.. _crazyflie_interfaces_python_client:

``Crazyflie Interfaces Python Clients`` 
---------------------------------------

These clients are used to translate the ros2 topics to python functionality.
They represent an access point to the different components of the crazyflie interface.
The modules represent the different `CRTP ports <https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/crtp/>`_
of the Crazyflie CRTP protocol. 

All classes are instantiated with a Node (:class:`rclpy.node.Node`) and a Prefix (:class:`str`). 
The modules will each create a :class:`rclpy.callback_group` to which they add publishers and subscriptions. 
The user is repsonsible for spinning the node. 
The Prefix is needed in order to map to the correct Crazyflie namespace. In most cases this is just ``/cfXX``, where XX is the id.

* :ref:`Console <console-client>`
* :ref:`Emergency <emergency-client>`
* :ref:`Generic Commander <generic-commander-client>`
* :ref:`High Level Commander <high-level-commander-client>`
* :ref:`Logging <logging-client>`
* :ref:`RPYT Commander <rpyt_commander-client>`


.. _console-client:

Console
_______

This module has no functionality at the moment. 
You might be able to receive the crazyflies console with this module in the future.

.. automodule:: crazyflie_interfaces_python.client.console
    :members:
    :undoc-members:


.. _emergency-client:

Emergency
_________

.. automodule:: crazyflie_interfaces_python.client.emergency
    :members:
    :undoc-members:


.. _generic-commander-client:

Generic Commander
_________________

This is the entry point to the Crazyflie's low level commander. 
The commands are sent directly to Crazyflie's controller. 
Sending position setpoints to far away points will crash the Crazyflie.
Also, be sure to call :meth:`notify_setpoints_stop <crazyflie_interfaces_python.client.generic_commander.GenericCommanderClient.notify_setpoints_stop>`
before sending high level commands again. 

.. automodule:: crazyflie_interfaces_python.client.generic_commander
    :members:
    :undoc-members:

.. _high-level-commander-client:

High Level Commander
____________________

.. automodule:: crazyflie_interfaces_python.client.high_level_commander
    :members:
    :undoc-members:

.. _logging-client:

Logging
_______

.. automodule:: crazyflie_interfaces_python.client.logging
    :members:
    :undoc-members:

.. automodule:: crazyflie_interfaces_python.client.logblock
    :members:
    :undoc-members:

.. _rpyt_commander-client:

RPYT Commander
_______________

.. automodule:: crazyflie_interfaces_python.client.rpyt_commander
    :members:
    :undoc-members: