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def _connected(self, link_uri):
"""Callback when the Crazyflie has been connected"""
mems = self._helper.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)
if len(mems) > 0:
self._mem = mems[0]
logger.info(self._mem)
if self._mem:
for btn in self._btns:
btn.setEnabled(True)
btn.setStyleSheet("background-color: black")
self._intensity_slider.setEnabled(True)
self._intensity_spin.setEnabled(True)
def _cmd_callback(self, data):
"""Called when new data arrives via ZMQ"""
if len(self._cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)) > 0:
logger.info("Updating memory")
memory = self._cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)[0]
for i_led in range(len(data["rgbleds"])):
memory.leds[i_led].set(data["rgbleds"][i_led][0],
data["rgbleds"][i_led][1],
data["rgbleds"][i_led][2])
memory.write_data(self._write_cb)
self._update_ui_state()
Config().set("link_uri", str(self._selected_interface))
lg = LogConfig("Battery", 1000)
lg.add_variable("pm.vbat", "float")
lg.add_variable("pm.state", "int8_t")
try:
self.cf.log.add_config(lg)
lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
except KeyError as e:
logger.warning(str(e))
mems = self.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)
if len(mems) > 0:
mems[0].write_data(self._led_write_done)
def _cmd_callback(self, data):
"""Called when new data arrives via ZMQ"""
if len(self._cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)) > 0:
logger.info("Updating memory")
memory = self._cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)[0]
for i_led in range(len(data["rgbleds"])):
memory.leds[i_led].set(data["rgbleds"][i_led][0],
data["rgbleds"][i_led][1],
data["rgbleds"][i_led][2])
memory.write_data(self._write_cb)
self._update_ui_state()
Config().set("link_uri", str(self._selected_interface))
lg = LogConfig("Battery", 1000)
lg.add_variable("pm.vbat", "float")
lg.add_variable("pm.state", "int8_t")
try:
self.cf.log.add_config(lg)
lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
lg.error_cb.add_callback(self._log_error_signal.emit)
lg.start()
except KeyError as e:
logger.warning(str(e))
mems = self.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)
if len(mems) > 0:
mems[0].write_data(self._led_write_done)