Struct LighthouseMemory 

pub struct LighthouseMemory { /* private fields */ }

Memory interface for lighthouse configuration data

This provides methods to read and write lighthouse base station geometry and calibration data to the Crazyflie.

Implementations

impl LighthouseMemory

pub const GEO_START_ADDR: usize = 0x00

Start address for geometry data

pub const CALIB_START_ADDR: usize = 0x1000

Start address for calibration data

pub const PAGE_SIZE: usize = 0x100

Size of one page (each base station uses one page)

pub const MAX_BASE_STATIONS: usize = 16

Maximum number of base stations supported

pub async fn read_geometry(&self, bs_id: u8) -> Result<LighthouseBsGeometry>

Read geometry data for a specific base station

Arguments

• bs_id - Base station ID (0-15)

Returns

The geometry data, or an error if the read failed

pub async fn write_geometry( &self, bs_id: u8, geometry: &LighthouseBsGeometry, ) -> Result<()>

Write geometry data for a specific base station

Arguments

• bs_id - Base station ID (0-15)
• geometry - The geometry data to write

pub async fn read_calibration( &self, bs_id: u8, ) -> Result<LighthouseBsCalibration>

Read calibration data for a specific base station

Arguments

• bs_id - Base station ID (0-15)

Returns

The calibration data, or an error if the read failed

pub async fn write_calibration( &self, bs_id: u8, calibration: &LighthouseBsCalibration, ) -> Result<()>

Write calibration data for a specific base station

Arguments

• bs_id - Base station ID (0-15)
• calibration - The calibration data to write

pub async fn read_all_geometries( &self, ) -> Result<HashMap<u8, LighthouseBsGeometry>>

Read all geometry data from the Crazyflie

Attempts to read geometry for all base stations (0-15). Only base stations with valid data are included in the result.

Returns

A HashMap mapping base station ID to geometry data

pub async fn read_all_geometries_with_progress<F>( &self, progress_callback: F, ) -> Result<HashMap<u8, LighthouseBsGeometry>>

where F: FnMut(usize, usize),

Read all geometry data with progress reporting

Arguments

• progress_callback - Called with (completed_count, total_count) after each read

pub async fn read_all_calibrations( &self, ) -> Result<HashMap<u8, LighthouseBsCalibration>>

Read all calibration data from the Crazyflie

Attempts to read calibration for all base stations (0-15). Only base stations with valid data are included in the result.

Returns

A HashMap mapping base station ID to calibration data

pub async fn read_all_calibrations_with_progress<F>( &self, progress_callback: F, ) -> Result<HashMap<u8, LighthouseBsCalibration>>

where F: FnMut(usize, usize),

Read all calibration data with progress reporting

Arguments

• progress_callback - Called with (completed_count, total_count) after each read

pub async fn write_geometries( &self, geometries: &HashMap<u8, LighthouseBsGeometry>, ) -> Result<()>

Write geometry data for multiple base stations

Arguments

• geometries - A HashMap mapping base station ID to geometry data

pub async fn write_geometries_with_progress<F>( &self, geometries: &HashMap<u8, LighthouseBsGeometry>, progress_callback: F, ) -> Result<()>

where F: FnMut(usize, usize),

Write geometry data for multiple base stations with progress reporting

Arguments

• geometries - A HashMap mapping base station ID to geometry data
• progress_callback - Called with (completed_count, total_count) after each write

pub async fn write_calibrations( &self, calibrations: &HashMap<u8, LighthouseBsCalibration>, ) -> Result<()>

Write calibration data for multiple base stations

Arguments

• calibrations - A HashMap mapping base station ID to calibration data

pub async fn write_calibrations_with_progress<F>( &self, calibrations: &HashMap<u8, LighthouseBsCalibration>, progress_callback: F, ) -> Result<()>

where F: FnMut(usize, usize),

Write calibration data for multiple base stations with progress reporting

Arguments

• calibrations - A HashMap mapping base station ID to calibration data
• progress_callback - Called with (completed_count, total_count) after each write

Trait Implementations

impl Debug for LighthouseMemory

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl FromMemoryBackend for LighthouseMemory

async fn from_memory_backend(memory: MemoryBackend) -> Result<Self>

Create a memory-specific type from a MemoryBackend. When created the memory is automatically read to populate the fields of the type.

async fn initialize_memory_backend(memory: MemoryBackend) -> Result<Self>

Get a specific memory by its ID and initialize it according to the defaults. Note that the values will not be written to the memory by default, the user needs to handle this.

fn close_memory(self) -> MemoryBackend

Close the memory and return the backend to the subsystem