Merge pull request #324 from mavlink/fix-tune

Fix tune
mavlink · Mar 18, 2021 · 163f47c · 163f47c
2 parents e16c5d8 + 743519c
commit 163f47c
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Showing 12 changed files with 103 additions and 3 deletions.
diff --git a/examples/tune.py b/examples/tune.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+
+import asyncio
+from mavsdk import System
+from mavsdk.tune import (SongElement, TuneDescription, TuneError)
+
+
+async def run():
+
+    drone = System()
+    await drone.connect(system_address="udp://:14540")
+
+    print("Waiting for drone to connect...")
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"Drone discovered with UUID: {state.uuid}")
+            break
+
+    song_elements = []
+    song_elements.append(SongElement.DURATION_4);
+    song_elements.append(SongElement.NOTE_G);
+    song_elements.append(SongElement.NOTE_A);
+    song_elements.append(SongElement.NOTE_B);
+    song_elements.append(SongElement.FLAT);
+    song_elements.append(SongElement.OCTAVE_UP);
+    song_elements.append(SongElement.DURATION_1);
+    song_elements.append(SongElement.NOTE_E);
+    song_elements.append(SongElement.FLAT);
+    song_elements.append(SongElement.OCTAVE_DOWN);
+    song_elements.append(SongElement.DURATION_4);
+    song_elements.append(SongElement.NOTE_PAUSE);
+    song_elements.append(SongElement.NOTE_F);
+    song_elements.append(SongElement.NOTE_G);
+    song_elements.append(SongElement.NOTE_A);
+    song_elements.append(SongElement.OCTAVE_UP);
+    song_elements.append(SongElement.DURATION_2);
+    song_elements.append(SongElement.NOTE_D);
+    song_elements.append(SongElement.NOTE_D);
+    song_elements.append(SongElement.OCTAVE_DOWN);
+    song_elements.append(SongElement.DURATION_4);
+    song_elements.append(SongElement.NOTE_PAUSE);
+    song_elements.append(SongElement.NOTE_E);
+    song_elements.append(SongElement.FLAT);
+    song_elements.append(SongElement.NOTE_F);
+    song_elements.append(SongElement.NOTE_G);
+    song_elements.append(SongElement.OCTAVE_UP);
+    song_elements.append(SongElement.DURATION_1);
+    song_elements.append(SongElement.NOTE_C);
+    song_elements.append(SongElement.OCTAVE_DOWN);
+    song_elements.append(SongElement.DURATION_4);
+    song_elements.append(SongElement.NOTE_PAUSE);
+    song_elements.append(SongElement.NOTE_A);
+    song_elements.append(SongElement.OCTAVE_UP);
+    song_elements.append(SongElement.NOTE_C);
+    song_elements.append(SongElement.OCTAVE_DOWN);
+    song_elements.append(SongElement.NOTE_B);
+    song_elements.append(SongElement.FLAT);
+    song_elements.append(SongElement.DURATION_2);
+    song_elements.append(SongElement.NOTE_G);
+
+    tune_description = TuneDescription(song_elements, 200)
+    await drone.tune.play_tune(tune_description)
+
+    print("Tune played")
+
+if __name__ == "__main__":
+    loop = asyncio.get_event_loop()
+    loop.run_until_complete(run())
diff --git a/mavsdk/camera.py b/mavsdk/camera.py
@@ -1450,9 +1450,11 @@ def translate_to_rpc(self, rpcSettingOptions):
 
         rpc_elems_list = []
         for elem in self.options:
+
             rpc_elem = camera_pb2.Option()
             elem.translate_to_rpc(rpc_elem)
             rpc_elems_list.append(rpc_elem)
+
         rpcSettingOptions.options.extend(rpc_elems_list)
 
 

diff --git a/mavsdk/geofence.py b/mavsdk/geofence.py
@@ -180,9 +180,11 @@ def translate_to_rpc(self, rpcPolygon):
 
         rpc_elems_list = []
         for elem in self.points:
+
             rpc_elem = geofence_pb2.Point()
             elem.translate_to_rpc(rpc_elem)
             rpc_elems_list.append(rpc_elem)
+
         rpcPolygon.points.extend(rpc_elems_list)
 
 
@@ -400,9 +402,11 @@ async def upload_geofence(self, polygons):
 
         rpc_elems_list = []
         for elem in polygons:
+
             rpc_elem = geofence_pb2.Polygon()
             elem.translate_to_rpc(rpc_elem)
             rpc_elems_list.append(rpc_elem)
+
         request.polygons.extend(rpc_elems_list)
 
 

diff --git a/mavsdk/mission.py b/mavsdk/mission.py
@@ -335,9 +335,11 @@ def translate_to_rpc(self, rpcMissionPlan):
 
         rpc_elems_list = []
         for elem in self.mission_items:
+
             rpc_elem = mission_pb2.MissionItem()
             elem.translate_to_rpc(rpc_elem)
             rpc_elems_list.append(rpc_elem)
+
         rpcMissionPlan.mission_items.extend(rpc_elems_list)
 
 

diff --git a/mavsdk/mission_raw.py b/mavsdk/mission_raw.py
@@ -559,9 +559,11 @@ async def upload_mission(self, mission_items):
 
         rpc_elems_list = []
         for elem in mission_items:
+
             rpc_elem = mission_raw_pb2.MissionItem()
             elem.translate_to_rpc(rpc_elem)
             rpc_elems_list.append(rpc_elem)
+
         request.mission_items.extend(rpc_elems_list)
 
 

diff --git a/mavsdk/offboard.py b/mavsdk/offboard.py
@@ -240,9 +240,11 @@ def translate_to_rpc(self, rpcActuatorControl):
 
         rpc_elems_list = []
         for elem in self.groups:
+
             rpc_elem = offboard_pb2.ActuatorControlGroup()
             elem.translate_to_rpc(rpc_elem)
             rpc_elems_list.append(rpc_elem)
+
         rpcActuatorControl.groups.extend(rpc_elems_list)
 
 

diff --git a/mavsdk/param.py b/mavsdk/param.py
@@ -218,9 +218,11 @@ def translate_to_rpc(self, rpcAllParams):
 
         rpc_elems_list = []
         for elem in self.int_params:
+
             rpc_elem = param_pb2.IntParam()
             elem.translate_to_rpc(rpc_elem)
             rpc_elems_list.append(rpc_elem)
+
         rpcAllParams.int_params.extend(rpc_elems_list)
 
 
@@ -229,9 +231,11 @@ def translate_to_rpc(self, rpcAllParams):
 
         rpc_elems_list = []
         for elem in self.float_params:
+
             rpc_elem = param_pb2.FloatParam()
             elem.translate_to_rpc(rpc_elem)
             rpc_elems_list.append(rpc_elem)
+
         rpcAllParams.float_params.extend(rpc_elems_list)
 
 

diff --git a/mavsdk/tune.py b/mavsdk/tune.py
@@ -258,9 +258,9 @@ def translate_to_rpc(self, rpcTuneDescription):
 
         rpc_elems_list = []
         for elem in self.song_elements:
-            rpc_elem = tune_pb2.SongElement()
-            elem.translate_to_rpc(rpc_elem)
-            rpc_elems_list.append(rpc_elem)
+                
+            rpc_elems_list.append(elem.translate_to_rpc())
+                
         rpcTuneDescription.song_elements.extend(rpc_elems_list)
 
 

diff --git a/other/templates/py/call.j2 b/other/templates/py/call.j2
@@ -28,9 +28,13 @@ async def {{ name.lower_snake_case }}(self{% for param in params %}, {{ param.na
             {% if param.type_info.is_repeated %}
     rpc_elems_list = []
     for elem in {{ param.name.lower_snake_case }}:
+                {% if param.type_info.is_enum %}
+        rpc_elems_list.append(elem.translate_to_rpc())
+                {% else %}
         rpc_elem = {{ plugin_name.lower_snake_case }}_pb2.{{ param.type_info.inner_name }}()
         elem.translate_to_rpc(rpc_elem)
         rpc_elems_list.append(rpc_elem)
+                {% endif %}
     request.{{ param.name.lower_snake_case }}.extend(rpc_elems_list)
             {% elif param.type_info.is_enum %}
     request.{{ param.name.lower_snake_case }} = {{ param.name.lower_snake_case }}.translate_to_rpc()

diff --git a/other/templates/py/request.j2 b/other/templates/py/request.j2
@@ -32,9 +32,13 @@ async def {{ name.lower_snake_case }}(self{% for param in params %}, {{ param.na
             {% if param.type_info.is_repeated %}
     rpc_elems_list = []
     for elem in {{ param.name.lower_snake_case }}:
+                {% if param.type_info.is_enum %}
+        rpc_elems_list.append(elem.translate_to_rpc())
+                {% else %}
         rpc_elem = {{ plugin_name.lower_snake_case }}_pb2.{{ param.type_info.inner_name }}()
         elem.translate_to_rpc(rpc_elem)
         rpc_elems_list.append(rpc_elem)
+                {% endif %}
     request.{{ param.name.lower_snake_case }}.extend(rpc_elems_list)
             {% elif param.type_info.is_enum %}
     request.{{ param.name.lower_snake_case }} = {{ param.name.lower_snake_case }}.translate_to_rpc()

diff --git a/other/templates/py/stream.j2 b/other/templates/py/stream.j2
@@ -32,9 +32,13 @@ async def {{ name.lower_snake_case }}(self{% for param in params %}, {{ param.na
             {% if param.type_info.is_repeated %}
     rpc_elems_list = []
     for elem in {{ param.name.lower_snake_case }}:
+                {% if param.type_info.is_enum %}
+        rpc_elems_list.append(elem.translate_to_rpc())
+                {% else %}
         rpc_elem = {{ plugin_name.lower_snake_case }}_pb2.{{ param.type_info.inner_name }}()
         elem.translate_to_rpc(rpc_elem)
         rpc_elems_list.append(rpc_elem)
+                {% endif %}
     request.{{ param.name.lower_snake_case }}.extend(rpc_elems_list)
             {% elif param.type_info.is_enum %}
     request.{{ param.name.lower_snake_case }} = {{ param.name.lower_snake_case }}.translate_to_rpc()

diff --git a/other/templates/py/struct.j2 b/other/templates/py/struct.j2
@@ -74,9 +74,13 @@ class {{ name.upper_camel_case }}:
             {% else %}
         rpc_elems_list = []
         for elem in self.{{ field.name.lower_snake_case }}:
+                {% if field.type_info.is_enum %}
+            rpc_elems_list.append(elem.translate_to_rpc())
+                {% else %}
             rpc_elem = {{ plugin_name.lower_snake_case }}_pb2.{{ field.type_info.inner_name }}()
             elem.translate_to_rpc(rpc_elem)
             rpc_elems_list.append(rpc_elem)
+                {% endif %}
         rpc{{ name.upper_camel_case }}.{{ field.name.lower_snake_case }}.extend(rpc_elems_list)
             {% endif %}
         {% else %}