fixed error messaging

crazyflie/scripts/crazyflie_server.py

@@ -802,22 +802,22 @@ def _upload_trajectory_callback(self, request, response, uri="all"):
 
  id = request.trajectory_id
  offset = request.piece_offset
- size = request.pieces.size()
+ lenght = len(request.pieces)
  total_duration = 0
- self.get_logger().info("upload_trajectory(id=%d,offset=%d, size=%d)"% (
+ self.get_logger().info("upload_trajectory(id=%d,offset=%d, lenght=%d)"% (
  id,
  offset,
- size,
+ lenght,
  ))
 
  trajectory = []
- for i in range(size):
+ for i in range(lenght):
  piece = request.pieces[i]
- px = piece.poly_x
- py = piece.poly_y
- pz = piece.poly_z
- pyaw = piece.poly_yaw
- duration = request.duration.sec
+ px = Poly4D.Poly(piece.poly_x)
+ py = Poly4D.Poly(piece.poly_y)
+ pz = Poly4D.Poly(piece.poly_z)
+ pyaw = Poly4D.Poly(piece.poly_yaw)
+ duration = piece.duration.sec
  trajectory.append(Poly4D(duration, px, py, pz, pyaw ))
  total_duration = total_duration + duration
 
@@ -864,9 +864,9 @@ def _start_trajectory_callback(self, request, response, uri="all"):
  ))
  if uri == "all":
  for link_uri in self.uris:
- self.swarm._cfs[link_uri].cf.commander.start_trajectory(id, ts, rel, rev, gm) 
+ self.swarm._cfs[link_uri].cf.high_level_commander.start_trajectory(id, ts, rel, rev, gm) 
  else:
- self.swarm._cfs[uri].cf.commander.start_trajectory(id, ts, rel, rev, gm) 
+ self.swarm._cfs[uri].cf.high_level_commander.start_trajectory(id, ts, rel, rev, gm) 
 
  return response