90 tests. Verified against real data from the aircraft: VideoEnable encodes
to the bytes we actually sent, enums encode as 4-byte indices (pyparrot read
one byte and misaligned everything after), and events decode to the same
<Command>_<arg> keys our captures use.
Two counts in the brief were wrong and the stream corrected them with tests:
31 commands state neither result nor triggered (not 33), and 39 give no
answer on Bebop 2 support (not 32).
uv_build packages only src/mcbebop, so arsdk-xml/ at the repo root was
absent from the wheel and every install would have failed to find the
command definitions. Caught during the protocol build.
Parse Parrot's common.xml and ardrone3.xml into CommandSpec objects rather
than transcribing 264 commands by hand. Direction is derived from
comment result=/triggered= with a class-name-suffix fallback for the 31
commands that state neither, giving 101 to-drone and 163 from-drone.
ardrone3.Piloting.FlatTrim is injected: the firmware accepts it but neither
the vendored snapshot nor upstream defines it.
codec encodes the <BBH header (the command id is 16 bits, not 8) and reads
enums as i32 and strings as NUL-terminated, both of which pyparrot gets
wrong. safety assigns the arming tier by class, with Mavlink and Calibration
counted as motion because they move the aircraft. expectations parses the
undocumented #p-c-m grammar including | alternatives and this.<arg> echoes.
90 tests, counts asserted so a bad parse fails loudly.
protocol/types.py and arsdk/types.py are the interfaces the parallel streams
build against: command/arg/enum/expectation specs and the safety tiers on one
side, frame encoding and the buffer conventions on the other.
Logging goes to stderr throughout, since stdout carries JSON-RPC. That is also
why this package will speak ARSDK itself rather than through pyparrot, which
prints from its receive thread.
Bebop-era snapshot of common.xml and ardrone3.xml (BSD-3-Clause, Parrot SA),
with pyparrot's <myclass> rename reverted to Parrot's <class>. Provenance and
the comparison against upstream master are in arsdk-xml/PROVENANCE.md.
rsp2k