pymavlink: added mavparm.py

useful for dealing with parameter lists

pymavlink/mavparm.py

@@ -0,0 +1,99 @@
+'''
+module for loading/saving sets of mavlink parameters
+'''
+
+import fnmatch, math, time
+
+class MAVParmDict(dict):
+    def __init__(self, *args):
+        dict.__init__(self, args)
+        # some parameters should not be loaded from files
+        self.exclude_load = ['SYSID_SW_MREV', 'SYS_NUM_RESETS', 'ARSPD_OFFSET', 'GND_ABS_PRESS',
+                             'GND_TEMP', 'CMD_TOTAL', 'CMD_INDEX', 'LOG_LASTFILE', 'FENCE_TOTAL',
+                             'FORMAT_VERSION' ]
+
+
+    def mavset(self, mav, name, value, retries=3):
+        '''set a parameter on a mavlink connection'''
+        got_ack = False
+        while retries > 0 and not got_ack:
+            retries -= 1
+            mav.param_set_send(name.upper(), float(value))
+            tstart = time.time()
+            while time.time() - tstart < 1:
+                ack = mav.recv_match(type='PARAM_VALUE', blocking=False)
+                if ack == None:
+                    time.sleep(0.1)
+                    continue
+                if str(name).upper() == str(ack.param_id).upper():
+                    got_ack = True
+                    self.__setitem__(name, float(value))
+                    break
+        if not got_ack:
+            print("timeout setting %s to %f" % (name, float(value)))
+            return False
+        return True
+
+
+    def save(self, filename, wildcard='*', verbose=False):
+        '''save parameters to a file'''
+        f = open(filename, mode='w')
+        k = self.keys()
+        k.sort()
+        count = 0
+        for p in k:
+            if p and fnmatch.fnmatch(str(p).upper(), wildcard.upper()):
+                f.write("%-15.15s %f\n" % (p, self.__getitem__(p)))
+                count += 1
+        f.close()
+        if verbose:
+            print("Saved %u parameters to %s" % (count, filename))
+
+
+    def load(self, filename, wildcard='*', mav=None):
+        '''load parameters from a file'''
+        try:
+            f = open(filename, mode='r')
+        except:
+            print("Failed to open file '%s'" % filename)
+            return
+        count = 0
+        changed = 0
+        for line in f:
+            line = line.strip()
+            if not line or line[0] == "#":
+                continue
+            a = line.split()
+            if len(a) != 2:
+                print("Invalid line: %s" % line)
+                continue
+            # some parameters should not be loaded from files
+            if a[0] in self.exclude_load:
+                continue
+            if not fnmatch.fnmatch(a[0].upper(), wildcard.upper()):
+                continue
+            if mav is not None:
+                if a[0] not in self.keys():
+                    print("Unknown parameter %s" % a[0])
+                    continue
+                old_value = self.__getitem__(a[0])
+                if math.fabs(old_value - float(a[1])) > 0.000001:
+                    if self.mavset(mav, a[0], a[1]):
+                        print("changed %s from %f to %f" % (a[0], old_value, float(a[1])))
+                    changed += 1
+            else:
+                self.__setitem__(a[0], float(a[1]))
+            count += 1
+        f.close()
+        if mav is not None:
+            print("Loaded %u parameters from %s (changed %u)" % (count, filename, changed))
+        else:
+            print("Loaded %u parameters from %s" % (count, filename))
+
+    def show(self, wildcard='*'):
+        '''show parameters'''
+        k = sorted(self.keys())
+        for p in k:
+            if fnmatch.fnmatch(str(p).upper(), wildcard.upper()):
+                print("%-15.15s %f" % (str(p), self.get(p)))
+