petal-user-journey-coordinator 0.1.5__py3-none-any.whl → 0.1.7__py3-none-any.whl

petal_user_journey_coordinator/controllers.py

@@ -810,22 +810,10 @@ class ESCCalibrationController(BaseTimeoutController):
                     self.logger.error(f"[{message_id}] Unknown throttle type: {throttle_type}")
                     return False
                 
-                # param5 = 110x where x is motor index
-                param5 = float(1100 + motor_idx)
-                
-                # Build the command message                
-                command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                    1, # TODO: investigate best practice
-                    1, # TODO: investigate best practice
-                    mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                    0,              # confirmation
-                    param1,         # Motor value (0-1 or NaN)
-                    timeout,        # Timeout in seconds
-                    0,              # Reserved
-                    0,              # Reserved    
-                    param5,         # Motor mapping (110x)
-                    0,              # Reserved
-                    0               # Reserved
+                command_msg = self.mavlink_proxy.build_motor_value_command(
+                    motor_idx=motor_idx, 
+                    motor_value=param1, 
+                    timeout=timeout
                 )
 
                 # Send the command
@@ -833,7 +821,7 @@ class ESCCalibrationController(BaseTimeoutController):
                 
                 action = "maximum throttle" if throttle_type == "maximum" else \
                         "minimum throttle" if throttle_type == "minimum" else "stopped"
-                self.logger.info(f"[{message_id}] Motor {motor_idx}: {action} (param1={param1}, param5={param5})")
+                self.logger.info(f"[{message_id}] Motor {motor_idx}: {action} (motor value={param1}, timeout={timeout}s)")
                     
                 # Small delay between motor commands
                 await asyncio.sleep(0.1)
@@ -1019,22 +1007,11 @@ class ESCForceRunAllController(BaseTimeoutController):
         """Send MAV_CMD_ACTUATOR_TEST command to all motors."""
         try:
             for motor_idx in range(1, self.motor_count + 1):
-                # param5 = 110x where x is motor index
-                param5 = float(1100 + motor_idx)
-
-                # Build the command message
-                command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                    1, # TODO: investigate best practice
-                    1, # TODO: investigate best practice
-                    mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                    0,              # confirmation
-                    motor_value,    # Motor value (0-1 or NaN)
-                    timeout,        # Timeout in seconds
-                    0,              # Reserved
-                    0,              # Reserved    
-                    param5,         # Motor mapping (110x)
-                    0,              # Reserved
-                    0               # Reserved
+
+                command_msg = self.mavlink_proxy.build_motor_value_command(
+                    motor_idx=motor_idx, 
+                    motor_value=motor_value, 
+                    timeout=timeout
                 )
 
                 # Send the command
@@ -1056,21 +1033,11 @@ class ESCForceRunAllController(BaseTimeoutController):
             nan_value = float('nan')
             
             for motor_idx in range(1, self.motor_count + 1):
-                param5 = float(1100 + motor_idx)
-
-                # Build the command message
-                command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                    1, # TODO: investigate best practice
-                    1, # TODO: investigate best practice
-                    mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                    0,              # confirmation
-                    nan_value,      # Motor value (0-1 or NaN)
-                    0.0,            # Timeout in seconds
-                    0,              # Reserved
-                    0,              # Reserved    
-                    param5,         # Motor mapping (110x)
-                    0,              # Reserved
-                    0               # Reserved
+
+                command_msg = self.mavlink_proxy.build_motor_value_command(
+                    motor_idx=motor_idx, 
+                    motor_value=nan_value, 
+                    timeout=0.0
                 )
 
                 # Send the command
@@ -1250,22 +1217,11 @@ class ESCForceRunSingleController(BaseTimeoutController):
     async def _send_actuator_test_single_motor(self, motor_value: float, timeout: float) -> bool:
         """Send MAV_CMD_ACTUATOR_TEST command to single motor."""
         try:
-            # param5 = 110x where x is motor index
-            param5 = float(1100 + self.target_motor)
-            
-            # Build the command message
-            command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                1, # TODO: investigate best practice
-                1, # TODO: investigate best practice
-                mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                0,              # confirmation
-                motor_value,    # Motor value (0-1 or NaN)
-                timeout,        # Timeout in seconds
-                0,              # Reserved
-                0,              # Reserved    
-                param5,         # Motor mapping (110x)
-                0,              # Reserved
-                0               # Reserved
+
+            command_msg = self.mavlink_proxy.build_motor_value_command(
+                motor_idx=self.target_motor, 
+                motor_value=motor_value, 
+                timeout=timeout
             )
             
             # Send the command
@@ -1284,23 +1240,13 @@ class ESCForceRunSingleController(BaseTimeoutController):
         try:
             # Use NaN to stop motor
             nan_value = float('nan')
-            param5 = float(1100 + self.target_motor)
             
-            # Build the command message
-            command_msg = self.mavlink_proxy.master.mav.command_long_encode(
-                1, # TODO: investigate best practice
-                1, # TODO: investigate best practice
-                mavutil.mavlink.MAV_CMD_ACTUATOR_TEST, 
-                0,              # confirmation
-                nan_value,      # Motor value (0-1 or NaN)
-                0.0,            # Timeout in seconds
-                0,              # Reserved
-                0,              # Reserved    
-                param5,         # Motor mapping (110x)
-                0,              # Reserved
-                0               # Reserved
+            command_msg = self.mavlink_proxy.build_motor_value_command(
+                motor_idx=self.target_motor, 
+                motor_value=nan_value, 
+                timeout=0.0
             )
-            
+
             # Send the command
             self.mavlink_proxy.send("mav", command_msg)
 
@@ -1447,7 +1393,15 @@ class BasePubSubController(ABC):
     3. Stop publishing when receiving petal-user-journey-coordinator/unsubscribe_<stream_name>
     """
     
-    def __init__(self, stream_name: str, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
+    def __init__(
+            self, 
+            stream_name: str, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        self.petal_name = petal_name
         self.stream_name = stream_name
         self.mqtt_proxy = mqtt_proxy
         self.mavlink_proxy = mavlink_proxy
@@ -1544,7 +1498,7 @@ class BasePubSubController(ABC):
 
                     mqtt_message = {
                         "messageId": str(uuid.uuid4()),
-                        "command": f"/petal-user-journey-coordinator/publish_{self.stream_name}",
+                        "command": f"/{self.petal_name}/publish_{self.stream_name}",
                         "timestamp": datetime.now().isoformat(),
                         "payload": publish_payload.model_dump()
                     }
@@ -1568,8 +1522,14 @@ class BasePubSubController(ABC):
 class RCChannelsController(BasePubSubController):
     """Controller for streaming RC_CHANNELS MAVLink data."""
     
-    def __init__(self, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
-        super().__init__("rc_value_stream", mqtt_proxy, mavlink_proxy, logger)
+    def __init__(
+            self, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        super().__init__("rc_value_stream", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
         self._latest_sample = None
         self._sample_lock = threading.Lock()
     
@@ -1628,9 +1588,10 @@ class PositionChannelsController(BasePubSubController):
             corner_exclusion_radius: float,
             max_matching_distance: float,
             corner_points: List[Dict[str, float]],
-            reference_trajectory: List[Dict[str, float]]
+            reference_trajectory: List[Dict[str, float]],
+            petal_name: str = "petal-user-journey-coordinator"
         ):
-        super().__init__("real_time_pose", mqtt_proxy, mavlink_proxy, logger)
+        super().__init__("real_time_pose", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
         self._latest_position = None
         self._latest_attitude = None
         self._sample_lock = threading.Lock()
@@ -1916,8 +1877,14 @@ def _classify_kill_transition(text: str) -> Optional[bool]:
 class KillSwitchController(BasePubSubController):
     """Controller for streaming kill switch status from PX4 STATUSTEXT messages with automatic parameter configuration."""
 
-    def __init__(self, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
-        super().__init__("ks_status_stream", mqtt_proxy, mavlink_proxy, logger)
+    def __init__(
+            self, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        super().__init__("ks_status_stream", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
 
         # Kill switch state tracking
         self.is_killed: Optional[bool] = None  # None = unknown
@@ -2007,8 +1974,14 @@ class KillSwitchController(BasePubSubController):
 class MultiFunctionalSwitchAController(BasePubSubController):
     """Controller for streaming Multi-functional Switch A data from MAVLink messages."""
     
-    def __init__(self, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
-        super().__init__("mfs_a_status_stream", mqtt_proxy, mavlink_proxy, logger)
+    def __init__(
+            self, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        super().__init__("mfs_a_status_stream", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
         
         # Multi-functional Switch A state tracking
         self.latest_mfs_a_data: Optional[Dict[str, Any]] = None
@@ -2061,8 +2034,14 @@ class MultiFunctionalSwitchAController(BasePubSubController):
 class MultiFunctionalSwitchBController(BasePubSubController):
     """Controller for streaming Multi-functional Switch B data from MAVLink messages."""
     
-    def __init__(self, mqtt_proxy: MQTTProxy, mavlink_proxy: MavLinkExternalProxy, logger: logging.Logger):
-        super().__init__("mfs_b_status_stream", mqtt_proxy, mavlink_proxy, logger)
+    def __init__(
+            self, 
+            mqtt_proxy: MQTTProxy, 
+            mavlink_proxy: MavLinkExternalProxy, 
+            logger: logging.Logger,
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        super().__init__("mfs_b_status_stream", mqtt_proxy, mavlink_proxy, logger, petal_name=petal_name)
         
         # Multi-functional Switch B state tracking
         self.latest_mfs_b_data: Optional[Dict[str, Any]] = None
@@ -2124,8 +2103,10 @@ class TrajectoryVerificationController:
         rectangle_a: float = 2.0,
         rectangle_b: float = 2.0,
         points_per_edge: int = 10,
-        corner_exclusion_radius: float = 0.2
+        corner_exclusion_radius: float = 0.2,
+        petal_name: str = "petal-user-journey-coordinator"
     ):
+        self.petal_name = petal_name
         self.mqtt_proxy = mqtt_proxy
         self.logger = logger
         self.is_active = False
@@ -2730,7 +2711,7 @@ class TrajectoryVerificationController:
 
         mqtt_message = {
             "messageId": str(uuid.uuid4()),
-            "command": "/petal-user-journey-coordinator/verify_pos_yaw_directions_results",
+            "command": f"/{self.petal_name}/verify_pos_yaw_directions_results",
             "timestamp": datetime.now().isoformat(),
             "payload": results_payload
         }
@@ -2758,7 +2739,13 @@ class WifiOptitrackConnectivityController:
     Controller for connecting to WiFi and verifying OptiTrack server connectivity.
     """
 
-    def __init__(self, mqtt_proxy: "MQTTProxy", logger: logging.Logger):
+    def __init__(
+            self, 
+            mqtt_proxy: "MQTTProxy", 
+            logger: logging.Logger, 
+            petal_name: str = "petal-user-journey-coordinator"
+        ):
+        self.petal_name = petal_name
         self.mqtt_proxy = mqtt_proxy
         self.logger = logger
         self.is_active = False
@@ -3115,7 +3102,7 @@ class WifiOptitrackConnectivityController:
             mqtt_message = {
                 "messageId": message_id,
                 "deviceId": getattr(self.mqtt_proxy, 'device_id', 'unknown'),
-                "command": "petal-user-journey-coordinator/acknowledge",
+                "command": f"{self.petal_name}/acknowledge",
                 "timestamp": datetime.now().isoformat(),
                 "payload": response_payload.model_dump()
             }
@@ -3387,7 +3374,7 @@ class WifiOptitrackConnectivityController:
             mqtt_message = {
                 "messageId": message_id,
                 "deviceId": getattr(self.mqtt_proxy, 'device_id', 'unknown'),
-                "command": "petal-user-journey-coordinator/set_static_ip_address_ack",
+                "command": f"{self.petal_name}/set_static_ip_address_ack",
                 "timestamp": datetime.now().isoformat(),
                 "payload": response_payload.model_dump()
             }

petal_user_journey_coordinator/data_model.py

@@ -1,57 +1,59 @@
 from pydantic import BaseModel, Field, field_validator, ValidationError
-from typing import Dict, Any, List, Union, Optional, Callable
+from typing import Dict, Any, List, Literal, Union, Optional, Callable
 from datetime import datetime
 
-
 class ParameterBaseModel(BaseModel):
     """Base fields for flight records"""
     parameter_name: str = Field(..., description="Parameter name")
     parameter_value: Union[str,int,float] = Field(..., description="Value of the parameter")
+    parameter_type: Optional[Literal['UINT8','INT8','UINT16','INT16','UINT32','INT32','UINT64','INT64','REAL32','REAL64']] = Field(default=None, description="Type of the parameter")
 
     model_config = {
         "json_schema_extra": {
             "example": {
                 "parameter_name": "CA_ROTOR_COUNT",
-                "parameter_value": 4
+                "parameter_value": 4,
+                "parameter_type": "UINT8"
             }
         }
     }
 
 
-class ParameterRequestModel(BaseModel):
-    """Base fields for flight records"""
-    parameter_name: str = Field(..., description="Parameter name")
+class ParameterResult(BaseModel):
+    """Individual parameter result"""
+    name: str = Field(..., description="Name of the parameter")
+    value: Optional[Union[str,int,float]] = Field(None, description="Decoded value of the parameter")
+    raw: Optional[Union[str,int,float]] = Field(None, description="Raw value of the parameter")
+    type: Optional[int] = Field(None, description="Type of the parameter")
+    count: Optional[int] = Field(None, description="Total number of parameters")
+    index: Optional[int] = Field(None, description="Index of the parameter")
+    error: Optional[str] = Field(default=None, description="Error message if setting the parameter failed")
+    success: Optional[bool] = Field(default=None, description="Whether setting the parameter was successful")
 
     model_config = {
         "json_schema_extra": {
             "example": {
-                "parameter_name": "CA_ROTOR_COUNT"
+                "name": "CA_ROTOR_COUNT",
+                "value": 4,
+                "raw": 4.0,
+                "type": 6,
+                "count": 1053,
+                "index": 65535,
+                "error": None,
+                "success": True
             }
         }
     }
 
 
-class MQTTMessage(BaseModel):
-    """MQTT message model"""
-    waitResponse: bool = Field(..., description="Whether to wait for a response")
-    messageId: str = Field(..., description="Unique message ID")
-    deviceId: str = Field(..., description="Device ID")
-    command: str = Field(..., description="Command to execute")
-    timestamp: str = Field(..., description="Timestamp of the message")
-    payload: Dict[str, Any] = Field(..., description="Message payload")
+class ParameterRequestModel(BaseModel):
+    """Base fields for flight records"""
+    parameter_name: str = Field(..., description="Parameter name")
 
     model_config = {
         "json_schema_extra": {
             "example": {
-                "waitResponse": True,
-                "messageId": "kkkss8fepn-1756665973142-bptyoj06z",
-                "deviceId": "Instance-a92c5505-ccdb-4ac7-b0fe-74f4fa5fc5b9",
-                "command": "Update",
-                "payload": {
-                    "source": "web-client",
-                    "app": "leaf-fc"
-                },
-                "timestamp": "2025-08-31T18:46:13.142Z"
+                "parameter_name": "CA_ROTOR_COUNT"
             }
         }
     }
@@ -554,3 +556,81 @@ class SetStaticIpAddressResponse(BaseModel):
             }
         }
     }
+
+
+class BulkParameterSetRequest(BaseModel):
+    """Request model for bulk parameter setting"""
+    parameters: List[ParameterBaseModel] = Field(..., description="List of parameters to set")
+
+    model_config = {
+        "json_schema_extra": {
+            "example": {
+                "parameters": [
+                    {
+                        "parameter_name": "CA_ROTOR_COUNT",
+                        "parameter_value": 4,
+                        "parameter_type": "UINT8"
+                    },
+                    {
+                        "parameter_name": "VTO_LOITER_ALT",
+                        "parameter_value": 80.0,
+                        "parameter_type": "REAL32"
+                    }
+                ]
+            }
+        }   
+    }
+
+
+class BulkParameterGetRequest(BaseModel):
+    """Request model for bulk parameter getting"""
+    parameter_names: List[str] = Field(..., description="List of parameter names to get")
+
+    model_config = {
+        "json_schema_extra": {
+            "example": {
+                "parameter_names": [
+                    "CA_ROTOR_COUNT",
+                    "VTO_LOITER_ALT"
+                ]
+            }
+        }   
+    }
+
+
+class BulkParameterResponse(BaseModel):
+    """Response model for bulk parameter setting"""
+    success: bool = Field(..., description="Whether all parameters were set successfully")
+    results: Dict[str, ParameterResult] = Field(..., description="Results for each parameter set attempt")
+    timestamp: str = Field(..., description="Timestamp of the operation")
+
+    model_config = {
+        "json_schema_extra": {
+            "example": {
+                "success": True,
+                "results": {
+                    "CA_ROTOR_COUNT": {
+                        "name": "CA_ROTOR_COUNT",
+                        "value": 4,
+                        "raw": 4.0,
+                        "type": 6,
+                        "count": 1053,
+                        "index": 65535,
+                        "error": None,
+                        "success": True
+                    },
+                    "VTO_LOITER_ALT": {
+                        "name": "VTO_LOITER_ALT",
+                        "value": 80.0,
+                        "raw": 80.0,
+                        "type": 9,
+                        "count": 1053,
+                        "index": 1047,
+                        "error": None,
+                        "success": True
+                    }
+                },
+                "timestamp": "2023-01-01T00:00:00Z"
+            }
+        }
+    }