diff --git a/cache/5F73C19B.json b/cache/5F73C19B.json
new file mode 100644
index 0000000000000000000000000000000000000000..17eca427721abb97cb2d845eff0ae6b9827654ae
--- /dev/null
+++ b/cache/5F73C19B.json
@@ -0,0 +1,4651 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..e7a113b3dbc4e5e5404d43474a0b5f960f82a12f
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+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ }
+ },
+ "firmware": {
+ "revision0": {
+ "__class__": "ParamTocElement",
+ "ident": 238,
+ "group": "firmware",
+ "name": "revision0",
+ "ctype": "uint32_t",
+ "pytype": "<L",
+ "access": 1,
+ "extended": false
+ },
+ "revision1": {
+ "__class__": "ParamTocElement",
+ "ident": 239,
+ "group": "firmware",
+ "name": "revision1",
+ "ctype": "uint16_t",
+ "pytype": "<H",
+ "access": 1,
+ "extended": false
+ },
+ "modified": {
+ "__class__": "ParamTocElement",
+ "ident": 240,
+ "group": "firmware",
+ "name": "modified",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 1,
+ "extended": false
+ }
+ },
+ "lighthouse": {
+ "method": {
+ "__class__": "ParamTocElement",
+ "ident": 241,
+ "group": "lighthouse",
+ "name": "method",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "bsCalibReset": {
+ "__class__": "ParamTocElement",
+ "ident": 242,
+ "group": "lighthouse",
+ "name": "bsCalibReset",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "systemType": {
+ "__class__": "ParamTocElement",
+ "ident": 243,
+ "group": "lighthouse",
+ "name": "systemType",
+ "ctype": "uint8_t",
+ "pytype": "<B",
+ "access": 0,
+ "extended": false
+ },
+ "sweepStd": {
+ "__class__": "ParamTocElement",
+ "ident": 244,
+ "group": "lighthouse",
+ "name": "sweepStd",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ },
+ "sweepStd2": {
+ "__class__": "ParamTocElement",
+ "ident": 245,
+ "group": "lighthouse",
+ "name": "sweepStd2",
+ "ctype": "float",
+ "pytype": "<f",
+ "access": 0,
+ "extended": false
+ }
+ }
+}
\ No newline at end of file
diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
index 7fed0bbfac59539b7cfe78f8badae14f8708c4b6..e400bbdbd3f831942b5dcd904faaa1b3dc1797a7 100644
Binary files a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc and b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc differ
diff --git a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
index 30ef2552b4af55a25d6e1a991b7f10cde30eb8e0..ac3003bf0ebab8f540db688413cf7aa33f548f9f 100644
Binary files a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc and b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc differ
diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 407b50f556a4177c4200eee39c0e6c109f1ae81a..761543566fb7fd800823c24c09e8ce827c17fe0b 100644
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -66,7 +66,9 @@ class CrazyflieConnection:
self.scf = SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache'))
self.scf.open_link()
self.scf.wait_for_params()
- self.is_connected = True
+ self.iC_connected = True
+ print("Connect quad")
+ #self.toc = self.get_TOC()
# sets commander
self.scf.cf.commander = uCartCommander.Commander(self.scf.cf)
@@ -111,7 +113,6 @@ class CrazyflieConnection:
pitch = struct.unpack('f', bytes(pitch))[0]
roll = struct.unpack('f', bytes(roll))[0]
thrust = struct.unpack('f', bytes(thrust))[0]
- print(thrust)
except ValueError:
raise Exception
@@ -134,35 +135,38 @@ class CrazyflieConnection:
raise Exception
self.setpoint_handler.setSetpoint(yaw, pitch, roll, thrust)
+ self.setpoint_handler.sendSetpoint()
def GetNodeIds():
raise Exception
+
def SetParam(self, command):
""" Set a crazyflie parameter value. """
- group = command['data'][0:1]
- name = command['data'][2:3]
- value = command['data'][4:7]
+ group = int.from_bytes(command['data'][0:2], 'little')
+ name = int.from_bytes(command['data'][2:4], 'little')
+ value = struct.unpack('f', bytes(command['data'][4:8]))[0]
try:
if self.scf.is_link_open():
- full_name = group + "." + name
+ element = self.scf.cf.param.toc.get_element_by_id(name)
+ full_name = element.group + "." + element.name
cf = self.scf.cf
- cf.param.add_update_callback(group=group, name=name,
- cb=self.done_setting_param_value)
+ # cf.param.add_update_callback(group=group, name=name,
+ # cb=self.done_setting_param_value)
cf.param.set_value(full_name, value)
# Don't return until the parameter is done getting set
- while self.param_callback_count < 1:
- time.sleep(0.01)
+ # while self.param_callback_count < 1:
+ # time.sleep(0.01)
- self.param_callback_count = 0
+ # self.param_callback_count = 0
except AttributeError:
print("Nothing connected")
- def done_setting_param_value(self, *_args):
- """ Callback when done setting a parameter value. """
- print("Done setting param")
- self.param_callback_count += 1
+ # def done_setting_param_value(self, *_args):
+ # """ Callback when done setting a parameter value. """
+ # print("Done setting param")
+ # self.param_callback_count += 1
def GetParam(self, command, outputQueue: Queue): #group: str, name: str,
""" Retrieve parameter value from crazyflie toc. """
@@ -171,44 +175,27 @@ class CrazyflieConnection:
print("Getting Param...")
group = int.from_bytes(command['data'][0:2], 'little')
name = int.from_bytes(command['data'][2:4], 'little')
- print(group)
- print(name)
-
try:
if self.scf.is_link_open():
- 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)
- actual = toc[name]
- print(actual)
-
+ #print(self.scf.cf.param.values)
+ element = self.scf.cf.param.toc.get_element_by_id(name)
+ print(element.group)
+ print(element.name)
+ full_name = element.group + "." + element.name
+ actual = self.scf.cf.param.get_value(full_name)
except AttributeError:
- val = -1.234567
+ actual = -1.234567
pass
-
data = bytearray()
data += command['data'][0:2]
data += command['data'][2:4]
print(actual)
actual = float(actual)
- print(actual)
flBytes = struct.pack('f', actual)
data += flBytes
- print(data)
- print(len(data))
responsedata = {
"msg_type": (MessageTypeID.RESPPARAM_ID),
"msg_id": command['msg_id'],
@@ -231,9 +218,55 @@ class CrazyflieConnection:
raise Exception
def AddNode():
raise Exception
- def GetLogFile():
- #TODO
- raise Exception
+ def GetLogFile(self, command):
+ print("Getting LogFile...")
+ id = int.from_bytes(command['data'][0], 'little')
+ if id == 0: # logdata?
+ raise Exception # Not implemented
+ elif id == 1: # param toc
+ raise Exception # Not implemented
+ elif id == 2: # logging toc
+ raise Exception # Not implemented
+ elif id == 3: # active header of the data log
+ raise Exception # Not implemented
+ elif id == 4: # state of test stand connection
+ raise Exception # Not implemented
+ else :
+ raise Exception
def LogBlockCommand():
#TODO
- raise Exception
\ No newline at end of file
+ raise Exception
+
+ def get_logging_toc(self):
+ """ Retrieve entire logging table of contents. Used in order to
+ display list in logging tab. """
+
+ try:
+ if self.scf.is_link_open():
+ tocFull = self.scf.cf.log.toc.toc
+ toc = []
+ for key in tocFull.keys():
+ for inner_key in tocFull[key].keys():
+ # concatenate group name with parameter name.
+ full_name = key + "." + inner_key
+ toc.append(full_name)
+
+ return toc
+ else:
+ return []
+ except AttributeError:
+ pass
+ return []
+
+ def get_param_toc(self):
+ """ Get the names of all groups available for parameters on the
+ crazyflie. Used to populate parameter group list on parameter tab. """
+
+ try:
+ if self.scf.is_link_open():
+ toc = self.scf.cf.param.values
+
+ return toc
+ except AttributeError:
+ pass
+ return {}
\ No newline at end of file
diff --git a/cflib_groundstation/groundstation_socket.py b/cflib_groundstation/groundstation_socket.py
index 7c684ece2c7ebb72d2c5c6fe18d0a7f1798529d8..585bcdc527331671605bd07701005ac862801387 100644
--- a/cflib_groundstation/groundstation_socket.py
+++ b/cflib_groundstation/groundstation_socket.py
@@ -96,20 +96,12 @@ class GroundstationSocket():
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"] & 0xFF)
- print(bytedata)
bytedata.append((messagedata["msg_id"] >> 8) & 0xFF)
- print(bytedata)
bytedata.append(messagedata["data_len"] & 0xFF)
- print(bytedata)
bytedata.append((messagedata["data_len"] >> 8) & 0xFF)
- print(bytedata)
bytedata += messagedata["data"]
- print(bytedata)
- print(len(bytedata))
bytedata.append(self.packetChecksum(bytedata, PacketHeader.HDR_SIZE.value + messagedata["data_len"] + ChecksumFormat.CSUM_SIZE.value))
print(bytedata)
return bytedata
@@ -173,7 +165,8 @@ class MessageTypeID(Enum):
RESPADDNODE_ID = 18
OUTPUT_OVERRIDE_ID = 19
SEND_RT_ID = 20
- MAX_TYPE_ID = 21
+ #MAX_TYPE_ID = 21
+ GETLOGFILE_ID = 21
diff --git a/cflib_groundstation/main.py b/cflib_groundstation/main.py
index ddf09b0f03d4a6d52510425ac2daa6980cc112df..2aae0c8e83280a8027eae43cf97400a9fe1e26bc 100644
--- a/cflib_groundstation/main.py
+++ b/cflib_groundstation/main.py
@@ -43,7 +43,7 @@ class main():
elif msg_type == MessageTypeID.GETNODES_ID.value:
self.cfConnect.GetNodes()
elif msg_type == MessageTypeID.SETPARAM_ID.value:
- self.cfConnect.SetParam()
+ self.cfConnect.SetParam(command)
elif msg_type == MessageTypeID.GETPARAM_ID.value:
self.cfConnect.GetParam(command, self.outputQueue)
elif msg_type == MessageTypeID.SETSOURCE_ID.value:
@@ -62,6 +62,8 @@ class main():
self.cfConnect.GetLogFile()
elif msg_type == MessageTypeID.LOG_END_ID.value:
self.cfConnect.LogBlockCommand()
+ elif msg_type == MessageTypeID.GETLOGFILE_ID.value:
+ self.cfConnect.GetLogFile(command)