chat: support get and set parameters

MAVProxy/modules/mavproxy_chat/chat_openai.py

@@ -8,7 +8,7 @@
 '''
 
 from pymavlink import mavutil
-import time
+import time, re
 from datetime import datetime
 import json
 import math
@@ -238,6 +238,36 @@ def handle_function_call(self, run):
                     output = "get_mavlink_message: failed to retrieve message"
                     print("chat: get_mavlink_message: failed to retrieve message")
 
+            # get all parameters from vehicle
+            if tool_call.function.name == "get_all_parameters":
+                recognised_function = True
+                try:
+                    arguments = json.loads(tool_call.function.arguments)
+                    output = self.get_all_parameters(arguments)
+                except:
+                    output = "get_all_parameters: failed to retrieve parameters"
+                    print("chat: get_all_parameters: failed to retrieve parameters")
+
+            # get a vehicle parameter's value
+            if tool_call.function.name == "get_parameter":
+                recognised_function = True
+                try:
+                    arguments = json.loads(tool_call.function.arguments)
+                    output = self.get_parameter(arguments)
+                except:
+                    output = "get_parameter: failed to retrieve parameter value"
+                    print("chat: get_parameters: failed to retrieve parameter value")
+
+            # set a vehicle parameter's value
+            if tool_call.function.name == "set_parameter":
+                recognised_function = True
+                try:
+                    arguments = json.loads(tool_call.function.arguments)
+                    output = self.set_parameter(arguments)
+                except:
+                    output = "set_parameter: failed to set parameter value"
+                    print("chat: set_parameter: failed to set parameter value")
+
             if not recognised_function:
                 print("chat: handle_function_call: unrecognised function call: " + tool_call.function.name)
                 output = "unrecognised function call: " + tool_call.function.name
@@ -428,6 +458,62 @@ def get_mavlink_message(self, arguments):
         except:
             return "get_mavlink_message: failed to convert message to json"
 
+    # get all available parameters names and their values
+    def get_all_parameters(self, arguments):
+        # check if any parameters are available
+        if self.mpstate.mav_param is None or len(self.mpstate.mav_param) == 0:
+            return "get_all_parameters: no parameters are available"
+        param_list = {}
+        for param_name in sorted(self.mpstate.mav_param.keys()):
+            param_list[param_name] = self.mpstate.mav_param.get(param_name)
+        try:
+            return json.dumps(param_list)
+        except:
+            return "get_all_parameters: failed to convert parameter list to json"
+
+    # get a vehicle parameter's value
+    def get_parameter(self, arguments):
+        param_name = arguments.get("name", None)
+        if param_name is None:
+            print("get_parameter: name not specified")
+            return "get_parameter: name not specified"
+
+        # start with empty parameter list
+        param_list = {}
+
+        # handle param name containing regex
+        if self.contains_regex(param_name):
+            pattern = re.compile(param_name)
+            for existing_param_name in sorted(self.mpstate.mav_param.keys()):
+                if pattern.match(existing_param_name) is not None:
+                    param_value = self.mpstate.functions.get_mav_param(existing_param_name, None)
+                    if param_value is None:
+                        print("chat: get_parameter unable to get " + existing_param_name)
+                    else:
+                        param_list[existing_param_name] = param_value
+        else:
+            # handle simple case of a single parameter name
+            param_value = self.mpstate.functions.get_mav_param(param_name, None)
+            if param_value is None:
+                return "get_parameter: " + param_name + " parameter not found"
+            param_list[param_name] = param_value
+
+        try:
+            return json.dumps(param_list)
+        except:
+            return "get_parameter: failed to convert parameter list to json"
+
+    # set a vehicle parameter's value
+    def set_parameter(self, arguments):
+        param_name = arguments.get("name", None)
+        if param_name is None:
+            return "set_parameter: parameter name not specified"
+        param_value = arguments.get("value", None)
+        if param_value is None:
+            return "set_parameter: value not specified"
+        self.mpstate.functions.param_set(param_name, param_value, retries=3)
+        return "set_parameter: parameter value set"
+
     # wrap latitude to range -90 to 90
     def wrap_latitude(self, latitude_deg):
         if latitude_deg > 90:
@@ -447,4 +533,12 @@ def wrap_longitude(self, longitude_deg):
     # send status to chat window via callback
     def send_status(self, status):
         if self.status_cb is not None:
-            self.status_cb(status)
+            self.status_cb(status)
+
+    # returns true if string contains regex characters
+    def contains_regex(self, string):
+        regex_characters = ".^$*+?{}[]\|()"
+        for x in regex_characters:
+            if string.count(x):
+                return True
+        return False