# Path: src/crazyflieROS/cflib/crtp/crtpdriver.py
# class CRTPDriver:
#     """ CTRP Driver main class
# 
#     This class in inherited by all the CRTP link drivers.
#     """
# 
#     def __init__(self):
#         """Driver constructor. Throw an exception if the driver is unable to
#         open the URI
#         """
# 
#     def connect(self, uri, link_quality_callback, link_error_callback):
#         """Connect the driver to a specified URI
# 
#         @param uri Uri of the link to open
#         @param link_quality_callback Callback to report link quality in percent
#         @param link_error_callback Callback to report errors (will result in
#                disconnection)
#         """
# 
#     def send_packet(self, pk):
#         """Send a CRTP packet"""
# 
#     def receive_packet(self, wait=0):
#         """Receive a CRTP packet.
# 
#         @param wait The time to wait for a packet in second. -1 means forever
# 
#         @return One CRTP packet or None if no packet has been received.
#         """
# 
#     def get_status(self):
#         """
#         Return a status string from the interface.
#         """
# 
#     def get_name(self):
#         """
#         Return a human readable name of the interface.
#         """
# 
#     def scan_interface(self):
#         """
#         Scan interface for available Crazyflie quadcopters and return a list
#         witha them.
#         """
# 
#     def enum(self):
#         """Enumerate, and return a list, of the available link URI on this
#         system
#         """
# 
#     def get_help(self):
#         """return the help message on how to form the URI for this driver
#         None means no help
#         """
# 
#     def close(self):
#         """Close the link"""
# 
# 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


from .crtpdriver import CRTPDriver
from .crtpstack import CRTPPacket
from .exceptions import WrongUriType
from socket import socket
import Queue
import re
import struct
See udpserver.py for the protocol"""

__author__ = 'Bitcraze AB'
__all__ = ['UdpDriver']




class UdpDriver(CRTPDriver):
    def __init__(self):
        None

    def connect(self, uri, linkQualityCallback, linkErrorCallback):
        #check if the URI is a radio URI
        if not re.search("^udp://", uri):
            raise WrongUriType("Not an UDP URI")

        self.queue = Queue.Queue()
        self.socket = socket(socket.AF_INET, socket.SOCK_DGRAM)
        self.addr = ("localhost", 7777)
        self.socket.connect(self.addr)

        #Add this to the server clients list
        self.socket.sendto("\xFF\x01\x01\x01", self.addr)

    def receive_packet(self, time=0):
        data, addr = self.socket.recvfrom(1024)

        if data:
            data = struct.unpack('b' * (len(data) - 1), data[0:len(data) - 1])

# Path: src/crazyflieROS/cflib/crtp/crtpdriver.py
# class CRTPDriver:
#     """ CTRP Driver main class
# 
#     This class in inherited by all the CRTP link drivers.
#     """
# 
#     def __init__(self):
#         """Driver constructor. Throw an exception if the driver is unable to
#         open the URI
#         """
# 
#     def connect(self, uri, link_quality_callback, link_error_callback):
#         """Connect the driver to a specified URI
# 
#         @param uri Uri of the link to open
#         @param link_quality_callback Callback to report link quality in percent
#         @param link_error_callback Callback to report errors (will result in
#                disconnection)
#         """
# 
#     def send_packet(self, pk):
#         """Send a CRTP packet"""
# 
#     def receive_packet(self, wait=0):
#         """Receive a CRTP packet.
# 
#         @param wait The time to wait for a packet in second. -1 means forever
# 
#         @return One CRTP packet or None if no packet has been received.
#         """
# 
#     def get_status(self):
#         """
#         Return a status string from the interface.
#         """
# 
#     def get_name(self):
#         """
#         Return a human readable name of the interface.
#         """
# 
#     def scan_interface(self):
#         """
#         Scan interface for available Crazyflie quadcopters and return a list
#         witha them.
#         """
# 
#     def enum(self):
#         """Enumerate, and return a list, of the available link URI on this
#         system
#         """
# 
#     def get_help(self):
#         """return the help message on how to form the URI for this driver
#         None means no help
#         """
# 
#     def close(self):
#         """Close the link"""
# 
# 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/udpdriver.py
from .crtpdriver import CRTPDriver
from .crtpstack import CRTPPacket
from .exceptions import WrongUriType
from socket import socket
import Queue
import re
import struct

See udpserver.py for the protocol"""

__author__ = 'Bitcraze AB'
__all__ = ['UdpDriver']




class UdpDriver(CRTPDriver):
    def __init__(self):
        None

    def connect(self, uri, linkQualityCallback, linkErrorCallback):
        #check if the URI is a radio URI
        if not re.search("^udp://", uri):
            raise WrongUriType("Not an UDP URI")

        self.queue = Queue.Queue()
        self.socket = socket(socket.AF_INET, socket.SOCK_DGRAM)
        self.addr = ("localhost", 7777)
        self.socket.connect(self.addr)

        #Add this to the server clients list
        self.socket.sendto("\xFF\x01\x01\x01", self.addr)

    def receive_packet(self, time=0):
        data, addr = self.socket.recvfrom(1024)

        if data:
            data = struct.unpack('b' * (len(data) - 1), data[0:len(data) - 1])

            pk = CRTPPacket()