From de1b8027b1cf0cb20d4158d197b7f705aabb8ef6 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Sun, 29 Oct 2023 22:56:37 +0100
Subject: [PATCH] debugging sending return packet
---
.../SetpointHandler.cpython-38.pyc | Bin 7175 -> 7175 bytes
.../crazyflie_connection.cpython-38.pyc | Bin 6983 -> 7235 bytes
.../groundstation_socket.cpython-38.pyc | Bin 4712 -> 4800 bytes
.../__pycache__/uCartCommander.cpython-38.pyc | Bin 7993 -> 7993 bytes
cflib_groundstation/crazyflie_connection.py | 25 +++++++++++++++---
cflib_groundstation/groundstation_socket.py | 23 ++++++++++------
6 files changed, 36 insertions(+), 12 deletions(-)
diff --git a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
index 5c0cdede7a433629c0523d73857000b22532edb2..4027a377ae82889947f5b062d6e37b0967afcddf 100644
GIT binary patch
delta 20
acmZp-Xt&@F<>lpK00O`Lb{o0>NCN;cN(CVR
delta 20
acmZp-Xt&@F<>lpK0D_9$RvWqhNCN;dL<K_t
diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index 85ab6295b2709099c95186ac0dfb1fb717b02213..5c520b674f7d044fda08380bc14c0ac76f1f1a2f 100644
GIT binary patch
delta 766
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delta 568
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diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index 6b0bc4dda7a65b59de08199f08b7d0999c907c75..54fe1726f0e08f21c905fee78ae7278a6a077dac 100644
GIT binary patch
delta 893
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delta 759
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diff --git a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
index 1242daed281da98433672de57f3f356e49326a1c..f84b6b1068c5e0a275f109b420b3c0c439f16dc5 100644
GIT binary patch
delta 20
acmdmKx6_V0l$V!_0SNr|+im35lLr7c_5{ZO
delta 20
acmdmKx6_V0l$V!_0SNwASZ?IjlLr7g3I!|x
diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 85b9ce285..64f28687f 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/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'],
diff --git a/cflib_groundstation/groundstation_socket.py b/cflib_groundstation/groundstation_socket.py
index 90983b4ca..57f1ffb0f 100644
--- a/cflib_groundstation/groundstation_socket.py
+++ b/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.
--
GitLab