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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,177 @@ | ||
| // Copyright (C) 2019 Parrot Drones SAS | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions | ||
| // are met: | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimer in | ||
| // the documentation and/or other materials provided with the | ||
| // distribution. | ||
| // * Neither the name of the Parrot Company nor the names | ||
| // of its contributors may be used to endorse or promote products | ||
| // derived from this software without specific prior written | ||
| // permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| // FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| // PARROT COMPANY BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| // INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| // BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
| // OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| // AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| // OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT | ||
| // OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF | ||
| // SUCH DAMAGE. | ||
|
|
||
| import Foundation | ||
| import GroundSdk | ||
|
|
||
| /// Controller for development toolbox peripheral. | ||
| class AnafiDevToolbox: DeviceComponentController, DevToolboxBackend { | ||
|
|
||
| /// Development toolbox component. | ||
| private(set) var devToolbox: DevToolboxCore! | ||
|
|
||
| /// Debug settings indexed by id. | ||
| private var settings = [UInt: DebugSettingCore]() | ||
|
|
||
| /// Constructor. | ||
| /// | ||
| /// - Parameter deviceController: device controller owning this component controller (weak) | ||
| override init(deviceController: DeviceController) { | ||
| super.init(deviceController: deviceController) | ||
| devToolbox = DevToolboxCore(store: deviceController.device.peripheralStore, backend: self) | ||
| } | ||
|
|
||
| /// Drone is connected. | ||
| override func didConnect() { | ||
| // when connected, ask all debug settings | ||
| sendCommand(ArsdkFeatureDebug.getAllSettingsEncoder()) | ||
| devToolbox.publish() | ||
| } | ||
|
|
||
| /// Drone is disconnected. | ||
| override func didDisconnect() { | ||
| devToolbox.unpublish() | ||
| } | ||
|
|
||
| /// A command has been received. | ||
| /// | ||
| /// - Parameter command: received command | ||
| override func didReceiveCommand(_ command: OpaquePointer) { | ||
| if ArsdkCommand.getFeatureId(command) == kArsdkFeatureDebugUid { | ||
| ArsdkFeatureDebug.decode(command, callback: self) | ||
| } | ||
| } | ||
|
|
||
| func set(setting: BoolDebugSettingCore) { | ||
| let strValue = setting.value ? "1" : "0" | ||
| sendCommand(ArsdkFeatureDebug.setSettingEncoder(id: setting.uid, value: strValue)) | ||
| } | ||
|
|
||
| func set(setting: TextDebugSettingCore) { | ||
| sendCommand(ArsdkFeatureDebug.setSettingEncoder(id: setting.uid, value: setting.value)) | ||
| } | ||
|
|
||
| func set(setting: NumericDebugSettingCore) { | ||
| let strValue = String(format: "%f", setting.value) | ||
| sendCommand(ArsdkFeatureDebug.setSettingEncoder(id: setting.uid, value: strValue)) | ||
| } | ||
|
|
||
| func sendDebugTag(tag: String) { | ||
| sendCommand(ArsdkFeatureDebug.tagEncoder(value: tag)) | ||
| } | ||
|
|
||
| /// Creates a debug setting. | ||
| /// | ||
| /// - Parameters: | ||
| /// - id: setting unique identifier | ||
| /// - label: setting name | ||
| /// - type: setting type | ||
| /// - mode: whether setting can be modified | ||
| /// - min: setting value lower bound | ||
| /// - max: setting value upper bound | ||
| /// - step: setting value step | ||
| /// - value: setting value | ||
| /// - Returns: a new debug setting or `nil` | ||
| func createDebugSetting(id: UInt, label: String!, type: ArsdkFeatureDebugSettingType, | ||
| mode: ArsdkFeatureDebugSettingMode, min: String!, max: String!, step: String!, | ||
| value: String!) -> DebugSettingCore? { | ||
| var debugSetting: DebugSettingCore? | ||
| let readOnly = mode == .readOnly | ||
| switch type { | ||
| case .bool: | ||
| debugSetting = devToolbox.createDebugSetting(uid: id, name: label, readOnly: readOnly, value: value == "1") | ||
| case .text: | ||
| debugSetting = devToolbox.createDebugSetting(uid: id, name: label, readOnly: readOnly, value: value) | ||
| case .decimal: | ||
| let min = Double(min) | ||
| let max = Double(max) | ||
| let step = Double(step) | ||
| let value = Double(value) ?? 0.0 | ||
| var range: ClosedRange<Double>? | ||
| if let min = min, let max = max { | ||
| range = min...max | ||
| } | ||
| debugSetting = devToolbox.createDebugSetting(uid: id, name: label, readOnly: readOnly, range: range, | ||
| step: step, value: value) | ||
| default: | ||
| ULog.w(.tag, "Unknown debug setting type, skipping this event.") | ||
| } | ||
| return debugSetting | ||
| } | ||
| } | ||
|
|
||
| /// Debug feature decode callback implementation. | ||
| extension AnafiDevToolbox: ArsdkFeatureDebugCallback { | ||
| func onSettingsInfo(listFlagsBitField: UInt, id: UInt, label: String!, type: ArsdkFeatureDebugSettingType, | ||
| mode: ArsdkFeatureDebugSettingMode, rangeMin: String!, rangeMax: String!, | ||
| rangeStep: String!, value: String!) { | ||
| if ArsdkFeatureGenericListFlagsBitField.isSet(.empty, inBitField: listFlagsBitField) { | ||
| // remove all settings | ||
| settings.removeAll() | ||
| devToolbox.update(debugSettings: Array(settings.values)).notifyUpdated() | ||
| } else { | ||
| if ArsdkFeatureGenericListFlagsBitField.isSet(.first, inBitField: listFlagsBitField) { | ||
| settings.removeAll() | ||
| } | ||
|
|
||
| let debugSetting = createDebugSetting(id: id, label: label, type: type, mode: mode, | ||
| min: rangeMin, max: rangeMax, step: rangeStep, value: value) | ||
| if let debugSetting = debugSetting { | ||
| settings[id] = debugSetting | ||
| } | ||
|
|
||
| if ArsdkFeatureGenericListFlagsBitField.isSet(.last, inBitField: listFlagsBitField) { | ||
| devToolbox.update(debugSettings: Array(settings.values)).notifyUpdated() | ||
| devToolbox.publish() | ||
| } | ||
| } | ||
| } | ||
|
|
||
| func onSettingsList(id: UInt, value: String!) { | ||
| let debugSetting = settings[id] | ||
| switch debugSetting { | ||
| case let debugSetting as BoolDebugSettingCore: | ||
| devToolbox.update(debugSetting: debugSetting, value: value == "1").notifyUpdated() | ||
| case let debugSetting as TextDebugSettingCore: | ||
| devToolbox.update(debugSetting: debugSetting, value: value).notifyUpdated() | ||
| case let debugSetting as NumericDebugSettingCore: | ||
| let doubleValue = Double(value) | ||
| if let doubleValue = doubleValue { | ||
| devToolbox.update(debugSetting: debugSetting, value: doubleValue).notifyUpdated() | ||
| } | ||
| default: | ||
| ULog.w(.tag, "Unknown debug setting id \(id), skipping this event.") | ||
| } | ||
| } | ||
|
|
||
| func onTagNotify(id: String!) { | ||
| ULog.d(.tag, "Debug tag notified by drone \(String(describing: id))") | ||
| devToolbox.update(debugTagId: id).notifyUpdated() | ||
| } | ||
| } |
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