From f89ad396dd94a69b0e352d7ff430ff79c6a71a41 Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Thu, 2 Nov 2023 21:43:25 +0100
Subject: [PATCH] set param works
---
cache/5F73C19B.json | 4651 +++++++++++++++++
cache/CCB14664.json | 2544 +++++++++
.../crazyflie_connection.cpython-38.pyc | Bin 7221 -> 7926 bytes
.../groundstation_socket.cpython-38.pyc | Bin 4869 -> 4782 bytes
cflib_groundstation/crazyflie_connection.py | 119 +-
cflib_groundstation/groundstation_socket.py | 11 +-
cflib_groundstation/main.py | 4 +-
7 files changed, 7276 insertions(+), 53 deletions(-)
create mode 100644 cache/5F73C19B.json
create mode 100644 cache/CCB14664.json
diff --git a/cache/5F73C19B.json b/cache/5F73C19B.json
new file mode 100644
index 000000000..17eca4277
--- /dev/null
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diff --git a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
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diff --git a/cflib_groundstation/crazyflie_connection.py b/cflib_groundstation/crazyflie_connection.py
index 407b50f55..761543566 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 7c684ece2..585bcdc52 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 ddf09b0f0..2aae0c8e8 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)
--
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