Source code for multiwii.data.servo

from dataclasses import dataclass
from typing      import Self


[docs]
@dataclass
class MspServo:
    """
    Represents data values for the MSP_SERVO command.

    This class encapsulates the servo values for channels in the MultiWii flight controller.
    """
    values: tuple[int]
    """tuple[int]: The servo output values for each channel."""


[docs]
    @classmethod
    def parse(cls, data: tuple) -> Self:
        """
        Parses a tuple of data values obtained from `struct.unpack` and returns an instance of
        the `MspServo` class.

        Parameters
        ----------
        data : tuple
            A tuple containing unpacked data values.

        Returns
        -------
        MspServo
            An instance of the `MspServo` class populated with the parsed data.
        """
        return cls(*data)




[docs]
@dataclass
class MspServoConfItem:
    """
    Represents data values for the MSP_SET_SERVO_CONF command.

    This class encapsulates the configuration values for a single servo channel in the
    MultiWii flight controller.
    """
    min: int
    """int: The minimum value for the servo endpoint."""

    max: int
    """int: The maximum value for the servo endpoint."""

    middle: int
    """int: The middle value for the servo endpoint."""

    rate: int
    """int: The rate vlaue for the servo channel."""



[docs]
@dataclass
class MspServoConf:
    """
    Represents data values for the MSP_SERVO_CONF command.

    This class encapsulates the servo configuration values for setting up servo endpoints,
    middle points, and rates in the MultiWii flight controller.
    """
    values: tuple[MspServoConfItem]
    """tuple[MspServoConfItem]: The servo configuration values for each servo channel."""


[docs]
    @classmethod
    def parse(cls, data: tuple) -> Self:
        """
        Parses a tuple of data values obtained from `struct.unpack` and returns aninstance of
        the `MspServoConf` class.

        Parameters
        ----------
        data : tuple
            A tuple containing unpacked data values.

        Returns
        -------
        MspServoConf
            An instance of the `MspServoConf` class populated with the parsed data.
        """
        item_count = len(data) / 4

        values = ()

        for index in range(item_count, step=4):
            item = ServoConfItem(
                min=data[index],
                max=data[index + 1],
                middle=data[index + 2],
                rate=data[index + 3]
            )

            values += (item,)

        return cls(values)



[docs]
    def as_serializable(self) -> tuple[int]:
        """
        Returns a tuple with integer values to be used for serialization.

        Returns
        -------
        tuple[int]
            A tuple with serializable integer values.
        """
        values = ()

        for item in self.values:
            values += (
                item.min,
                item.max,
                item.middle,
                item.rate
            )

        return values