debugging sending return packet

cflib_groundstation/crazyflie_connection.py

@@ -177,7 +177,16 @@ class CrazyflieConnection:
 
         try:
             if self.scf.is_link_open():
-                toc = list(self.scf.cf.param.values.values())
+                print(self.scf.cf.param.values)
+                lst = list(self.scf.cf.param.values.values())
+                print(lst)
+                toc = []
+                for val in lst:
+                    sublst = list(val.values())
+                    for item in sublst:
+                        toc.append(item)
+                #lst2 = list(self.scf.cf.param.values)
+                #print(lst2)
                 #val = toc.flatten()
                 #print(val)
                 print(toc)
@@ -190,10 +199,18 @@ class CrazyflieConnection:
             pass
 
             
-        data = bytearray(group)
-        data.append(name)
-        data.append(val)
+        data = bytearray()
+        data += command['data'][0:2]
+        data += command['data'][2:4]
+        if "." in actual:
+            actual = float(actual)
+            flBytes = struct.pack('f', actual)
+        else:
+            actual = int(actual)
+            flBytes = struct.pack('i', actual)
+        data += flBytes
         print(data)
+        print(len(data))
         responsedata = {
         "msg_type": (MessageTypeID.RESPPARAM_ID),
         "msg_id": command['msg_id'],

cflib_groundstation/groundstation_socket.py

@@ -3,6 +3,7 @@ import socket
 import os
 import collections
 from enum import IntEnum, Enum
+import struct
 
 # Set the path for the Unix socket
 socket_path = './cflib_groundstation.socket'
@@ -92,14 +93,23 @@ class GroundstationSocket():
 
     def EncodePacket(self, messagedata):
         print("encoding packet")
-        bytedata = bytearray(Message.BEGIN_CHAR.value)
-        bytedata.append(messagedata["msg_type"] & 0xFF)
-        bytedata.append((messagedata["msg_type"] >> 8) & 0xFF)
+        bytedata = bytearray()
+        bytedata += b'\xbe'
+        
+        bytedata.append((messagedata["msg_type"].value & 0xFF))
+        print(bytedata)
+        bytedata.append((messagedata["msg_type"].value >> 8) & 0xFF)
+        print(bytedata)
         bytedata.append(messagedata["msg_id"])
+        print(bytedata)
         bytedata.append(messagedata["data_len"] & 0xFF)
+        print(bytedata)
         bytedata.append((messagedata["data_len"] >> 8) & 0xFF)
+        print(bytedata)
         bytedata += messagedata["data"]
-        bytedata.append(self.packetChecksum(messagedata["data"], PacketHeader.HDR_SIZE.value + messagedata["data_len"] + ChecksumFormat.CSUM_SIZE.value))
+        print(bytedata)
+        bytedata.append(self.packetChecksum(bytedata, PacketHeader.HDR_SIZE.value + messagedata["data_len"] + ChecksumFormat.CSUM_SIZE.value))
+        print(bytedata)
         return bytedata
 
     def WriteToBackend(self, message):
@@ -136,10 +146,7 @@ class DataType(IntEnum):
     intType = 0
     stringType = 2
 """
-  Message type IDs used to know what kind of message we are dealing with
-  Enumeration used to index the MessageTypes array in commands.c
-
-  DO NOT change items in the middle of this enum or you will break backwards compatibility.
+  Message type IDs used to know what kind omessagedata enum or you will break backwards compatibility.
   Add new message types in the slot between MAX_TYPE_ID and the one before it
   DO NOT change this enum without also updating the "MessageTypes" array
   in commands.c to match.