fix regression caused by augmenting cf_dict to contain "all"

crazyflie/scripts/crazyflie_server.py

@@ -364,7 +364,8 @@ def _fully_connected(self, link_uri):
 
  self.swarm.fully_connected_crazyflie_cnt += 1
 
- if self.swarm.fully_connected_crazyflie_cnt == len(self.cf_dict):
+ # use len(self.cf_dict) - 1, since cf_dict contains "all" as well
+ if self.swarm.fully_connected_crazyflie_cnt == len(self.cf_dict) - 1:
  self.get_logger().info("All Crazyflies are fully connected!")
  self._init_parameters()
  self._init_logging()
@@ -707,38 +708,39 @@ def _parameters_callback(self, params):
  for param in params:
  param_split = param.name.split(".")
 
- if param_split[0] in self.cf_dict.values():
- cf_name = param_split[0]
+ if param_split[0] == "all":
  if param_split[1] == "params":
  name_param = param_split[2] + "." + param_split[3]
  try:
- self.swarm._cfs[self.uri_dict[cf_name]].cf.param.set_value(
- name_param, param.value
- )
+ for link_uri in self.uris:
+ cf = self.swarm._cfs[link_uri].cf.param.set_value(
+ name_param, param.value
+ )
  self.get_logger().info(
- f"[{self.uri_dict[cf_name]}] {name_param} is set to {param.value}"
+ f"[{self.cf_dict[link_uri]}] {name_param} is set to {param.value}"
  )
  return SetParametersResult(successful=True)
  except Exception as e:
  self.get_logger().info(str(e))
  return SetParametersResult(successful=False)
- if param_split[1] == "logs":
- return SetParametersResult(successful=True)
- elif param_split[0] == "all":
+ elif param_split[0] in self.cf_dict.values():
+ cf_name = param_split[0]
  if param_split[1] == "params":
  name_param = param_split[2] + "." + param_split[3]
  try:
- for link_uri in self.uris:
- cf = self.swarm._cfs[link_uri].cf.param.set_value(
- name_param, param.value
- )
+ self.swarm._cfs[self.uri_dict[cf_name]].cf.param.set_value(
+ name_param, param.value
+ )
  self.get_logger().info(
- f"[{self.cf_dict[link_uri]}] {name_param} is set to {param.value}"
+ f"[{self.uri_dict[cf_name]}] {name_param} is set to {param.value}"
  )
  return SetParametersResult(successful=True)
  except Exception as e:
  self.get_logger().info(str(e))
  return SetParametersResult(successful=False)
+ if param_split[1] == "logs":
+ return SetParametersResult(successful=True)
+
 
  return SetParametersResult(successful=False)