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--- doc:crazyflie:client:pycfclient:zmq [2015-07-14 11:25]
macke created
+++ doc:crazyflie:client:pycfclient:zmq [2020-05-12 14:28] (current)
kimberly
@@ Line 1: / Line 1: @@
+<WRAP center round important 60%>
+This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https://www.bitcraze.io/documentation/system/]]
+</WRAP>
+The [[doc:crazyflie:client:pycfclient:index|Crazyflie Python client]] runs a number of back-ends where you can set/get information from other applications via [[http://zeromq.org/|ZMQ]].
+Here's a list of the ports/functions available:
+^ Port ^ Type ^ Functionality ^
+| 1213 | REQ  | Set parameters |
+| 1214 | PUSH | LED-ring memory  |
+| 1212 | PULL | Input device  |
+====== Parameters ======
+The parameter back-end gives access to setting parameters in the Crazyflie. The back-end is enabled by default.
+===== Protocol =====
+<WRAP group>
+<WRAP half column>
+Available fields:
+^  Field  ^  Format  ^  Comments  ^
+| version | int | Should be set to 1 |
+| cmd     | string | Command to send (currently only set is supported) |
+| name    | string | The name of the parameter |
+| value   | string | The value of the parameter |
+</WRAP>
+<WRAP half column>
+Example of setting the //buzzer.freq// parameter to 4000.
+<code>
+{
+  "version": 1,
+  "cmd": "set",
+  "name" : "buzzer.freq",
+  "value": "4000"
+}
+</code>
+</WRAP>
+</WRAP>
+====== LED-ring ======
+The LED-ring back-end gives access to the LED-ring memory driver where the user can write the RGB values for all 12 LEDs on the ring. The back-end is enabled by default.
+===== Protocol =====
+<WRAP group>
+<WRAP half column>
+Available fields:
+^  Field  ^  Format  ^  Comments  ^
+| version | int | Should be set to 1 |
+| rgbleds | array of 3 item arrays of int | R/G/B value for each LED (starting at 1) |
+</WRAP>
+<WRAP half column>
+Example of setting all LEDs off:
+<code>
+{
+  "version": 1,
+  "rgbleds": [
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0],
+    [0, 0, 0]
+  ]
+}
+</code>
+</WRAP>
+</WRAP>
+====== Input device ======
+If you don't want to use the API and you don't want to bother about scanning/connecting/logging/etc or there's no API for the environment you use, there's an easy way to control the Crazyflie. Just like you would control the Crazyflie with a gamepad or joystick connected to a computer, you can use ZMQ to inject control set-points directly into the client. You still use the client for connecting/logging/graphing/setting parameters, it's just the control part that's broken out.
+By default this is disabled in the configuration file and needs to be enabled. The configuration file parameter is named //enable_zmq_input// (see [[doc:crazyflie:dev:host:client:index#user_configuration_file|this]] to edit the configuration). To enable controlling by the back-end select the //ZMQ@127.0.0.1:1212// input device in the //Input device// menu.
+===== Protocol =====
+<WRAP group>
+<WRAP half column>
+Available fields:
+^  Field  ^  Format  ^  Comments  ^
+| version | int | Should be set to 1 |
+| client_name | string | Name of the client (currently unused) |
+| ctrl | dict | A dictionary with keys and values that match the internal names of controls in the client  (see list below)|
+Available keys for the //ctrl// dictionary:
+^  Field  ^  Range  ^  Unit  ^  Comments  ^
+| roll | N/A | degrees | |
+| pitch | N/A | degrees | |
+| yaw | N/A | degrees/second | |
+| thrust | 0-100 | Percent | |
+| estop | T/F | boolean | Used to stop the Crazyflie and disable the control |
+| alt1 | T/F | boolean | Alt1 is internally mapped to functionality like switching LED-ring effect |
+| alt2 | T/F | boolean | Alt2 is internally mapped to functionality like switching LED-ring headlights on/off |
+</WRAP>
+<WRAP half column>
+Example:
+<code>
+{
+    "version": 1,
+    "client_name": "ZMQ client",
+    "ctrl": {
+        "roll": 0.0,
+        "pitch": 0.0,
+        "yaw": 0.0,
+        "thrust": 0.0
+    }
+}
+</code>
+</WRAP>
+</WRAP>
+**NOTE1**: Altitude hold is currently not working.
+**NOTE2**: The values are used at 100Hz in the client, no matter at what rate they are sent via ZMQ

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