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Us the same link instance in send_packet() #607

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Us the same link instance in send_packet() #607

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7 changes: 4 additions & 3 deletions cflib/crazyflie/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -360,9 +360,10 @@ def send_packet(self, pk, expected_reply=(), resend=False, timeout=0.2):
raise Exception('Data part of packet is too large')

self._send_lock.acquire()
if self.link is not None:
link = self.link
if link is not None:
if len(expected_reply) > 0 and not resend and \
self.link.needs_resending:
link.needs_resending:
pattern = (pk.header,) + expected_reply
logger.debug(
'Sending packet and expecting the %s pattern back',
Expand All @@ -387,7 +388,7 @@ def send_packet(self, pk, expected_reply=(), resend=False, timeout=0.2):
else:
logger.debug('Resend requested, but no pattern found: %s',
self._answer_patterns)
self.link.send_packet(pk)
link.send_packet(pk)
self.packet_sent.call(pk)
self._send_lock.release()

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