fredg02 / se.bitcraze.crazyflie.lib

Crazyflie Java library

Crazyflie Java library

The intention of this library is to be the Java equivalent of crazyflie-lib-python, a Python based library that is used by the Crazyflie Python client.

Therefore this library is heavily based on the Python implementation. Some components are almost identical, some differ more to accommodate different programming concepts in Python and Java.

Over time the Java library will be adapted to make use of Java specific features like Lambda expressions, etc.

This library should make it easy to implement Java based clients for the Crazyflie, for example on Android or as a Eclipse RCP application.

Features

• Abstract USB interface that allows to use different USB implementations, eg. pure Java and Android

Installation

It can be installed in Eclipse from the P2 update site:

https://fredg02.github.io/se.bitcraze.crazyflie.lib/p2

Integration

The Crazyflie Java library is a Tycho project.

Run normal Maven build

mvn clean verify -B -f se.bitcraze.crazyflie.lib-parent/pom.xml -DskipTests

After the Maven build is completed a compiled JAR can be found in the se.bitcraze.crazyflie.lib/target directory, e.g. se.bitcraze.crazyflie.lib-0.0.1-SNAPSHOT.jar.

The Tycho build also generates a P2 repository that can be used for Eclipse Plug-in based projects. It can be found in the se.bitcraze.crazyflie.lib-repository/target directory, e.g. se.bitcraze.crazyflie.lib-repository-0.0.1-SNAPSHOT.zip.

Dependencies

• usb4java
• Jackson
• SLF4J
• JUnit

Tests

JUnit tests can be executed from the command line with:

mvn clean verify -B -f se.bitcraze.crazyflie.lib-parent/pom.xml

Or from within Eclipse by running /se.bitcraze.crazyflie.lib/src/test/java/se/bitcraze/crazyflie/lib/AllTests.java as a JUnit test.

Please make sure that a Crazyradio (PA) is connected and a Crazyflie 1.0 or 2.x is switched on, when running the tests (otherwise they will fail).

Examples

Examples are included in the se.bitcraze.crazyflie.lib.examples directory.

Known issues

• Bootloader not fully supported yet
• Debug driver incomplete (Tests currently need Crazyflie/Crazyradio to run successfully)
• Too many Thread.sleep()s ;)

se.bitcraze.crazyflie.lib's Issues

Firmware version support

After upgrading to latest firmware using the python cfclient, the ParamExample in the javalib does not work anymore.
I did not try any other example, but my own program, a JavaFX client does not want to connect.
When downgrading to 2021.01 it works again.
The error in the attached picture is when running the ParamExample.

Can not have more than one LogConfig

In the LoggingExample, if you try to have more than one LogConfig at the same time, one of them will not work, and the reason is not clear for the developer, who only get an error 17.

I have tried the same slightly modifying the "basicLong.py" in the python library and it works just fine.

Fix code scanning alert - Failure to use HTTPS or SFTP URL in Maven artifact upload/download

Tracking issue for:

• https://github.com/fredg02/se.bitcraze.crazyflie.lib/security/code-scanning/2