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ToveRumarToveRumar
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Merge pull request #456 from bitcraze/Toverumar/add_write_param_file
Toverumar/add write param file
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‎cflib/utils/param_file_helper.py

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# -*- coding: utf-8 -*-
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#
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# || ____ _ __
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# +------+ / __ )(_) /_______________ _____ ___
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# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
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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
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# modify it under the terms of the GNU General Public License
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# as published by the Free Software Foundation; either version 2
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# of the License, or (at your option) any later version.
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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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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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from threading import Event
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from cflib.crazyflie import Crazyflie
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from cflib.localization.param_io import ParamFileManager
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class ParamFileHelper:
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'''ParamFileHelper is a helper to synchonously write multiple paramteters
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from a file and store them in persistent memory'''
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def __init__(self, crazyflie):
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if isinstance(crazyflie, Crazyflie):
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self._cf = crazyflie
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self.persistent_sema = None
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self.success = False
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else:
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raise TypeError('ParamFileHelper only takes a Crazyflie Object')
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def _persistent_stored_callback(self, complete_name, success):
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self.success = success
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if not success:
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print(f'Persistent params: failed to store {complete_name}!')
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else:
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print(f'Persistent params: stored {complete_name}!')
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self.persistent_sema.set()
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def store_params_from_file(self, filename):
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params = ParamFileManager().read(filename)
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for param, state in params.items():
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self.persistent_sema = Event()
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self._cf.param.set_value(param, state.stored_value)
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self._cf.param.persistent_store(param, self._persistent_stored_callback)
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self.persistent_sema.wait()
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if not self.success:
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break
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return self.success

‎examples/parameters/persistent_params_from_file.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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"""
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Example to show how to write several persistent parameters from a yaml file.
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The params in the file should be formatted like this;
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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: 30
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type: persistent_param_state
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version: '1'
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"""
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import argparse
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import logging
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import cflib.crtp
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from cflib.crazyflie import Crazyflie
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from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
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from cflib.utils import uri_helper
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from cflib.utils.param_file_helper import ParamFileHelper
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uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
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# Only output errors from the logging framework
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logging.basicConfig(level=logging.ERROR)
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if __name__ == '__main__':
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parser = argparse.ArgumentParser()
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parser.add_argument('-f', '--file', type=str, help='The yaml file containing the arguments. ')
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args = parser.parse_args()
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cflib.crtp.init_drivers()
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cf = Crazyflie(rw_cache='./cache')
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with SyncCrazyflie(uri, cf=cf) as scf:
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writer = ParamFileHelper(scf.cf)
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writer.store_params_from_file(args.file)

‎test/utils/fixtures/five_params.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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activeMarker.front:
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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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activeMarker.left:
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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/utils/fixtures/single_param.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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type: persistent_param_state
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version: '1'

‎test/utils/test_param_file_helper.py

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# -*- coding: utf-8 -*-
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#
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# || ____ _ __
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# +------+ / __ )(_) /_______________ _____ ___
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# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
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# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
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# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
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#
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# Copyright (C) 2018 Bitcraze AB
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#
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# This program is free software; you can redistribute it and/or
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# modify it under the terms of the GNU General Public License
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# as published by the Free Software Foundation; either version 2
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# of the License, or (at your option) any later version.
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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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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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import unittest
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from threading import Event
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from unittest.mock import MagicMock
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from unittest.mock import patch
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from cflib.crazyflie import Crazyflie
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from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
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from cflib.utils.param_file_helper import ParamFileHelper
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class ParamFileHelperTests(unittest.TestCase):
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def setUp(self):
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self.cf_mock = MagicMock(spec=Crazyflie)
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self.helper = ParamFileHelper(self.cf_mock)
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def test_ParamFileHelper_SyncCrazyflieAsParam_ThrowsException(self):
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cf_mock = MagicMock(spec=SyncCrazyflie)
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helper = None
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try:
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helper = ParamFileHelper(cf_mock)
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except Exception:
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self.assertIsNone(helper)
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else:
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self.fail('Expect exception')
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def test_ParamFileHelper_Crazyflie_Object(self):
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helper = ParamFileHelper(self.cf_mock)
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self.assertIsNotNone(helper)
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@patch('cflib.crazyflie.Param')
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def test_ParamFileHelper_writesAndStoresParamFromFileToCrazyflie(self, mock_Param):
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# Setup
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cf_mock = MagicMock(spec=Crazyflie)
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cf_mock.param = mock_Param
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helper = ParamFileHelper(cf_mock)
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# Mock blocking wait and call callback instead. This lets the flow work as it would in the asynch world
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def mock_wait(self, timeout=None):
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helper._persistent_stored_callback('activeMarker.back', True)
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return
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with patch.object(Event, 'wait', new=mock_wait):
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self.assertTrue(helper.store_params_from_file('test/utils/fixtures/single_param.yaml'))
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mock_Param.set_value.assert_called_once_with('activeMarker.back', 10)
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mock_Param.persistent_store.assert_called_once_with('activeMarker.back', helper._persistent_stored_callback)
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@patch('cflib.crazyflie.Param')
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def test_ParamFileHelper_writesParamAndFailsToSetPersistantShouldReturnFalse(self, mock_Param):
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# Setup
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cf_mock = MagicMock(spec=Crazyflie)
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cf_mock.param = mock_Param
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helper = ParamFileHelper(cf_mock)
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# Mock blocking wait and call callback instead. This lets the flow work as it would in the asynch world
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def mock_wait(self, timeout=None):
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helper._persistent_stored_callback('activeMarker.back', False)
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return
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with patch.object(Event, 'wait', new=mock_wait):
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self.assertFalse(helper.store_params_from_file('test/utils/fixtures/single_param.yaml'))
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mock_Param.set_value.assert_called_once_with('activeMarker.back', 10)
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mock_Param.persistent_store.assert_called_once_with('activeMarker.back', helper._persistent_stored_callback)
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@patch('cflib.crazyflie.Param')
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def test_ParamFileHelper_TryWriteSeveralParamsPersistantShouldBreakAndReturnFalse(self, mock_Param):
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# Setup
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cf_mock = MagicMock(spec=Crazyflie)
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cf_mock.param = mock_Param
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helper = ParamFileHelper(cf_mock)
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# Mock blocking wait and call callback instead. This lets the flow work as it would in the asynch world
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def mock_wait(self, timeout=None):
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helper._persistent_stored_callback('activeMarker.back', False)
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return
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with patch.object(Event, 'wait', new=mock_wait):
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# Test and assert
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self.assertFalse(helper.store_params_from_file('test/utils/fixtures/five_params.yaml'))
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# Assert it breaks directly by checking number of calls
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mock_Param.set_value.assert_called_once_with('activeMarker.back', 10)
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mock_Param.persistent_store.assert_called_once_with('activeMarker.back', helper._persistent_stored_callback)
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@patch('cflib.crazyflie.Param')
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def test_ParamFileHelper_writesAndStoresAllParamsFromFileToCrazyflie(self, mock_Param):
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# Setup
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cf_mock = MagicMock(spec=Crazyflie)
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cf_mock.param = mock_Param
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helper = ParamFileHelper(cf_mock)
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# Mock blocking wait and call callback instead. This lets the flow work as it would in the asynch world
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def mock_wait(self, timeout=None):
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helper._persistent_stored_callback('something', True)
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return
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with patch.object(Event, 'wait', new=mock_wait):
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# Test and Assert
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self.assertTrue(helper.store_params_from_file('test/utils/fixtures/five_params.yaml'))
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self.assertEquals(5, len(mock_Param.set_value.mock_calls))
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self.assertEquals(5, len(mock_Param.persistent_store.mock_calls))

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