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rewrite cflib backend without swarm class #467

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knmcguire opened this issue Apr 9, 2024 · 1 comment
Open

rewrite cflib backend without swarm class #467

knmcguire opened this issue Apr 9, 2024 · 1 comment
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enhancement New feature or request

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@knmcguire
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knmcguire commented Apr 9, 2024

The crazyflie_server.py now uses the Crazyflie swarm class to initialize and communicate with all the crazyflies.

self.swarm = Swarm(self.uris, factory=factory)

This is okay for now since we communicate with the Crazyflies from the start of the server but it is not necessary. Also it makes the code a bit stiff and I also think this is the reason why the initialization takes so long at the beginning.

I've already done a bit with the zenoh bridge, I think it will be cleaner if we initialize each crazyflie seperately

@knmcguire knmcguire added the enhancement New feature or request label Apr 9, 2024
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Also another good reason to do this, less python thread to clog up the processors! See this discussion here #498 (comment)

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