Crate crazyflie_lib 

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
Link Service	Full
Localization	Full
Log	Full (V2)
Memory	Partial
Param	Full(V2)
Platform	Full
Supervisor	Full (info and command channels)

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_lib::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;
}

Relation to the crazyflie-link and crazyradio crates

Types from the crazyflie-link crate appear in this crate’s public API (for example crazyflie_link::LinkContext and crazyflie_link::Connection in Crazyflie::connect_from_uri() and Crazyflie::connect_from_link()), which makes crazyflie-link a public dependency: code using this crate needs to name its types. To avoid a separate, possibly version-mismatched crazyflie-link dependency downstream, the crate is re-exported at crazyflie_link — use it through this path instead of adding a direct dependency. The crazyradio crate is reachable the same way, as crazyflie_lib::crazyflie_link::crazyradio.

This is a supported part of the API: the re-exported crates only move to semver-incompatible versions in a semver-incompatible release of this crate.

Cargo features

• packet_capture - Enable CRTP packet capture in the link (Unix only). Forwards to the crazyflie-link feature of the same name, see crazyflie_link::capture.

Re-exports

pub use crazyflie_link;

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