From 7fe8cf40052de51d7e87c88ecb5db55b0f9a8f7e Mon Sep 17 00:00:00 2001
From: sfrana <sfrana@iastate.edu>
Date: Wed, 25 Oct 2023 23:36:56 +0200
Subject: [PATCH] added functionality for get/set param
---
.../crazyflie_connection.cpython-38.pyc | Bin 2650 -> 5887 bytes
.../groundstation_socket.cpython-38.pyc | Bin 4253 -> 4722 bytes
cflib_groundstation/crazyflie_connection.py | 37 +++++++++++++++---
3 files changed, 32 insertions(+), 5 deletions(-)
diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index e6d5daf61a108acc7e4a3a17e2ac232b2a13e297..c4249331c166cdd16323d98a46de616822643865 100644
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diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
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diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 440e1aa72..d744462a8 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/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
--
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