added functionality for get/set param

cflib_groundstation/crazyflie_connection.py

@@ -13,6 +13,8 @@ import cflib.crtp
 from cflib.crazyflie import Crazyflie
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
 from queue import Queue
+#import groundstation_socket as gs
+from groundstation_socket import MessageTypeID
 
 from cflib.crazyflie.log import LogConfig
 
@@ -78,13 +80,17 @@ class CrazyflieConnection:
     def BeginUpdate():
         raise Exception
     def OverrideOuput(): 
-        #Sends all setpoints for a given amount of time
+        """Sends all setpoints for a given amount of time"""
+
         #TODO
         raise Exception
     def GetNodeIds():
         raise Exception
-    def SetParam(self, group: str, name: str, value: float):
+    def SetParam(self, command):
         """ Set a crazyflie parameter value. """
+        group = command['data'][0:1]
+        name = command['data'][2:3]
+        value =  command['data'][4:7]
         try:
             if self.scf.is_link_open():
                 full_name = group + "." + name
@@ -107,15 +113,36 @@ class CrazyflieConnection:
         print("Done setting param")
         self.param_callback_count += 1
 
-    def GetParam(self, group: str, name: str):
+    def GetParam(self, command, outputQueue: Queue): #group: str, name: str,
         """ Retrieve parameter value from crazyflie toc. """
+        #Bytes 0 and 1 are node ID, ie group
+        #Bytes 2 and 3 are node paramID, ie name
+        group = command['data'][0:1]
+        name = command['data'][2:3]
+
         try:
             if self.scf.is_link_open():
-                return self.scf.cf.param.values[group][name]
+                val = self.scf.cf.param.values[group][name]
+    
 
         except AttributeError:
+            val = -1.234567
             pass
-        return -1.234567890  # 1234567890 should be pretty obvious that
+
+            
+        data = bytearray(group)
+        data.append(name)
+        data.append(val)
+
+        responsedata = {
+        "msg_type": (MessageTypeID.RESPPARAM_ID),
+        "msg_id": command['msg_id'],
+        "data_len": 8,
+        "data": data
+        }
+        outputQueue.put(responsedata)
+
+        #return -1.234567890  # 1234567890 should be pretty obvious that
         # something has gone wrong.
     def SetSource():
         raise Exception