Crate crazyflie_lib

Expand description

§Crazyflie library

This crate allows to connect, communicate with and control the Crazyflie using the crazyflie-link crate to open a communication link. The link implementation only supports radio for now, but more will be implemented in the future (at least USB).

§Status

The crate aims at implementing a Rust API to control the Crazyflie. The Crazyflie functionalities are implemented in subsystems. The current status is:

Subsystem	Support
App channel	Full
Commander	Full
Console	Full
High-level Commander	Full
Localization	Full
Log	Full (V2)
Memory	None
Param	Full(V2)
Platform	Full

§Compatibility

This crate is compatible with Crazyflie protocol versions MIN_SUPPORTED_PROTOCOL_VERSION to MAX_SUPPORTED_PROTOCOL_VERSION. The Crazyflie guarantees backward compatibility for one protocol version, so this library will work with both the current and next protocol version.

§Usage

The basic procedure to use the lib is:

Find the link URI to connect, either by scanning or as a config or user input
Create a Crazyflie object from the URI or a connected Link, this will connect to the Crazyflie and initializes the subsystems
Subsystems are available as public fields of the Crazyflie struct.
Use the subsystems in the Crazyflie object to control the Crazyflie
Drop the Crazyflie object or call crazyflie::Crazyflie::disconnect()

All subsystems functions are only taking an un-mutable reference to self (&self), the intention is for the Crazyflie object to be shared between tasks using Arc<> or Rc<>.

For example:

let link_context = crazyflie_link::LinkContext::new();

// Scan for Crazyflies on the default address
let found = link_context.scan([0xE7; 5]).await?;

if let Some(uri) = found.first() {
    let cf = crazyflie_lib::Crazyflie::connect_from_uri(
        &link_context,
        uri,
        crazyflie_lib::NoTocCache
    ).await?;

    println!("List of params variables: ");
    for name in cf.param.names() {
        println!(" - {}", name);
    }

    println!("List of log variables: ");
    for name in cf.param.names() {
        println!(" - {}", name);
    }

    cf.disconnect().await;
}

Modules§

subsystems: Crazyflie subsystems

Structs§

Crazyflie: The Crazyflie
NoTocCache: Null implementation of ToC cache to be used when no caching is needed.

Enums§

Error: Error enum type
Value: Typed data value
ValueType: Value type

Constants§

MAX_SUPPORTED_PROTOCOL_VERSION: Maximum supported protocol version
MIN_SUPPORTED_PROTOCOL_VERSION: Minimum supported protocol version

Traits§

TocCache: A trait for caching Table of Contents (TOC) data.

Type Aliases§

Result: Result alias for return types of the crate API