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Merge pull request #443 from bitcraze/rik/persistentparameterfilestorage
Implement persistent parameter file management
2 parents 3e84cee + d124052 commit a77b402

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‎cflib/crazyflie/param.py

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@@ -445,6 +445,9 @@ def persistent_store(self, complete_name, callback=None):
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@param callback Optional callback should take `complete_name` and boolean status as arguments
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"""
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element = self.toc.get_element_by_complete_name(complete_name)
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if not element:
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callback(complete_name, False)
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return
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if not element.is_persistent():
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raise AttributeError(f"Param '{complete_name}' is not persistent")
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‎cflib/localization/__init__.py

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@@ -25,11 +25,13 @@
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from .lighthouse_config_manager import LighthouseConfigWriter
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from .lighthouse_sweep_angle_reader import LighthouseSweepAngleAverageReader
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from .lighthouse_sweep_angle_reader import LighthouseSweepAngleReader
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from .param_io import ParamFileManager
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__all__ = [
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'LighthouseBsGeoEstimator',
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'LighthouseBsVector',
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'LighthouseSweepAngleAverageReader',
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'LighthouseSweepAngleReader',
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'LighthouseConfigFileManager',
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'LighthouseConfigWriter']
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'LighthouseConfigWriter',
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'ParamFileManager']

‎cflib/localization/param_io.py

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@@ -0,0 +1,86 @@
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# -*- coding: utf-8 -*-
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#
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# ,---------, ____ _ __
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# | ,-^-, | / __ )(_) /_______________ _____ ___
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# | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
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# | / ,--' | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
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# +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
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#
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# Copyright (C) 2024 Bitcraze AB
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, in version 3.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <http://www.gnu.org/licenses/>.
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import yaml
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from cflib.crazyflie.param import PersistentParamState
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class ParamFileManager():
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"""Reads and writes parameter configurations from file"""
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TYPE_ID = 'type'
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TYPE = 'persistent_param_state'
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VERSION_ID = 'version'
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VERSION = '1'
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PARAMS_ID = 'params'
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@staticmethod
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def write(file_name, params={}):
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file = open(file_name, 'w')
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with file:
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file_params = {}
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for id, param in params.items():
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assert isinstance(param, PersistentParamState)
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if isinstance(param, PersistentParamState):
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file_params[id] = {'is_stored': param.is_stored,
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'default_value': param.default_value, 'stored_value': param.stored_value}
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data = {
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ParamFileManager.TYPE_ID: ParamFileManager.TYPE,
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ParamFileManager.VERSION_ID: ParamFileManager.VERSION,
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ParamFileManager.PARAMS_ID: file_params
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}
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yaml.dump(data, file)
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@staticmethod
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def read(file_name):
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file = open(file_name, 'r')
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with file:
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data = None
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try:
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data = yaml.safe_load(file)
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except yaml.YAMLError as exc:
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print(exc)
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if ParamFileManager.TYPE_ID not in data:
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raise Exception('Type field missing')
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if data[ParamFileManager.TYPE_ID] != ParamFileManager.TYPE:
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raise Exception('Unsupported file type')
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if ParamFileManager.VERSION_ID not in data:
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raise Exception('Version field missing')
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if data[ParamFileManager.VERSION_ID] != ParamFileManager.VERSION:
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raise Exception('Unsupported file version')
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def get_data(input_data):
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persistent_params = {}
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for id, param in input_data.items():
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persistent_params[id] = PersistentParamState(
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param['is_stored'], param['default_value'], param['stored_value'])
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return persistent_params
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if ParamFileManager.PARAMS_ID in data:
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return get_data(data[ParamFileManager.PARAMS_ID])
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else:
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return {}

‎test/localization/fixtures/parameters.yaml

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params:
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activeMarker.back:
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default_value: 3
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is_stored: true
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stored_value: 10
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cppm.angPitch:
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default_value: 50.0
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is_stored: true
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stored_value: 55.0
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ctrlMel.i_range_z:
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default_value: 0.4000000059604645
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is_stored: true
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stored_value: 0.44999998807907104
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type: persistent_param_state
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version: '1'

‎test/localization/test_param_io.py

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# -*- coding: utf-8 -*-
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#
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# ,---------, ____ _ __
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# | ,-^-, | / __ )(_) /_______________ _____ ___
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# | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
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# | / ,--' | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
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# +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
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#
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# Copyright (C) 2024 Bitcraze AB
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, in version 3.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <http://www.gnu.org/licenses/>.
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import unittest
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from unittest.mock import ANY
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from unittest.mock import mock_open
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from unittest.mock import patch
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import yaml
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from cflib.localization import ParamFileManager
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class TestParamFileManager(unittest.TestCase):
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def setUp(self):
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self.data = {
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'type': 'persistent_param_state',
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'version': '1',
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}
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@patch('yaml.safe_load')
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def test_that_read_open_correct_file(self, mock_yaml_load):
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# Fixture
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mock_yaml_load.return_value = self.data
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file_name = 'some/name.yaml'
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# Test
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with patch('builtins.open', new_callable=mock_open()) as mock_file:
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ParamFileManager.read(file_name)
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# Assert
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mock_file.assert_called_with(file_name, 'r')
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@patch('yaml.safe_load')
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def test_that_missing_file_type_raises(self, mock_yaml_load):
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# Fixture
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self.data.pop('type')
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mock_yaml_load.return_value = self.data
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# Test
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# Assert
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with self.assertRaises(Exception):
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with patch('builtins.open', new_callable=mock_open()):
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ParamFileManager.read('some/name.yaml')
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@patch('yaml.safe_load')
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def test_that_wrong_file_type_raises(self, mock_yaml_load):
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# Fixture
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self.data['type'] = 'wrong_type'
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mock_yaml_load.return_value = self.data
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# Test
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# Assert
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with self.assertRaises(Exception):
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with patch('builtins.open', new_callable=mock_open()):
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ParamFileManager.read('some/name.yaml')
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@patch('yaml.safe_load')
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def test_that_missing_version_raises(self, mock_yaml_load):
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# Fixture
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self.data.pop('version')
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mock_yaml_load.return_value = self.data
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# Test
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# Assert
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with self.assertRaises(Exception):
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with patch('builtins.open', new_callable=mock_open()):
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ParamFileManager.read('some/name.yaml')
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@patch('yaml.safe_load')
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def test_that_wrong_version_raises(self, mock_yaml_load):
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# Fixture
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self.data['version'] = 'wrong_version'
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mock_yaml_load.return_value = self.data
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# Test
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# Assert
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with self.assertRaises(Exception):
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with patch('builtins.open', new_callable=mock_open()):
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ParamFileManager.read('some/name.yaml')
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@patch('yaml.safe_load')
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def test_that_no_data_returns_empty_default_data(self, mock_yaml_load):
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# Fixture
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mock_yaml_load.return_value = self.data
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# Test
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with patch('builtins.open', new_callable=mock_open()):
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actual_params = ParamFileManager.read('some/name.yaml')
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# Assert
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self.assertEqual(0, len(actual_params))
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@patch('yaml.dump')
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def test_file_end_to_end_write_read(self, mock_yaml_dump):
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# Fixture
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fixture_file = 'test/localization/fixtures/parameters.yaml'
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file = open(fixture_file, 'r')
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expected = yaml.safe_load(file)
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file.close()
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# Test
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params = ParamFileManager.read(fixture_file)
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with patch('builtins.open', new_callable=mock_open()):
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ParamFileManager.write('some/name.yaml', params=params)
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# Assert
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mock_yaml_dump.assert_called_with(expected, ANY)
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@patch('yaml.dump')
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def test_file_write_to_correct_file(self, mock_yaml_dump):
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# Fixture
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file_name = 'some/name.yaml'
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# Test
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with patch('builtins.open', new_callable=mock_open()) as mock_file:
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ParamFileManager.write(file_name)
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# Assert
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mock_file.assert_called_with(file_name, 'w')

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