Integrate Parameter Configuration, Add Initial Mission Command Support, Increase Performance (#25)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Update Message Commands and Handlers (#15)

* Add HRL Support (#10)

* Fixed issue with readme

* Integrate HRL Support (#8)

* Added missing type hints

* Refactored to cleanup message sending and added support to send msg until ack

* Added support for new HRL messages

* Updated devices to use tuple key and ensure msg target in network

* Added requirement to clone repo in readme

* Resolved grammatical error

* Updated readme to reflect require_ack change

* Updated python requirement in readme and updated setup version

* Resolved errors in structuring named value int message

* Cleaned up readme formatting

* Created dependencies section in readme

* Removed ros commands, fixed gps, renamed outgoingmsg to agentmsg, fixed ack issue

* fixed setup version

* Cleaned up debug messages and fixed readme example

* Add Param Setting and Reading (#19)

* Resolved typo in readme

* Re-update send command methods to use timeout instead of infinite loop

* Refactored various send message functions into single function

* Implemented starter waypoint and mission support

* Added mission to agent object

* Updated agent to have name field

* Rename timeout period in agent

* Modified agentmsg to be parent class and updated send method to used full msg

* Refactored send message to be more usable and added new commands

* Added waypoint and takeoff messages

* Added simple takeoff and takeoff command support

* Add catches to prevent invalid altitude settings

* Code cleanup

* Added missing method type hints

* Fixed mission init and msgmap init

* Updated common messages to use msg timeout

* Fixed variable naming in msgs

* Updated senders to check ack instead of in retry function

* Add support to set parameters

* Added support to set parameters and started process of enabling reading parameters

* Cleaned up agent and modified parameters stored to be circular buffer

* Added interface to read parameters

* Removed unused files

* Added assertions to message construction to ensure proper msg type is provided

* Added debug statements to parameter read method

* Resolved bugs in message sending and message map

* Wrapped up implementation of initial parameter setting and reading feature

* Removed unused comments

* Refactored send message implementation to create new thread on call

* Refactored parameter implementation to use independent threads

* Removed log option and made just debug

* Cleaned up parameter read implementation

Author: evan-palmer

README.md

@@ -22,7 +22,7 @@ pip3 install .
 `pymavswarm` has been implemented to enable easy interfacing with robotic swarms. Refer to the following code snippet for a simple example to get started with the library. For more comprehensive documentation and examples, checkout the project Wiki.
 
 ```python
-from pymavswarm import MavSwarm, OutgoingMsg, MsgMap
+from pymavswarm import MavSwarm, AgentMsg, MsgMap
 
 # Create a new pymavswarm interface
 mavswarm = MavSwarm()
@@ -34,10 +34,10 @@ mavswarm.connect('/dev/ttyUSB0', 115200, 255, 0)
 msgs = []
 
 # Send an arming message to Agent (2, 1)
-msgs.append(OutgoingMsg(MsgMap().system_commands.arm, 2, 1))
+msgs.append(AgentMsg(MsgMap.system_commands.arm, 2, 1, True))
 
 # Send the desired messages and require that the messages be acknowledged
-mavswarm.send_msg(msgs, require_ack=True)
+mavswarm.send_msg(msgs)
 
 # Read the current state of the swarm agents
 for agent in mavswarm.get_agents():

pymavswarm/Agent.py

@@ -1,16 +1,32 @@
 import monotonic
 from .state import *
+from .mission import Mission
+from .param import Parameter
+from typing import Optional
+from collections import deque
+
 
 
 class Agent:
     """
     Agent represents and stores the state of an agent in the network. The
     agent's state is updated as new MAVLink messages are received from the
     associated message
+    Params:
+        - sys_id            : int   : The system ID of the agent
+        - comp_id           : int   : The componenet ID of the agent
+        - name              : str   : The name assigned to the agent
+        - timeout_period    : float : The timeout period of the agent
+        - max_params_stored : int   : The maximum number of parameters that should be stored by an agent at once (implemented using a circular buffer)
     """
-    def __init__(self, sys_id, comp_id, timeout_period=30) -> None:
+    def __init__(self, sys_id: int, 
+                 comp_id: int, 
+                 name: Optional[str]=None, 
+                 timeout_period: float=30.0, 
+                 max_params_stored: int=5) -> None:
         self.sys_id: int = sys_id
         self.comp_id: int = comp_id
+        self.name: Optional[str] = name
         self.attitude: Attitude = Attitude()
         self.battery: Battery = Battery()
         self.docker_info: DockerInfo = DockerInfo()
@@ -24,5 +40,10 @@ def __init__(self, sys_id, comp_id, timeout_period=30) -> None:
         self.system_status = 'None'
         self.vehicle_type = 'None'
         self.last_heartbeat: int = monotonic.monotonic()
-        self.timeout_period: int = timeout_period
-        self.timeout: bool = False
+        self.timeout_period: float = timeout_period
+        self.timeout: bool = False
+        self.current_waypoint: int = 0
+        self.mission: Mission = Mission()
+        self.last_params_read = deque(maxlen=max_params_stored)
+
+        return