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import logging
import sys
import time
from threading import Event

import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.positioning.motion_commander import MotionCommander
from cflib.utils import uri_helper

URI = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')

DEFAULT_HEIGHT = 0.5

deck_attached_event = Event()

logging.basicConfig(level=logging.ERROR)

def take_off_simple(scf):
    with MotionCommander(scf, default_height=DEFAULT_HEIGHT) as mc:
        time.sleep(3)
        mc.stop()


def param_deck_flow(_, value_str):
    value = int(value_str)
    print(value)
    if value:
        deck_attached_event.set()
        print('Deck is attached!')
    else:
        print('Deck is NOT attached!')
        
 
if __name__ == '__main__':
    cflib.crtp.init_drivers()

    with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:

        scf.cf.param.add_update_callback(group='deck', name='bcDWM1000',cb=param_deck_flow)
        scf.cf.param.request_param_update('deck.bcDWM1000')


        if not deck_attached_event.wait(timeout=5):
           print('No flow deck detected!')
           sys.exit(1)

        #take_off_simple(scf)