Merge pull request #35 from bitcraze/crazyradio20

Add proper broadcast version check to support Crazyradio 2.0 broadcasting

CMakeLists.txt

@@ -129,6 +129,14 @@ if (BUILD_CPP_EXAMPLES)
   target_link_libraries(example_broadcast
     crazyflieLinkCpp
   )
+
+  # example_broadcast_and_console
+  add_executable(example_broadcast_and_console
+    examples/broadcast_and_console.cpp
+  )
+  target_link_libraries(example_broadcast_and_console
+    crazyflieLinkCpp
+  )
 endif()
 
 if (BUILD_PYTHON_BINDINGS)

examples/broadcast_and_console.cpp

@@ -0,0 +1,63 @@
+#include <iostream>
+#include <thread>
+
+#include "crazyflieLinkCpp/Connection.h"
+#include "PacketUtils.hpp"
+
+using namespace bitcraze::crazyflieLinkCpp;
+
+void run1()
+{
+    Connection con("radio://0/80/2M/E7E7E7E7E7");
+
+    const auto start = std::chrono::high_resolution_clock::now();
+    while (true) {
+        Packet p = con.recv(0);
+        if (p.port() == 0 && p.channel() == 0) {
+            std::string str((const char*)p.payload(), (size_t)p.payloadSize());
+            std::cout << str;
+        }
+
+        const auto end = std::chrono::high_resolution_clock::now();
+        const std::chrono::duration<double, std::milli> elapsed = end - start;
+        if (elapsed.count() > 5000) {
+            break;
+        }
+    }
+}
+
+void run2()
+{
+    /* Creates a connection that will broadcast to all
+     * crazyflies on channel 80. Note that this requires
+     * updating the Crazyradio firmware from its factory version
+     */
+    Connection broadcastConnection("radiobroadcast://*/80/2M");
+
+    // Requires high level commander enabled (param commander.enHighLevel == 1)
+    std::cout << "Taking off..." << std::endl;
+    broadcastConnection.send(PacketUtils::takeoffCommand(0.5f, 0.0f, 3.0f));
+    std::this_thread::sleep_for(std::chrono::milliseconds(3250));
+
+    std::cout << "Landing..." << std::endl;
+    broadcastConnection.send(PacketUtils::landCommand(0.0f, 0.0f, 3.0f));
+    std::this_thread::sleep_for(std::chrono::milliseconds(3250));
+
+    std::cout << "Stopping..." << std::endl;
+    broadcastConnection.send(PacketUtils::stopCommand());
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
+    broadcastConnection.close();
+    std::cout << "Done." << std::endl;
+}
+
+int main()
+{
+    std::thread t1(run1);
+    std::thread t2(run2);
+
+    t1.join();
+    t2.join();
+
+    return 0;
+}

src/CrazyradioThread.cpp

@@ -119,7 +119,9 @@ void CrazyradioThread::run()
 {
     Crazyradio radio(dev_);
     const auto version = radio.version();
-    bool supports_broadcasts = version.second >= 0x55;
+    bool supports_broadcasts = 
+           (version.first == 0x99 && version.second >= 0x55) // Crazyradio PA with latest official firmware
+        || (version.first == 3 && version.second >= 2); // Crazyradio 2.0;
 
     const uint8_t enableSafelink[] = {0xFF, 0x05, 1};
     const uint8_t ping[] = {0xFF};