piksi_driver.py 文件源码

def set_piksi_settings(self):
        save_needed = False
        for s in nested_dict_iter(self.piksi_update_settings):
            cval = self.piksi_settings[s[0][0]][s[0][1]]
            if len(cval) != 0:
                if cval != str(s[1]):
                    rospy.loginfo('Updating piksi setting %s:%s to %s.' % (s[0][0], s[0][1], s[1]))
                    self.piksi_set(s[0][0], s[0][1], s[1])
                    self.update_dr_param(s[0][0], s[0][1], s[1])
                    save_needed = True
                else:
                    rospy.loginfo('Piksi setting %s:%s already set to %s.' % (s[0][0], s[0][1], s[1]))
            else:
                rospy.logwarn('Invalid piksi setting: %s' % ':'.join(s[0]))

        if self.piksi_save_settings and save_needed:
            rospy.loginfo('Saving piksi settings to flash')
            m = MsgSettingsSave()
            self.piksi_framer(m)