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crazyflie-link opens udp://<host>:<port> links to the Simmyflie, the Crazyflie firmware built for the sim platform. Swarms can now hold udp:// URIs, so the same swarm file can start the simulators and be used with cfcli, and swarm scan probes them instead of counting them as USB Crazyflies that are not attached. The simulator runs the STM32 firmware only. Commands that need the nRF51 or the bootloader (reboot, power off, sleep, wakeup, bootloading and DFU) now fail at once with a clear message for udp:// URIs, instead of doing nothing or timing out waiting for the nRF51.
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Adds support for
udp://<host>:<port>Crazyflies, the Simmyflie firmware simulator (draft bitcraze/crazyflie-firmware#1706). The link itself is added in crazyflie-link (bitcraze/crazyflie-link-rs#27). This PR needs a crazyflie-link release with that change and aCargo.lockbump before it can be merged, so it stays a draft until then.Swarms
udp://URIs. The simulator launcher (tools/sim/simmyflie-launcher.py) reads the same swarm file format, and cfcli keeps the launcher's fields (start_x,ground_level, ...) when it rewrites the file.swarm scannow probesudp://Crazyflies. Before, they were counted as USB Crazyflies that weren't attached. The Radio column showsUDPfor them.Commands that need the nRF51 or the bootloader
The simulator runs the STM32 firmware only. These commands now fail at once for
udp://URIs, with a message saying they are not supported over udp:// because the simulator has no nRF51 or bootloader:platform reboot,power-off,sleep,wakeupanddfuswarm platformandswarm bootloadBefore, the power commands did nothing and still reported success. Reboot and bootloading timed out waiting for the nRF51.
Testing
Tested with a local
[patch]pointing at crazyflie-link-rs#27:cfcli scanlists all four, andswarm scanshows 4 of 4 online. With two of the simulators stopped, it shows them as offline.swarm param getworks.swarm platform rebootfails at once with the message above.log print,platform info, andhlc arm/takeoff/land.