Merge pull request #443 from bitcraze/rik/persistentparameterfilestorage

Implement persistent parameter file management

cflib/crazyflie/param.py

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

cflib/localization/__init__.py

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

cflib/localization/param_io.py

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

test/localization/fixtures/parameters.yaml

@@ -0,0 +1,15 @@
+params:
+  activeMarker.back:
+    default_value: 3
+    is_stored: true
+    stored_value: 10
+  cppm.angPitch:
+    default_value: 50.0
+    is_stored: true
+    stored_value: 55.0
+  ctrlMel.i_range_z:
+    default_value: 0.4000000059604645
+    is_stored: true
+    stored_value: 0.44999998807907104
+type: persistent_param_state
+version: '1'

test/localization/test_param_io.py

@@ -0,0 +1,140 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2024 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, in version 3.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+import unittest
+from unittest.mock import ANY
+from unittest.mock import mock_open
+from unittest.mock import patch
+
+import yaml
+
+from cflib.localization import ParamFileManager
+
+
+class TestParamFileManager(unittest.TestCase):
+    def setUp(self):
+        self.data = {
+            'type': 'persistent_param_state',
+            'version': '1',
+        }
+
+    @patch('yaml.safe_load')
+    def test_that_read_open_correct_file(self, mock_yaml_load):
+        # Fixture
+        mock_yaml_load.return_value = self.data
+        file_name = 'some/name.yaml'
+
+        # Test
+        with patch('builtins.open', new_callable=mock_open()) as mock_file:
+            ParamFileManager.read(file_name)
+
+        # Assert
+        mock_file.assert_called_with(file_name, 'r')
+
+    @patch('yaml.safe_load')
+    def test_that_missing_file_type_raises(self, mock_yaml_load):
+        # Fixture
+        self.data.pop('type')
+        mock_yaml_load.return_value = self.data
+
+        # Test
+        # Assert
+        with self.assertRaises(Exception):
+            with patch('builtins.open', new_callable=mock_open()):
+                ParamFileManager.read('some/name.yaml')
+
+    @patch('yaml.safe_load')
+    def test_that_wrong_file_type_raises(self, mock_yaml_load):
+        # Fixture
+        self.data['type'] = 'wrong_type'
+        mock_yaml_load.return_value = self.data
+
+        # Test
+        # Assert
+        with self.assertRaises(Exception):
+            with patch('builtins.open', new_callable=mock_open()):
+                ParamFileManager.read('some/name.yaml')
+
+    @patch('yaml.safe_load')
+    def test_that_missing_version_raises(self, mock_yaml_load):
+
+        # Fixture
+        self.data.pop('version')
+        mock_yaml_load.return_value = self.data
+
+        # Test
+        # Assert
+        with self.assertRaises(Exception):
+            with patch('builtins.open', new_callable=mock_open()):
+                ParamFileManager.read('some/name.yaml')
+
+    @patch('yaml.safe_load')
+    def test_that_wrong_version_raises(self, mock_yaml_load):
+        # Fixture
+        self.data['version'] = 'wrong_version'
+        mock_yaml_load.return_value = self.data
+
+        # Test
+        # Assert
+        with self.assertRaises(Exception):
+            with patch('builtins.open', new_callable=mock_open()):
+                ParamFileManager.read('some/name.yaml')
+
+    @patch('yaml.safe_load')
+    def test_that_no_data_returns_empty_default_data(self, mock_yaml_load):
+        # Fixture
+        mock_yaml_load.return_value = self.data
+
+        # Test
+        with patch('builtins.open', new_callable=mock_open()):
+            actual_params = ParamFileManager.read('some/name.yaml')
+
+        # Assert
+        self.assertEqual(0, len(actual_params))
+
+    @patch('yaml.dump')
+    def test_file_end_to_end_write_read(self, mock_yaml_dump):
+        # Fixture
+        fixture_file = 'test/localization/fixtures/parameters.yaml'
+
+        file = open(fixture_file, 'r')
+        expected = yaml.safe_load(file)
+        file.close()
+
+        # Test
+        params = ParamFileManager.read(fixture_file)
+        with patch('builtins.open', new_callable=mock_open()):
+            ParamFileManager.write('some/name.yaml', params=params)
+
+            # Assert
+            mock_yaml_dump.assert_called_with(expected, ANY)
+
+    @patch('yaml.dump')
+    def test_file_write_to_correct_file(self, mock_yaml_dump):
+        # Fixture
+        file_name = 'some/name.yaml'
+
+        # Test
+        with patch('builtins.open', new_callable=mock_open()) as mock_file:
+            ParamFileManager.write(file_name)
+
+            # Assert
+            mock_file.assert_called_with(file_name, 'w')