Used to read and write parameter values in the Crazyflie.
| 110 | |
| 111 | |
| 112 | class Param(): |
| 113 | """ |
| 114 | Used to read and write parameter values in the Crazyflie. |
| 115 | """ |
| 116 | |
| 117 | def __init__(self, crazyflie): |
| 118 | self.toc = Toc() |
| 119 | |
| 120 | self.cf = crazyflie |
| 121 | self._useV2 = False |
| 122 | self.param_update_callbacks = {} |
| 123 | self.group_update_callbacks = {} |
| 124 | self.all_update_callback = Caller() |
| 125 | self.param_updater = None |
| 126 | |
| 127 | self.param_updater = _ParamUpdater( |
| 128 | self.cf, self._useV2, self._param_updated) |
| 129 | self.param_updater.start() |
| 130 | |
| 131 | self.cf.disconnected.add_callback(self._disconnected) |
| 132 | |
| 133 | self.all_updated = Caller() |
| 134 | self.is_updated = False |
| 135 | |
| 136 | self.values = {} |
| 137 | |
| 138 | def request_update_of_all_params(self): |
| 139 | """Request an update of all the parameters in the TOC""" |
| 140 | for group in self.toc.toc: |
| 141 | for name in self.toc.toc[group]: |
| 142 | complete_name = '%s.%s' % (group, name) |
| 143 | self.request_param_update(complete_name) |
| 144 | |
| 145 | def _check_if_all_updated(self): |
| 146 | """Check if all parameters from the TOC has at least been fetched |
| 147 | once""" |
| 148 | for g in self.toc.toc: |
| 149 | if g not in self.values: |
| 150 | return False |
| 151 | for n in self.toc.toc[g]: |
| 152 | if n not in self.values[g]: |
| 153 | return False |
| 154 | |
| 155 | return True |
| 156 | |
| 157 | def _param_updated(self, pk): |
| 158 | """Callback with data for an updated parameter""" |
| 159 | if self._useV2: |
| 160 | var_id = struct.unpack('<H', pk.data[:2])[0] |
| 161 | else: |
| 162 | var_id = pk.data[0] |
| 163 | element = self.toc.get_element_by_id(var_id) |
| 164 | if element: |
| 165 | if self._useV2: |
| 166 | s = struct.unpack(element.pytype, pk.data[2:])[0] |
| 167 | else: |
| 168 | s = struct.unpack(element.pytype, pk.data[1:])[0] |
| 169 | s = s.__str__() |