternal (const uint8_t *data, uint32_t length, ITransport::Ack &result, bool useSafeLink=ENABLE_SAFELINK)
bool	sendPacketInternal (const uint8_t *data, uint32_t length, bool useSafeLink=ENABLE_SAFELINK)
template<typename R >
void	sendPacketOrTimeout (const R &request, bool useSafeLink=ENABLE_SAFELINK)
void	sendPacketOrTimeoutInternal (const uint8_t *data, uint32_t length, bool useSafeLink=ENABLE_SAFELINK, float timeout=1.0)
void	setParam (uint8_t id, const ParamValue &value)
void	startBatchRequest ()
bool	unregisterLogBlock (uint8_t id)
Private Attributes
struct Crazyflie::logInfo	__attribute__
uint64_t	m_address
std::vector< batchRequest >	m_batchRequests
uint8_t	m_channel
std::function< void(const char *)	m_consoleCallback )
int	m_curr_down
int	m_curr_up
Crazyradio::Datarate	m_datarate
int	m_devId
std::function< void(const crtpPlatformRSSIAck *)	m_emptyAckCallback )
std::function< void(const ITransport::Ack &)>	m_genericPacketCallback
std::function< void(float)>	m_linkQualityCallback
bool	m_log_use_V2
std::map< uint8_t, std::function< void(crtpLogDataResponse *, uint8_t)>	m_logBlockCb )
Logger &	m_logger
std::vector< LogTocEntry >	m_logTocEntries
std::vector< MemoryTocEntry >	m_memoryTocEntries
size_t	m_numRequestsFinished
std::vector< crtpPacket_t >	m_outgoing_packets
bool	m_param_use_V2
std::vector< ParamTocEntry >	m_paramTocEntries
std::map< uint8_t, ParamValue >	m_paramValues
int	m_protocolVersion
Crazyradio *	m_radio
ITransport *	m_transport
Friends
class	LogBlock
class	LogBlockGeneric

Detailed Description

Definition at line 29 of file Crazyflie.h.

Member Enumeration Documentation

enum Crazyflie::BootloaderTarget

Enumerator:

TargetSTM32
TargetNRF51

Definition at line 83 of file Crazyflie.h.

enum Crazyflie::LogType

Enumerator:

LogTypeUint8
LogTypeUint16
LogTypeUint32
LogTypeInt8
LogTypeInt16
LogTypeInt32
LogTypeFloat
LogTypeFP16

Definition at line 65 of file Crazyflie.h.

enum Crazyflie::MemoryType

Enumerator:

MemoryTypeEEPROM
MemoryTypeOneWire
MemoryTypeLED12
MemoryTypeLOCO
MemoryTypeTRAJ

Definition at line 88 of file Crazyflie.h.

enum Crazyflie::ParamType

Enumerator:

ParamTypeUint8
ParamTypeInt8
ParamTypeUint16
ParamTypeInt16
ParamTypeUint32
ParamTypeInt32
ParamTypeFloat

Definition at line 32 of file Crazyflie.h.

Constructor & Destructor Documentation

Crazyflie::Crazyflie	(	const std::string &	link_uri,
		Logger &	logger = `EmptyLogger`,
		std::function< void(const char *)>	consoleCb = `nullptr`
	)

Definition at line 32 of file Crazyflie.cpp.

Member Function Documentation

struct Crazyflie::poly4d Crazyflie::__attribute__ ( (packed) )

template<typename R >

void Crazyflie::addRequest	(	const R &	request,
		size_t	numBytesToMatch
	)		`[inline, private]`

Definition at line 374 of file Crazyflie.h.

void Crazyflie::addRequestInternal	(	const uint8_t *	data,
		size_t	numBytes,
		size_t	numBytesToMatch
	)		`[private]`

Definition at line 1229 of file Crazyflie.cpp.

template<class T >

void Crazyflie::addSetParam	(	uint8_t	id,
		const T &	value
	)		`[inline]`

Definition at line 220 of file Crazyflie.h.

void Crazyflie::addSetParam	(	uint8_t	id,
		const ParamValue &	value
	)		`[private]`

Definition at line 880 of file Crazyflie.cpp.

void Crazyflie::alloff ( )

Definition at line 331 of file Crazyflie.cpp.

void Crazyflie::emergencyStop ( )

Definition at line 185 of file Crazyflie.cpp.

void Crazyflie::emergencyStopWatchdog ( )

Definition at line 191 of file Crazyflie.cpp.

std::string Crazyflie::getDeviceTypeName ( )

Definition at line 152 of file Crazyflie.cpp.

std::string Crazyflie::getFirmwareVersion ( )

Definition at line 143 of file Crazyflie.cpp.

const Crazyflie::LogTocEntry * Crazyflie::getLogTocEntry	(	const std::string &	group,
		const std::string &	name
	)		const `[private]`

Definition at line 1179 of file Crazyflie.cpp.

template<class T >

T Crazyflie::getParam ( uint8_t id ) const [inline]

Definition at line 230 of file Crazyflie.h.

const ParamValue& Crazyflie::getParam ( uint8_t id ) const [inline, private]

Definition at line 451 of file Crazyflie.h.

const Crazyflie::ParamTocEntry * Crazyflie::getParamTocEntry	(	const std::string &	group,
		const std::string &	name
	)		const

Definition at line 1191 of file Crazyflie.cpp.

int Crazyflie::getProtocolVersion ( )

Definition at line 134 of file Crazyflie.cpp.

template<typename R >

const R* Crazyflie::getRequestResult ( size_t index ) const [inline, private]

Definition at line 394 of file Crazyflie.h.

void Crazyflie::goTo	(	float	x,
		float	y,
		float	z,
		float	yaw,
		float	duration,
		bool	relative = `false`,
		uint8_t	groupMask = `0`
	)

Definition at line 1354 of file Crazyflie.cpp.

void Crazyflie::handleAck ( const ITransport::Ack & result ) [private]

Definition at line 1093 of file Crazyflie.cpp.

void Crazyflie::handleBatchAck	(	const ITransport::Ack &	result,
		bool	crtpMode
	)		`[private]`

Definition at line 1297 of file Crazyflie.cpp.

void Crazyflie::handleRequests	(	bool	crtpMode = `true`,
		bool	useSafeLink = `ENABLE_SAFELINK`,
		float	baseTime = `2.0`,
		float	timePerRequest = `0.2`
	)		`[private]`

Definition at line 1241 of file Crazyflie.cpp.

void Crazyflie::land	(	float	height,
		float	duration,
		uint8_t	groupMask = `0`
	)

Definition at line 1342 of file Crazyflie.cpp.

void Crazyflie::logReset ( )

Definition at line 161 of file Crazyflie.cpp.

std::vector<LogTocEntry>::const_iterator Crazyflie::logVariablesBegin ( ) const [inline]

Definition at line 196 of file Crazyflie.h.

std::vector<LogTocEntry>::const_iterator Crazyflie::logVariablesEnd ( ) const [inline]

Definition at line 199 of file Crazyflie.h.

std::vector<MemoryTocEntry>::const_iterator Crazyflie::memoriesBegin ( ) const [inline]

Definition at line 203 of file Crazyflie.h.

std::vector<MemoryTocEntry>::const_iterator Crazyflie::memoriesEnd ( ) const [inline]

Definition at line 206 of file Crazyflie.h.

std::vector<ParamTocEntry>::const_iterator Crazyflie::paramsBegin ( ) const [inline]

Definition at line 189 of file Crazyflie.h.

std::vector<ParamTocEntry>::const_iterator Crazyflie::paramsEnd ( ) const [inline]

Definition at line 192 of file Crazyflie.h.

void Crazyflie::queueOutgoingPacket ( const crtpPacket_t & packet ) [inline]

En-queues a generic crtpPacket into a vector so that it can be transmitted later.

Parameters:

packet the crtpPacket to be en-queued.

Definition at line 286 of file Crazyflie.h.

void Crazyflie::readFlash	(	BootloaderTarget	target,
		size_t	size,
		std::vector< uint8_t > &	data
	)

Definition at line 508 of file Crazyflie.cpp.

void Crazyflie::reboot ( )

Definition at line 273 of file Crazyflie.cpp.

void Crazyflie::rebootFromBootloader ( )

Definition at line 315 of file Crazyflie.cpp.

uint64_t Crazyflie::rebootToBootloader ( )

Definition at line 284 of file Crazyflie.cpp.

uint8_t Crazyflie::registerLogBlock ( std::function< void(crtpLogDataResponse *, uint8_t)> cb ) [private]

Definition at line 1203 of file Crazyflie.cpp.

void Crazyflie::requestLogToc ( bool forceNoCache = false )

Definition at line 572 of file Crazyflie.cpp.

void Crazyflie::requestMemoryToc ( )

Definition at line 843 of file Crazyflie.cpp.

void Crazyflie::requestParamToc ( bool forceNoCache = false )

Definition at line 682 of file Crazyflie.cpp.

void Crazyflie::sendExternalPoseUpdate	(	float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw
	)

Definition at line 242 of file Crazyflie.cpp.

void Crazyflie::sendExternalPositionUpdate	(	float	x,
		float	y,
		float	z
	)

Definition at line 233 of file Crazyflie.cpp.

void Crazyflie::sendFullStateSetpoint	(	float	x,
		float	y,
		float	z,
		float	vx,
		float	vy,
		float	vz,
		float	ax,
		float	ay,
		float	az,
		float	qx,
		float	qy,
		float	qz,
		float	qw,
		float	rollRate,
		float	pitchRate,
		float	yawRate
	)

Definition at line 217 of file Crazyflie.cpp.

void Crazyflie::sendHoverSetpoint	(	float	vx,
		float	vy,
		float	yawrate,
		float	zDistance
	)

Definition at line 207 of file Crazyflie.cpp.

template<typename R >

void Crazyflie::sendPacket	(	const R &	request,
		ITransport::Ack &	result,
		bool	useSafeLink = `ENABLE_SAFELINK`
	)		`[inline, private]`

Definition at line 323 of file Crazyflie.h.

template<typename R >

void Crazyflie::sendPacket	(	const R &	request,
		bool	useSafeLink = `ENABLE_SAFELINK`
	)		`[inline, private]`

Definition at line 338 of file Crazyflie.h.

void Crazyflie::sendPacketInternal	(	const uint8_t *	data,
		uint32_t	length,
		ITransport::Ack &	result,
		bool	useSafeLink = `ENABLE_SAFELINK`
	)		`[private]`

Definition at line 1027 of file Crazyflie.cpp.

bool Crazyflie::sendPacketInternal	(	const uint8_t *	data,
		uint32_t	length,
		bool	useSafeLink = `ENABLE_SAFELINK`
	)		`[private]`

Definition at line 1001 of file Crazyflie.cpp.

template<typename R >

void Crazyflie::sendPacketOrTimeout	(	const R &	request,
		bool	useSafeLink = `ENABLE_SAFELINK`
	)		`[inline, private]`

Definition at line 353 of file Crazyflie.h.

void Crazyflie::sendPacketOrTimeoutInternal	(	const uint8_t *	data,
		uint32_t	length,
		bool	useSafeLink = `ENABLE_SAFELINK`,
		float	timeout = `1.0`
	)		`[private]`

Definition at line 1011 of file Crazyflie.cpp.

void Crazyflie::sendPing ( )

Definition at line 250 of file Crazyflie.cpp.

void Crazyflie::sendPositionSetpoint	(	float	x,
		float	y,
		float	z,
		float	yaw
	)

Definition at line 197 of file Crazyflie.cpp.

void Crazyflie::sendSetpoint	(	float	roll,
		float	pitch,
		float	yawrate,
		uint16_t	thrust
	)

Definition at line 169 of file Crazyflie.cpp.

void Crazyflie::sendStop ( )

Definition at line 179 of file Crazyflie.cpp.

void Crazyflie::setConsoleCallback ( std::function< void(const char *)> cb ) [inline]

Definition at line 249 of file Crazyflie.h.

void Crazyflie::setEmptyAckCallback ( std::function< void(const crtpPlatformRSSIAck *)> cb ) [inline]

Definition at line 239 of file Crazyflie.h.

void Crazyflie::setGenericPacketCallback ( std::function< void(const ITransport::Ack &)> cb ) [inline]

Definition at line 277 of file Crazyflie.h.

void Crazyflie::setGroupMask ( uint8_t groupMask )

Definition at line 1328 of file Crazyflie.cpp.

void Crazyflie::setLinkQualityCallback ( std::function< void(float)> cb ) [inline]

Definition at line 244 of file Crazyflie.h.

template<class T >

void Crazyflie::setParam	(	uint8_t	id,
		const T &	value
	)		`[inline]`

Definition at line 211 of file Crazyflie.h.

void Crazyflie::setParam	(	uint8_t	id,
		const ParamValue &	value
	)		`[private]`

Definition at line 994 of file Crazyflie.cpp.

void Crazyflie::setRequestedParams ( )

Definition at line 989 of file Crazyflie.cpp.

static size_t Crazyflie::size ( LogType t ) [inline, static]

Definition at line 254 of file Crazyflie.h.

void Crazyflie::startBatchRequest ( ) [private]

Definition at line 1224 of file Crazyflie.cpp.

void Crazyflie::startSetParamRequest ( )

Definition at line 875 of file Crazyflie.cpp.

void Crazyflie::startTrajectory	(	uint8_t	trajectoryId,
		float	timescale = `1.0`,
		bool	reversed = `false`,
		bool	relative = `true`,
		uint8_t	groupMask = `0`
	)