# Path: src/crazyflieROS/cflib/crtp/crtpstack.py
# class CRTPPacket(object):
#     """
#     A packet that can be sent via the CRTP.
#     """
# 
#     def __init__(self, header=0, data=None):
#         """
#         Create an empty packet with default values.
#         """
#         self.size = 0
#         self._data = ""
#         # The two bits in position 3 and 4 needs to be set for legacy
#         # support of the bootloader
#         self.header = header | 0x3 << 2
#         self._port = (header & 0xF0) >> 4
#         self._channel = header & 0x03
#         if data:
#             self._set_data(data)
# 
#     def _get_channel(self):
#         """Get the packet channel"""
#         return self._channel
# 
#     def _set_channel(self, channel):
#         """Set the packet channel"""
#         self._channel = channel
#         self._update_header()
# 
#     def _get_port(self):
#         """Get the packet port"""
#         return self._port
# 
#     def _set_port(self, port):
#         """Set the packet port"""
#         self._port = port
#         self._update_header()
# 
#     def get_header(self):
#         """Get the header"""
#         self._update_header()
#         return self.header
# 
#     def set_header(self, port, channel):
#         """
#         Set the port and channel for this packet.
#         """
#         self._port = port
#         self.channel = channel
#         self._update_header()
# 
#     def _update_header(self):
#         """Update the header with the port/channel values"""
#         # The two bits in position 3 and 4 needs to be set for legacy
#         # support of the bootloader
#         self.header = ((self._port & 0x0f) << 4 | 3 << 2 |
#                        (self.channel & 0x03))
# 
#     #Some python madness to access different format of the data
#     def _get_data(self):
#         """Get the packet data"""
#         return self._data
# 
#     def _set_data(self, data):
#         """Set the packet data"""
#         if type(data) == str:
#             self._data = data
#         elif type(data) == list or type(data) == tuple:
#             if len(data) == 1:
#                 self._data = struct.pack("B", data[0])
#             elif len(data) > 1:
#                 self._data = struct.pack("B" * len(data), *data)
#             else:
#                 self._data = ""
#         else:
#             raise Exception("Data shall be of str, tupple or list type")
# 
#     def _get_data_l(self):
#         """Get the data in the packet as a list"""
#         return list(self._get_data_t())
# 
#     def _get_data_t(self):
#         """Get the data in the packet as a tuple"""
#         return struct.unpack("B" * len(self._data), self._data)
# 
#     def __str__(self):
#         """Get a string representation of the packet"""
#         return "{}:{} {}".format(self._port, self.channel, self.datat)
# 
#     data = property(_get_data, _set_data)
#     datal = property(_get_data_l, _set_data)
#     datat = property(_get_data_t, _set_data)
#     datas = property(_get_data, _set_data)
#     port = property(_get_port, _set_port)
#     channel = property(_get_channel, _set_channel)
# 
# Path: src/crazyflieROS/cflib/crtp/exceptions.py
# class WrongUriType (Exception):
#     """ Wrong type of URI for this interface """
#     pass


import logging
import threading
import Queue
import re
import array
                import traceback
from cflib.crtp.crtpdriver import CRTPDriver
from .crtpstack import CRTPPacket
from .exceptions import WrongUriType
from cflib.drivers.crazyradio import Crazyradio
from usb import USBError




class RadioDriver(CRTPDriver):
    """ Crazyradio link driver """
    def __init__(self):
        """ Create the link driver """
        CRTPDriver.__init__(self)
        self.cradio = None
        self.uri = ""
        self.link_error_callback = None
        self.link_quality_callback = None
        self.in_queue = None
        self.out_queue = None
        self._thread = None

    def connect(self, uri, link_quality_callback, link_error_callback):
        """
        Connect the link driver to a specified URI of the format:
        radio://<dongle nbr>/<radio channel>/[250K,1M,2M]

        The callback for linkQuality can be called at any moment from the
        driver to report back the link quality in percentage. The
        callback from linkError will be called when a error occues with
        an error message.
        """

        # check if the URI is a radio URI
        if not re.search("^radio://", uri):

# Path: src/crazyflieROS/cflib/crtp/crtpstack.py
# class CRTPPacket(object):
#     """
#     A packet that can be sent via the CRTP.
#     """
# 
#     def __init__(self, header=0, data=None):
#         """
#         Create an empty packet with default values.
#         """
#         self.size = 0
#         self._data = ""
#         # The two bits in position 3 and 4 needs to be set for legacy
#         # support of the bootloader
#         self.header = header | 0x3 << 2
#         self._port = (header & 0xF0) >> 4
#         self._channel = header & 0x03
#         if data:
#             self._set_data(data)
# 
#     def _get_channel(self):
#         """Get the packet channel"""
#         return self._channel
# 
#     def _set_channel(self, channel):
#         """Set the packet channel"""
#         self._channel = channel
#         self._update_header()
# 
#     def _get_port(self):
#         """Get the packet port"""
#         return self._port
# 
#     def _set_port(self, port):
#         """Set the packet port"""
#         self._port = port
#         self._update_header()
# 
#     def get_header(self):
#         """Get the header"""
#         self._update_header()
#         return self.header
# 
#     def set_header(self, port, channel):
#         """
#         Set the port and channel for this packet.
#         """
#         self._port = port
#         self.channel = channel
#         self._update_header()
# 
#     def _update_header(self):
#         """Update the header with the port/channel values"""
#         # The two bits in position 3 and 4 needs to be set for legacy
#         # support of the bootloader
#         self.header = ((self._port & 0x0f) << 4 | 3 << 2 |
#                        (self.channel & 0x03))
# 
#     #Some python madness to access different format of the data
#     def _get_data(self):
#         """Get the packet data"""
#         return self._data
# 
#     def _set_data(self, data):
#         """Set the packet data"""
#         if type(data) == str:
#             self._data = data
#         elif type(data) == list or type(data) == tuple:
#             if len(data) == 1:
#                 self._data = struct.pack("B", data[0])
#             elif len(data) > 1:
#                 self._data = struct.pack("B" * len(data), *data)
#             else:
#                 self._data = ""
#         else:
#             raise Exception("Data shall be of str, tupple or list type")
# 
#     def _get_data_l(self):
#         """Get the data in the packet as a list"""
#         return list(self._get_data_t())
# 
#     def _get_data_t(self):
#         """Get the data in the packet as a tuple"""
#         return struct.unpack("B" * len(self._data), self._data)
# 
#     def __str__(self):
#         """Get a string representation of the packet"""
#         return "{}:{} {}".format(self._port, self.channel, self.datat)
# 
#     data = property(_get_data, _set_data)
#     datal = property(_get_data_l, _set_data)
#     datat = property(_get_data_t, _set_data)
#     datas = property(_get_data, _set_data)
#     port = property(_get_port, _set_port)
#     channel = property(_get_channel, _set_channel)
# 
# Path: src/crazyflieROS/cflib/crtp/exceptions.py
# class WrongUriType (Exception):
#     """ Wrong type of URI for this interface """
#     pass


# Path: src/crazyflieROS/cflib/crtp/radiodriver.py
import logging
import threading
import Queue
import re
import array
                import traceback
from cflib.crtp.crtpdriver import CRTPDriver
from .crtpstack import CRTPPacket
from .exceptions import WrongUriType
from cflib.drivers.crazyradio import Crazyradio
from usb import USBError





class RadioDriver(CRTPDriver):
    """ Crazyradio link driver """
    def __init__(self):
        """ Create the link driver """
        CRTPDriver.__init__(self)
        self.cradio = None
        self.uri = ""
        self.link_error_callback = None
        self.link_quality_callback = None
        self.in_queue = None
        self.out_queue = None
        self._thread = None

    def connect(self, uri, link_quality_callback, link_error_callback):
        """
        Connect the link driver to a specified URI of the format:
        radio://<dongle nbr>/<radio channel>/[250K,1M,2M]

        The callback for linkQuality can be called at any moment from the
        driver to report back the link quality in percentage. The
        callback from linkError will be called when a error occues with
        an error message.
        """

        # check if the URI is a radio URI
        if not re.search("^radio://", uri):

            raise WrongUriType("Not a radio URI")