def read_all(self, verbose=False):
"""Read all settings from device
Args:
verbose(bool): Echo settings to sdout
Returns:
Nested dictionary of settings[section][names] with values
as strings
"""
self.settings_list_received = False
self.link(MsgSettingsReadByIndexReq(index=0))
attempts = 0
while not self.settings_list_received:
time.sleep(self.timeout)
attempts += 1
if attempts > 10: # wait 10 timeout periods for settings before trying again
attempts = 0
self.link(MsgSettingsReadByIndexReq(index=0))
for section in self.settings_list:
if verbose:
print('%s:' % section)
for setting, value in self.settings_list[section].iteritems():
if verbose:
print('- %s = %s' % (setting, value))
return self.settings_list
def __init__(self, link, timeout=None):
self.diagnostics = {}
self.diagnostics['versions'] = {}
self.diagnostics['settings'] = {}
self.settings_received = False
self.heartbeat_received = False
self.handshake_received = False
self.sbp_version = (0, 0)
self.link = link
self.link.add_callback(self._settings_callback,
SBP_MSG_SETTINGS_READ_BY_INDEX_REQ)
self.link.add_callback(self._settings_callback,
SBP_MSG_SETTINGS_READ_BY_INDEX_RESP)
self.link.add_callback(self._settings_done_callback,
SBP_MSG_SETTINGS_READ_BY_INDEX_DONE)
self.link.add_callback(self._heartbeat_callback, SBP_MSG_HEARTBEAT)
self.link.add_callback(self._deprecated_handshake_callback,
SBP_MSG_BOOTLOADER_HANDSHAKE_DEP_A)
self.link.add_callback(self._handshake_callback,
SBP_MSG_BOOTLOADER_HANDSHAKE_RESP)
self.link.add_callback(self._print_callback,
[SBP_MSG_LOG, SBP_MSG_PRINT_DEP])
timeout = time.time() + timeout if timeout is not None else None
# Wait for the heartbeat
while not self.heartbeat_received:
time.sleep(0.1)
if timeout is not None and time.time() > timeout:
print("timeout waiting for heartbeat")
return
# Wait for the settings
print("received heartbeat")
expire = time.time() + 15.0
self.link(MsgSettingsReadByIndexReq(index=0))
while not self.settings_received:
time.sleep(0.1)
if time.time() > expire:
expire = time.time() + 15.0
self.link(MsgSettingsReadByIndexReq(index=0))
if timeout is not None and time.time() > timeout:
print("timeout waiting for settings")
return
# Wait for the handshake
print("received settings")
expire = time.time() + 10.0
self.link(MsgReset(flags=0))
while not self.handshake_received:
time.sleep(0.1)
if time.time() > expire:
expire = time.time() + 10.0
self.link(MsgReset(flags=0))
if timeout is not None and time.time() > timeout:
print("timeout waiting for handshake")
return
print("received bootloader handshake")
def settings_read_by_index_callback(self, sbp_msg, **metadata):
section, setting, value, format_type = sbp_msg.payload[2:].split(
'\0')[:4]
self.ordering_counter += 1
if format_type == '':
format_type = None
else:
setting_type, setting_format = format_type.split(':')
if section not in self.settings:
self.settings[section] = {}
if format_type is None:
# Plain old setting, no format information
self.settings[section][setting] = Setting(
setting,
section,
value,
ordering=self.ordering_counter,
settings=self)
else:
if setting_type == 'enum':
enum_values = setting_format.split(',')
self.settings[section][setting] = EnumSetting(
setting,
section,
value,
ordering=self.ordering_counter,
values=enum_values,
settings=self)
else:
# Unknown type, just treat is as a string
self.settings[section][setting] = Setting(
setting, section, value, settings=self)
if self.enumindex == sbp_msg.index:
self.enumindex += 1
self.link(MsgSettingsReadByIndexReq(index=self.enumindex))
def _settings_list_callback(self, sbp_msg, **metadata):
section, setting, value, format_type = sbp_msg.payload[2:].split(
'\0')[:4]
if section not in self.settings_list:
self.settings_list[section] = {}
self.settings_list[section][setting] = value
index = struct.unpack('<H', sbp_msg.payload[:2])[0]
self.link(MsgSettingsReadByIndexReq(index=index + 1))
def read_all(self):
self.settings_list_received = False
self.link(MsgSettingsReadByIndexReq(index=0))
while not self.settings_list_received:
time.sleep(0.1)
for section in self.settings_list:
print('%s:' % (section))
for setting, value in self.settings_list[section].iteritems():
print('- %s = %s' % (setting, value))
def _settings_list_callback(self, sbp_msg, **metadata):
section_b, setting_b, value_b, format_type_b = sbp_msg.payload[2:].split(b'\0')[:4]
section = section_b.decode(KEY_ENCODING)
setting = setting_b.decode(KEY_ENCODING)
value = value_b.decode(VALUE_ENCODING)
if section not in self.settings_list:
self.settings_list[section] = {}
self.settings_list[section][setting] = value
index = struct.unpack('<H', sbp_msg.payload[:2])[0]
self.link(MsgSettingsReadByIndexReq(index=index + 1))
def _settings_callback(self, sbp_msg, **metadata):
if not sbp_msg.payload:
self.settings_received = True
else:
section, setting, value, format_type = sbp_msg.payload[2:].split(
'\0')[:4]
if section not in self.diagnostics['settings']:
self.diagnostics['settings'][section] = {}
self.diagnostics['settings'][section][setting] = value
index = struct.unpack('<H', sbp_msg.payload[:2])[0]
self.link(MsgSettingsReadByIndexReq(index=index + 1))
def _settings_read_button_fired(self):
self.enumindex = 0
self.ordering_counter = 0
self.link(MsgSettingsReadByIndexReq(index=self.enumindex))
def _send_pending_settings_by_index(self):
for eachindex in self.pending_settings:
self.link(MsgSettingsReadByIndexReq(index=eachindex))