Class: Crubyflie::Param

Inherits:
Object
  • Object
show all
Includes:
CRTPConstants, Logging
Defined in:
lib/crubyflie/crazyflie/param.rb

Overview

The parameter facility. Used to retrieve the table of contents, set the value of a parameter and read the value of a parameter

Constant Summary

Constants included from CRTPConstants

CRTPConstants::CMD_APPEND_BLOCK, CRTPConstants::CMD_CREATE_BLOCK, CRTPConstants::CMD_DELETE_BLOCK, CRTPConstants::CMD_RESET_LOGGING, CRTPConstants::CMD_START_LOGGING, CRTPConstants::CMD_STOP_LOGGING, CRTPConstants::CMD_TOC_ELEMENT, CRTPConstants::CMD_TOC_INFO, CRTPConstants::CRTP_PORTS, CRTPConstants::LOG_DATA_CHANNEL, CRTPConstants::LOG_SETTINGS_CHANNEL, CRTPConstants::PARAM_READ_CHANNEL, CRTPConstants::PARAM_WRITE_CHANNEL, CRTPConstants::TOC_CHANNEL, CRTPConstants::WAIT_PACKET_TIMEOUT

Instance Attribute Summary collapse

Instance Method Summary collapse

Methods included from Logging

logger, #logger, #logger=

Constructor Details

#initialize(crazyflie) ⇒ Param

Initialize the parameter facility

Parameters:



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# File 'lib/crubyflie/crazyflie/param.rb', line 119

def initialize(crazyflie)
    @crazyflie = crazyflie
    @in_queue = crazyflie.crtp_queues[:param]
    @toc = TOC.new(@crazyflie.cache_folder, ParamTOCElement)
end

Instance Attribute Details

#toc ⇒ Object (readonly)

Returns the value of attribute toc.



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# File 'lib/crubyflie/crazyflie/param.rb', line 116

def toc
  @toc
end

Instance Method Details

#get_value(name, &block) {|value| ... } ⇒ Object Also known as: request_param_update

Request an update for a parameter and call the provided block with the value of the parameter. This call will block until the response has been received or the #CRTPConstants::WAIT_PACKET_TIMEOUT is reached.

Parameters:

  • name (String) —

    a name in the form group.name

  • block (Proc) —

    a block to be called with the value as argument

Yields:

  • (value) 


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# File 'lib/crubyflie/crazyflie/param.rb', line 174

def get_value(name, &block)
    element = @toc[name]
    if element.nil?
        logger.error "Cannot update #{name}, not in TOC"
        return
    end
    packet = CRTPPacket.new()
    packet.modify_header(nil, CRTP_PORTS[:param],
                         PARAM_READ_CHANNEL)
    packet.data = [element.ident]
    @in_queue.clear()
    @crazyflie.send_packet(packet, true)

    # Pop packages until mine comes up
    begin
        response = wait_for_response()
        return if response.nil?

        ident = response.data()[0]
        if ident != element.ident()
            mesg = "Value expected for element with ID #{element.ident}"
            mesg << " but got for element with ID #{ident}. Requeing"
            logger.debug(mesg)
        end
    end until ident == element.ident()

    value = response.data_repack()[1..-1]
    value = value.unpack(element.directive).first
    yield(value)
end

#refresh_toc ⇒ Object

Refreshes the TOC. It only returns when it is finished



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# File 'lib/crubyflie/crazyflie/param.rb', line 126

def refresh_toc
    channel = TOC_CHANNEL
    port = Crazyflie::CRTP_PORTS[:param]
    @toc.fetch_from_crazyflie(@crazyflie, port, @in_queue)
end

#set_value(name, value, &block) ⇒ Object

Set the value of a paremeter. This call will only return after a ack response has been received, or will timeout if #CRTPConstants::WAIT_PACKET_TIMEOUT is reached.

Parameters:

  • name (String) —

    parameter group.name

  • value (Numeric) —

    a value. It must be packable as binary data, the type being set in the params TOC

  • block (Proc) —

    an optional block that will be called with the response CRTPPacket received. Otherwise will log to debug



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# File 'lib/crubyflie/crazyflie/param.rb', line 141

def set_value(name, value, &block)
    element = @toc[name]
    if element.nil?
        logger.error "Param #{name} not in TOC!"
        return
    end

    ident = element.ident
    packet = CRTPPacket.new()
    packet.modify_header(nil, CRTP_PORTS[:param],
                         PARAM_WRITE_CHANNEL)
    packet.data = [ident]
    packet.data += [value].pack(element.directive()).unpack('C*')
    @in_queue.clear()
    @crazyflie.send_packet(packet, true) # expect answer

    response = wait_for_response()
    return if response.nil?

    if block_given?
        yield response
    else
        mesg = "Got answer to setting param '#{name}' with '#{value}'"
        logger.debug(mesg)
    end
end