def update_parameter_list(self, root, info, **kwargs):
application_log.debug(f"Parameter list mutation handler {kwargs}")
# TODO iterate over the list and set all the values
params = kwargs.get("parameters", [])
ret_param_list = []
for param in params:
parameter_id = param.get("id")
parameter_value = float(param.get("value"))
ret = param_set(parameter_id, parameter_value)
if ret == parameter_value:
# param set worked
pass
else:
# param set failed
pass
# check to see if the set value matches the provided value
ret_param = param_get(parameter_id)
application_log.debug(
f"param set {parameter_id}:{parameter_value}->{ret_param} {ret}"
)
if ret:
ret_param_list.append({
"id":
parameter_id,
"value":
ret_param,
"meta":
self.parameter_meta.get(parameter_id, None),
})
return {"parameters": ret_param_list}
def takeoff(self):
if self.takeoff:
print("Vehicle has already Taken Off")
else:
try:
alt = param.param_get("MIS_TAKEOFF_ALT")
print("Taking off at Current Latitude = %3f Longitude = %3f" % (self.latitude, self.longitude))
ret = command.takeoff(min_pitch=0, yaw=0, latitude=self.latitude, longitude=self.longitude,
altitude=alt)
while self.altitude <= (alt - 0.1):
continue
self.takeoff = True
if not ret.success:
utils.fault("Request failed. Check mavros logs")
except rospy.ServiceException as ex:
utils.fault(ex)
print("Takeoff Command result: %s" % (self.takeoff == True))
def update_parameter(self, root, info, **kwargs):
parameter_id = kwargs.get("id")
parameter_value = kwargs.get("value")
parameter_meta = self.parameter_meta.get(parameter_id, None)
parameter_type = kwargs.get("type", None)
if parameter_type and parameter_meta:
self.parameter_meta[parameter_id]["type"] = parameter_type
parameter_meta = self.parameter_meta.get(parameter_id, None)
application_log.debug(
f"Parameter mutation handler {kwargs} root:{root} info:{info} meta:{parameter_meta}"
)
if (root is None) and (info is None):
# The call came from the api, don't action as a param change request
self.parameter_data[parameter_id] = parameter_value
self.subscriptions.emit(
"maverick_api.modules.api.mavros.ParamSchema" + "Parameter",
{
"Parameter": {
"id": parameter_id,
"value": parameter_value,
"meta": parameter_meta,
}
},
)
else:
ret = param_set(parameter_id, float(parameter_value))
if ret == parameter_value:
# param set worked
pass
else:
# param set failed
pass
# check to see if the set value matches the provided value
ret_param = param_get(parameter_id)
application_log.debug("param set {0}:{1} {2}".format(
parameter_id, parameter_value, ret))
application_log.debug("{0}".format(ret_param))
return {"id": parameter_id, "value": parameter_value}