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modules: add bitmask modifying to param module #1488

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modules: add bitmask modifying to param module #1488

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113 changes: 111 additions & 2 deletions MAVProxy/modules/mavproxy_param.py
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Original file line number Diff line number Diff line change
Expand Up @@ -383,6 +383,112 @@ def param_watchlist(self, master, args):
for pattern in self.watch_patterns:
self.mpstate.console.writeln("> %s" % (pattern))

def param_bitmask_modify(self, master, args):
'''command for performing bitmask actions on a parameter'''

BITMASK_ACTIONS = ['toggle', 'set', 'clear']

# Ensure we have at least an action and a parameter
if len(args) < 2:
print("Not enough arguments")
print(f"param bitmask <{'/'.join(BITMASK_ACTIONS)}> <parameter> [bit-index]")
return

action = args[0]
if action not in BITMASK_ACTIONS:
print(f"action must be one of: {', '.join(BITMASK_ACTIONS)}")
return

# Grab the parameter argument, and check it exists
param = args[1]
if not param.upper() in self.mav_param:
print(f"Unable to find parameter {param.upper()}")
return
uname = param.upper()

htree = self.param_help.param_help_tree()
if htree is None:
# No help tree is available
print("Download parameters first")
return

# Take the help tree and check if parameter is a bitmask
phelp = htree[uname]
bitmask_values = self.param_help.get_bitmask_from_help(phelp)
if bitmask_values is None:
print(f"Parameter {uname} is not a bitmask")
return

# Find the type of the parameter
ptype = None
if uname in self.param_types:
# Get the type of the parameter
ptype = self.param_types[uname]

# Now grab the value for the parameter
value = int(self.mav_param.get(uname))
if value is None:
print(f"Could not get a value for parameter {uname}")
return

# The next argument is the bit_index - if it exists, handle it
bit_index = None
if len(args) >= 3:
try:
# If the bit index is available lets grab it
arg_bit_index = args[2]
# Try to convert it to int
bit_index = int(arg_bit_index)
except ValueError:
print(f"Invalid bit index: {arg_bit_index}\n")

if bit_index is None:
# No bit index was specified, but the parameter and action was.
# Print the available bitmask information.
print("%s: %s" % (uname, phelp.get('humanName')))
s = "%-16.16s %s" % (uname, value)
print(s)

# Generate the bitmask enabled list
remaining_bits = value
out_v = []
if bitmask_values is not None and len(bitmask_values):
for (n, v) in bitmask_values.items():
if bit_index is None or bit_index == int(n):
out_v.append(f"\t{int(n):3d} [{'x' if value & (1<<int(n)) else ' '}] : {v}")
remaining_bits &= ~(1 << int(n))

# Loop bits 0 to 31, checking if they are remaining, and append
for i in range(32):
if (remaining_bits & (1 << i)) and ((bit_index is None) or (bit_index == i)):
out_v.append(f"\t{i:3d} [{'x' if value & (1 << i) else ' '}] : Unknownbit{i}")

if out_v is not None and len(out_v) > 0:
print("\nBitmask: ")
print("\n".join(out_v))

# Finally, inform user of the error we experienced
if bit_index is None:
print("bit index is not specified")

# We don't have enough information to modify the bitmask, so bail
return

# We have enough information to try perform an action
if action == "toggle":
value = value ^ (1 << bit_index)
elif action == "set":
value = value | (1 << bit_index)
elif action == "clear":
value = value & ~(1 << bit_index)
else:
# We cannot toggle, set or clear
print("Invalid bitmask action")
return

# Update the parameter
self.mav_param.mavset(master, uname, value, retries=3, parm_type=ptype)

def param_revert(self, master, args):
'''handle param revert'''
defaults = self.default_params
Expand Down Expand Up @@ -417,7 +523,7 @@ def param_revert(self, master, args):
def handle_command(self, master, mpstate, args):
'''handle parameter commands'''
param_wildcard = "*"
usage="Usage: param <fetch|ftp|save|savechanged|revert|set|show|load|preload|forceload|ftpload|diff|download|check|help|watch|unwatch|watchlist>" # noqa
usage="Usage: param <fetch|ftp|save|savechanged|revert|set|show|load|preload|forceload|ftpload|diff|download|check|help|watch|unwatch|watchlist|bitmask>" # noqa
if len(args) < 1:
print(usage)
return
Expand Down Expand Up @@ -494,7 +600,8 @@ def handle_command(self, master, mpstate, args):
# mpstate.module('rally').set_last_change(time.time())
# need to redraw loiter points
mpstate.module('wp').wploader.last_change = time.time()

elif args[0] == "bitmask":
self.param_bitmask_modify(master, args[1:])
elif args[0] == "load":
if len(args) < 2:
print("Usage: param load <filename> [wildcard]")
Expand Down Expand Up @@ -664,12 +771,14 @@ def __init__(self, mpstate, **kwargs):
self.pstate = {}
self.check_new_target_system()
self.menu_added_console = False
bitmask_indexes = "|".join(str(x) for x in range(32))
self.add_command(
'param', self.cmd_param, "parameter handling", [
"<download|status>",
"<set|show|fetch|ftp|help|apropos|revert> (PARAMETER)",
"<load|save|savechanged|diff|forceload|ftpload> (FILENAME)",
"<set_xml_filepath> (FILEPATH)",
f"<bitmask> <toggle|set|clear> (PARAMETER) <{bitmask_indexes}>"
],
)
if mp_util.has_wxpython:
Expand Down