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Option --no_param_auto_fetch to only fetch params on request. Preload added to menu. #939

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Option --no_param_auto_fetch to only fetch params on request. Preload added to menu. #939

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2 changes: 2 additions & 0 deletions MAVProxy/mavproxy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1236,6 +1236,7 @@ def set_mav_version(mav10, mav20, autoProtocol, mavversionArg):
parser.add_option("--mavversion", type='choice', choices=['1.0', '2.0'] , help="Force MAVLink Version (1.0, 2.0). Otherwise autodetect version")
parser.add_option("--nowait", action='store_true', default=False, help="don't wait for HEARTBEAT on startup")
parser.add_option("-c", "--continue", dest='continue_mode', action='store_true', default=False, help="continue logs")
parser.add_option("--no_auto_fetch", dest='params_auto_fetch', action='store_false', default=True, help="Do not auto fetch parameters on vehicle detect")
parser.add_option("--dialect", default="ardupilotmega", help="MAVLink dialect")
parser.add_option("--rtscts", action='store_true', help="enable hardware RTS/CTS flow control")
parser.add_option("--moddebug", type=int, help="module debug level", default=0)
Expand Down Expand Up @@ -1282,6 +1283,7 @@ def set_mav_version(mav10, mav20, autoProtocol, mavversionArg):
mpstate.status.exit = False
mpstate.command_map = command_map
mpstate.continue_mode = opts.continue_mode
mpstate.params_auto_fetch = opts.params_auto_fetch
# queues for logging
mpstate.logqueue = Queue.Queue()
mpstate.logqueue_raw = Queue.Queue()
Expand Down
35 changes: 32 additions & 3 deletions MAVProxy/modules/mavproxy_param.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,11 +19,17 @@
class ParamState:
'''this class is separated to make it possible to use the parameter
functions on a secondary connection'''
IDLE = 0
FETCHING_ALL = 1
FETCHING_ONE = 2

def __init__(self, mav_param, logdir, vehicle_name, parm_file, mpstate, sysid):
self.fetch_state = ParamState.IDLE
self.mav_param_set = set()
self.mav_param_count = 0
self.param_period = mavutil.periodic_event(1)
self.fetch_one = dict()
self.preloaded = set()
self.mav_param = mav_param
self.logdir = logdir
self.vehicle_name = vehicle_name
Expand Down Expand Up @@ -93,6 +99,7 @@ def handle_mavlink_packet(self, master, m):
# Note: the xml specifies param_index is a uint16, so -1 in that field will show as 65535
# We accept both -1 and 65535 as 'unknown index' to future proof us against someday having that
# xml fixed.
self.preloaded.discard(m.param_id)
if self.fetch_set is not None:
self.fetch_set.discard(m.param_index)
if m.param_index != -1 and m.param_index != 65535 and m.param_index not in self.mav_param_set:
Expand All @@ -110,6 +117,7 @@ def handle_mavlink_packet(self, master, m):
else:
print("%s = %s" % (param_id, str(value)))
if added_new_parameter and len(self.mav_param_set) == m.param_count:
self.fetch_state = ParamState.IDLE
print("Received %u parameters" % m.param_count)
if self.logdir is not None:
self.mav_param.save(os.path.join(self.logdir, self.parm_file), '*', verbose=True)
Expand All @@ -126,23 +134,25 @@ def fetch_check(self, master, force=False):
if self.param_period.trigger() or force:
if master is None:
return
if len(self.mav_param_set) == 0 and not self.ftp_started:
if len(self.mav_param_set) == 0 and not self.ftp_started and (self.mpstate.params_auto_fetch or not self.fetch_state == ParamState.IDLE):
if not self.use_ftp():
master.param_fetch_all()
else:
self.ftp_start()
elif not self.ftp_started and self.mav_param_count != 0 and len(self.mav_param_set) != self.mav_param_count:
self.fetch_state = ParamState.FETCHING_ALL
elif not self.ftp_started and self.mav_param_count != 0 and (len(self.mav_param_set) != self.mav_param_count) and (self.mpstate.params_auto_fetch or not self.fetch_state == ParamState.IDLE):
if master.time_since('PARAM_VALUE') >= 1 or force:
diff = set(range(self.mav_param_count)).difference(self.mav_param_set)
count = 0
while len(diff) > 0 and count < 10:
idx = diff.pop()
master.param_fetch_one(idx)
self.fetch_state = ParamState.FETCHING_ONE
if self.fetch_set is None:
self.fetch_set = set()
self.fetch_set.add(idx)
count += 1

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Extra whitespace needs to be removed

def param_use_xml_filepath(self, filepath):
self.param_help.xml_filepath = filepath

Expand All @@ -162,6 +172,7 @@ def ftp_start(self):
self.ftp_started = True
self.ftp_count = None
ftp.cmd_get(["@PARAM/param.pck"], callback=self.ftp_callback, callback_progress=self.ftp_callback_progress)
self.fetch_state = ParamState.FETCHING_ALL

def log_params(self, params):
'''log PARAM_VALUE messages so that we can extract parameters from a tlog when using ftp download'''
Expand Down Expand Up @@ -213,6 +224,8 @@ def ftp_callback_progress(self, fh, total_size):
def ftp_callback(self, fh):
'''callback from ftp fetch of parameters'''
self.ftp_started = False
self.fetch_state = ParamState.IDLE

if fh is None:
# the fetch failed
self.ftp_failed = True
Expand Down Expand Up @@ -277,6 +290,7 @@ def ftp_callback(self, fh):
return
self.param_types = {}
self.mav_param_set = set()
self.preloaded = set()
self.fetch_one = dict()
self.fetch_set = None
self.mav_param.clear()
Expand Down Expand Up @@ -305,6 +319,7 @@ def fetch_all(self, master):
self.mav_param_set = set()
else:
self.ftp_start()
self.fetch_state = ParamState.FETCHING_ALL

def handle_command(self, master, mpstate, args):
'''handle parameter commands'''
Expand All @@ -320,25 +335,29 @@ def handle_command(self, master, mpstate, args):
print("Requested parameter list (ftp)")
else:
print("Requested parameter list")
self.fetch_state = ParamState.FETCHING_ALL
else:
found = False
pname = args[1].upper()
for p in self.mav_param.keys():
if fnmatch.fnmatch(p, pname):
master.param_fetch_one(p)
self.fetch_state = ParamState.FETCHING_ONE
if p not in self.fetch_one:
self.fetch_one[p] = 0
self.fetch_one[p] += 1
found = True
print("Requested parameter %s" % p)
if not found and args[1].find('*') == -1:
master.param_fetch_one(pname)
self.fetch_state = ParamState.FETCHING_ONE
if pname not in self.fetch_one:
self.fetch_one[pname] = 0
self.fetch_one[pname] += 1
print("Requested parameter %s" % pname)
elif args[0] == "ftp":
self.ftp_start()
self.fetch_state = ParamState.FETCHING_ALL

elif args[0] == "save":
if len(args) < 2:
Expand Down Expand Up @@ -402,11 +421,15 @@ def handle_command(self, master, mpstate, args):
else:
param_wildcard = "*"
self.mav_param.load(args[1].strip('"'), param_wildcard, master)
self.fetch_state = ParamState.LOADED
elif args[0] == "preload":
if len(args) < 2:
print("Usage: param preload <filename>")
return
self.mav_param.load(args[1].strip('"'))
self.preloaded = set()
for param_name in self.mav_param.keys():
self.preloaded.add(param_name)
elif args[0] == "forceload":
if len(args) < 2:
print("Usage: param forceload <filename> [wildcard]")
Expand All @@ -416,6 +439,7 @@ def handle_command(self, master, mpstate, args):
else:
param_wildcard = "*"
self.mav_param.load(args[1].strip('"'), param_wildcard, master, check=False)
self.fetch_state = ParamState.FORCE_LOADED
elif args[0] == "ftpload":
if len(args) < 2:
print("Usage: param ftpload <filename> [wildcard]")
Expand All @@ -425,6 +449,7 @@ def handle_command(self, master, mpstate, args):
else:
param_wildcard = "*"
self.ftp_load(args[1].strip('"'), param_wildcard, master)
self.fetch_state = ParamState.LOADED
elif args[0] == "download":
self.param_help.param_help_download()
elif args[0] == "apropos":
Expand Down Expand Up @@ -573,6 +598,10 @@ def __init__(self, mpstate, **kwargs):
handler=MPMenuCallFileDialog(flags=('open',),
title='Param Load',
wildcard='ParmFiles(*.parm,*.param)|*.parm;*.param')),
MPMenuItem('Preload', 'Preload', '# param preload ',
handler=MPMenuCallFileDialog(flags=('open',),
title='Param Preload',
wildcard='ParmFiles(*.parm,*.param)|*.parm;*.param')),
MPMenuItem('Save', 'Save', '# param save ',
handler=MPMenuCallFileDialog(flags=('save', 'overwrite_prompt'),
title='Param Save',
Expand Down