/// <summary>
/// see <see cref="ICrazyflieParamConfigurator.RefreshParameterValue(string)"/>
/// </summary>
public Task <object> RefreshParameterValue(string completeName)
{
EnsureToc();
var id = CurrentToc.GetElementId(completeName);
if (id == null)
{
throw new ArgumentException($"{completeName} not found in toc", nameof(completeName));
}
var request = new ParamRequest(id.Value);
lock (_openLoadRequestLock)
{
_openLoadRequests.Add(request);
}
return(Task.Run(() =>
{
_paramSynchronizer.RequestLoadParamValue(id.Value);
try
{
if (!request.Wait(10000))
{
throw new ApplicationException($"failed to update parameter value {completeName} (timeout)");
}
return GetLoadedParameterValue(completeName);
}
finally
{
request.Dispose();
}
}));
}
/// <summary>
/// <see cref="ICrazyflieLogger.IsLogVariableKnown(string)"/>
/// </summary>
public bool IsLogVariableKnown(string completeName)
{
if (CurrentToc == null)
{
throw new InvalidOperationException("no toc for log entries available.");
}
return(CurrentToc.GetElementByCompleteName(completeName) != null);
}
/// <summary>
/// <see cref="ICrazyflieParamConfigurator.GetLoadedParameterValue(string)"/>
/// </summary>
public object GetLoadedParameterValue(string completeName)
{
EnsureToc();
var id = CurrentToc.GetElementId(completeName);
if (id != null && _paramValues.ContainsKey(id.Value))
{
return(_paramValues[id.Value]);
}
return(null);
}
private void ParameterReceived(object sender, ParameterReceivedEventArgs e)
{
var element = CurrentToc.GetElementById(e.Id);
var packId = ParamTocElement.GetIdFromCString(element.CType);
_paramValues[e.Id] = ParamTocElement.Unpack(packId, e.ParamValue);
if (!_isUpdated && AreAllParamValuesUpdated())
{
_isUpdated = true;
_waitForAllParams.Set();
AllParametersUpdated?.Invoke(this, new AllParamsUpdatedEventArgs());
}
UpdateOpenRequests(_openLoadRequests, _openLoadRequestLock, e.Id, "load");
}
private LogTocElement EnsureVariableInToc(LogConfig config, string name)
{
var tocVariable = CurrentToc.GetElementByCompleteName(name);
if (tocVariable == null)
{
_log.Warn(
$"{name} not in TOC, this block cannot be used!");
config.Valid = false;
throw new InvalidOperationException($"variable {name} not in TOC");
}
return(tocVariable);
}
/// <summary>
/// <see cref="ICrazyflieParamConfigurator.SetValue(string, object)"/>
/// </summary>
public Task SetValue(string completeName, object value)
{
EnsureToc();
var id = CurrentToc.GetElementId(completeName);
if (id == null)
{
throw new ArgumentException($"{completeName} not found in toc", nameof(completeName));
}
if (CurrentToc.GetElementById(id.Value).Access != ParamTocElement.AccessLevel.Readwrite)
{
throw new InvalidOperationException("unable to set a readonly parameter: " + completeName);
}
var element = CurrentToc.GetElementById(id.Value);
var packId = ParamTocElement.GetIdFromCString(element.CType);
var content = ParamTocElement.Pack(packId, value);
var request = new ParamRequest(id.Value);
lock (_openStoreRequestLock)
{
_openStoreRequests.Add(request);
}
return(Task.Run(() =>
{
_paramSynchronizer.StoreParamValue(id.Value, content);
try
{
if (!request.Wait(10000))
{
throw new ApplicationException($"failed to store new parameter value {completeName} (timeout)");
}
}
finally
{
request.Dispose();
}
}));
}
/// <summary>
/// <see cref="ICrazyflieParamConfigurator.IsParameterKnown(string)"/>
/// </summary>
public bool IsParameterKnown(string completeName)
{
EnsureToc();
return(CurrentToc.GetElementByCompleteName(completeName) != null);
}