How to use the cflib.crazyflie.syncCrazyflie.SyncCrazyflie function in cflib

print("usage: {} [URI]".format(sys.argv[0]))
    print("  URI - the URI to use to connect to the Crazyflie, default value is  radio://0/80/2M/E7E7E7E7E7")
    sys.exit(1)

uri = 'radio://0/80/2M/E7E7E7E7E7'
if len(sys.argv) > 1:
    uri = sys.argv[1]

# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)

# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)

cf = Crazyflie(rw_cache='./cache')
with SyncCrazyflie(uri, cf=cf) as scf:
    print("Setting positions")

    for packet in yaml.load_all(sys.stdin, Loader=yaml.CLoader):
        if not packet:
            continue

        while True:
            for id, position in packet.items():
                x = position['x']
                y = position['y']
                z = position['z']

                print("Anchor {}, ({}, {}, {})".format(id, x, y, z))
                LPP_SHORT_ANCHOR_POSITION = 0x01
                position_pack = struct.pack("

def __init__(self, uri, velocity=0.2, threaded=False):
        super().__init__(threaded)

        # set the default velocity
        self._velocity = velocity

        # Initialize the low-level drivers (don't list the debug drivers)
        cflib.crtp.init_drivers(enable_debug_driver=False)

        # the connection to the crazyflie
        self._scf = SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache'))

        # temp (or maybe will be permanent) state variable
        self._is_open = False
        self._running = False

        self._send_rate = 50  # want to send messages at 5Hz  NOTE: the minimum is 2 Hz
        self._out_msg_queue = queue.Queue()  # a queue for sending data between threads
        self._write_handle = threading.Thread(target=self.command_loop)
        self._write_handle.daemon = True

        # since can only command velocities and not positions, the connection
        # needs some awareness of the current position to be able to do
        # the math necessary
        self._current_position_xyz = np.array([0.0, 0.0, 0.0])  # [x, y, z]

        # due to a "bug" in the crazyflie's position estimator with the flow

def flight_controller():
    global scf
    with SyncCrazyflie(uri) as _scf:
        scf = _scf
        # reset the kalman filter and find a new estimated position
        reset_estimator(scf)
        fly_along_path(scf, flight_path)

(power_conf, force, smart) = generate_config(args.power)
    power_pack = generate_lpp_packet(power_conf, force, smart)

    print('Sending anchor transmit power configuration to anchors (%i to %i) '
          'using %s. Setting transmit power to %s%s. Anchors will reset'
          'when configured.' % (
              args.anchor_id_lower,
              args.anchor_id_upper,
              args.uri,
              args.power, unit))

    logging.basicConfig(level=logging.ERROR)
    cflib.crtp.init_drivers(enable_debug_driver=False)
    cf = Crazyflie(rw_cache='./cache')
    with SyncCrazyflie(args.uri, cf=cf) as scf:
        print('Starting transmission. Terminate with CTRL+C.')
        while True:
            for id in range(args.anchor_id_lower, args.anchor_id_upper + 1):
                print('Anchor %i' % id)
                for _ in range(7):
                    scf.cf.loc.send_short_lpp_packet(id, power_pack)
                    time.sleep(0.2)
                time.sleep(0.5)