comm_og_service_tool.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

""" OGs Service Tool for Dji products.

 The script allows to trigger a few service functions of Dji drones.
"""

# Copyright (C) 2018 Mefistotelis <mefistotelis@gmail.com>
# Copyright (C) 2018 Original Gangsters <https://dji-rev.slack.com/>
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <http://www.gnu.org/licenses/>.

__version__ = "0.0.7"
__author__ = "Mefistotelis @ Original Gangsters"
__license__ = "GPL"

import os
import sys
import time
import enum
import types
import struct
import select
import hashlib
import binascii
import argparse
from ctypes import *

sys.path.insert(0, './')
from comm_serialtalk import (
  do_send_request, do_receive_reply, SerialMock, open_usb
)
from comm_mkdupc import *

def eprint(*args, **kwargs):
  print(*args, file=sys.stderr, **kwargs)

class PRODUCT_CODE(DecoratedEnum):
    A2     =  0 # Released 2013-09-04 A2 Flight Controller
    P330   =  1 # Released 2013-01-07 Phantom 1
    P330V  =  2 # Released 2013-10-28 Phantom 2 Vision
    P330Z  =  3 # Released 2013-12-15 Phantom 2 w/ Zenmuse H3-2D
    P330VP =  4 # Released 2014-04-07 Phantom 2 Vision+
    WM610  =  5 # Released 2014-11-13 Inspire 1
    P3X    =  6 # Released 2015-03-09 Phantom 3 Professional
    P3S    =  7 # Released 2015-03-09 Phantom 3 Advanced
    MAT100 =  8 # Released 2015-06-08 Matrice 100
    P3C    =  9 # Released 2015-08-04 Phantom 3 Standard
    MG1    = 10 # Released 2015-11-27 Agras MG-1
    WM325  = 11 # Released 2016-01-05 Phantom 3 4K
    WM330  = 12 # Released 2016-03-02 Phantom 4 (now referenced as Phantom 4 Standard)
    MAT600 = 13 # Released 2016-04-17 Matrice 600
    WM220  = 14 # Released 2016-09-28 Mavic Pro (also includes Released 2017-08-24 Mavic Pro Platinum)
    WM620  = 15 # Released 2016-11-16 Inspire 2
    WM331  = 16 # Released 2016-11-16 Phantom 4 Pro
    MAT200 = 17 # Released 2017-02-26 Matrice 200
    MG1S   = 18 # Released 2017-03-28 Agras MG-1S
    WM332  = 19 # Released 2017-04-13 Phantom 4 Advanced
    WM100  = 20 # Released 2017-05-24 Spark
    WM230  = 21 # Released 2018-01-23 Mavic Air
    WM335  = 22 # Released 2018-05-08 Phantom 4 Pro V2
    WM240  = 23 # Released 2018-08-23 Mavic 2 Pro/Zoom
    WM245  = 24 # Released 2018-10-29 Mavic 2 Enterprise
    WM246  = 25 # Released 2018-12-20 Mavic 2 Enterprise Dual
    WM160  = 26 # Released 2019-10-30 Mavic Mini
    WM231  = 27 # Released 2020-04-28 Mavic Air 2
    WM232  = 28 # Released 2021-04-15 (MAVIC) AIR 2S
    WM260  = 29 # Released 2021-11-05 (MAVIC) 3
    WM247  = 30 # Released 2020-12-15 Mavic 2 Enterprise Advanced 

ALT_PRODUCT_CODE = {
    'S800': 'A2', # Released 2012-07-25 Hexacopter frame, often sold with Dji A2 Flight Controller
    'S1000': 'A2', # Released 2014-02-24 Octocopter frame, often sold with Dji A2 Flight Controller
    'S900': 'A2', # Released 2014-08-04 Hexacopter frame, often sold with Dji A2 Flight Controller
    'PH3PRO': 'P3X',
    'PH3ADV': 'P3S',
    'PH3STD': 'P3C',
    'P3XW': 'WM325',
    'P4': 'WM330',
    'PH4': 'WM330',
    'PH4PRO': 'WM331',
    'PH4ADV': 'WM332',
    'SPARK': 'WM100',
    'MAVIC': 'WM220',
    'MAVAIR': 'WM230',
    'M2P': 'WM240',
    'M2Z': 'WM240',
    'M2E': 'WM245',
    'M2ED': 'WM246',
    'M2EA': 'WM247',
    'MMINI': 'WM160',
    'MAVAIR2': 'WM231',
    'MAVAIR2S': 'WM232',
    'MAV3': 'WM260',
}

class SERVICE_CMD(DecoratedEnum):
    FlycParam = 0
    GimbalCalib = 1
    CameraCalib = 2

class FLYC_PARAM_CMD(DecoratedEnum):
    LIST = 0
    GET = 1
    SET = 2

class GIMBAL_CALIB_CMD(DecoratedEnum):
    JOINTCOARSE = 0
    LINEARHALL = 1

class CAMERA_CALIB_CMD(DecoratedEnum):
    ENCRYPTCHECK = 0
    ENCRYPTPAIR = 1

class CAMERA_ENCRYPT_PAIR_TARGET(DecoratedEnum):
    ALL = 0
    CAMERA = 1
    GIMBAL = 4
    LB_DM3XX_SKY = 8


default_32byte_key = bytes([ # Default key
    0x56, 0x79, 0x6C, 0x0E, 0xEE, 0x0F, 0x38, 0x05, 0x20, 0xE0, 0xBE, 0x70, 0xF2, 0x77, 0xD9, 0x0B,
    0x30, 0x72, 0x31, 0x67, 0x31, 0x6E, 0x61, 0x6C, 0x47, 0x61, 0x6E, 0x39, 0x73, 0x74, 0x61, 0x60,
    ])

def detect_serial_port(po):
    """ Detects the serial port device name of a Dji product.
    """
    import serial.tools.list_ports
    #TODO: detection unfinished
    for comport in serial.tools.list_ports.comports():
        print(comport.device)
    return ''

def open_serial_port(po):
    ser = None
    if po.bulk:
        ser = open_usb(po)
    else:
        # Open serial port
        import serial
        if po.port == 'auto':
            port_name = detect_serial_port(po)
        else:
            port_name = po.port
        if not po.dry_test:
            ser = serial.Serial(port_name, baudrate=po.baudrate, timeout=0)
        else:
            ser = SerialMock(port_name, baudrate=po.baudrate, timeout=0)
        if (po.verbose > 0):
            print("Opened {} at {}".format(ser.port, ser.baudrate))
    return ser

def get_unique_sequence_number(po):
    """ Returns a sequence number for packet.
    """
    # This will be unique as long as we do 10ms delay between packets
    return int(time.time()*100) & 0xffff

def send_request_and_receive_reply(po, ser, receiver_type, receiver_index, ack_type, cmd_set, cmd_id, payload, seqnum_check=True, retry_num=3):
    global last_seq_num
    if not 'last_seq_num' in globals():
        last_seq_num = get_unique_sequence_number(po)

    pktprop = PacketProperties()
    pktprop.sender_type = COMM_DEV_TYPE.PC
    pktprop.sender_index = 0
    pktprop.receiver_type = receiver_type
    pktprop.receiver_index = receiver_index
    pktprop.seq_num = last_seq_num
    pktprop.pack_type = PACKET_TYPE.REQUEST
    pktprop.ack_type = ack_type
    pktprop.encrypt_type = ENCRYPT_TYPE.NO_ENC
    pktprop.cmd_set = cmd_set
    pktprop.cmd_id = cmd_id
    if hasattr(payload, '__len__'):
        pktprop.payload = (c_ubyte * len(payload)).from_buffer_copy(payload)
    else:
        pktprop.payload = (c_ubyte * sizeof(payload)).from_buffer_copy(payload)

    for nretry in range(0, retry_num):
        pktreq = do_send_request(po, ser, pktprop)

        if pktprop.ack_type == ACK_TYPE.NO_ACK_NEEDED: # Only wait for response if it was requested
            pktrpl = None
            break

        pktrpl = do_receive_reply(po, ser, pktreq,
          seqnum_check=(seqnum_check and not po.dry_test))

        if pktrpl is not None:
            break

    last_seq_num += 1

    if (po.verbose > 1):
        if pktrpl is not None:
            print("Received response packet:")
        else:
            print("No response received.")

    if (po.verbose > 0):
        if pktrpl is not None:
            print(' '.join('{:02x}'.format(x) for x in pktrpl))

    return pktrpl, pktreq

def receive_reply_for_request(po, ser, pktreq, seqnum_check=True):
    """ Receives and returns response for given request packet.

        Does not send the request, just waits for response.
        To be used in cases when a packet triggers multiple responses.
    """
    pktrpl = do_receive_reply(po, ser, pktreq, seqnum_check=seqnum_check)

    if (po.verbose > 1):
        if pktrpl is not None:
            print("Received response packet:")
        else:
            print("No response received.")

    if (po.verbose > 0):
        if pktrpl is not None:
            print(' '.join('{:02x}'.format(x) for x in pktrpl))

    return pktrpl

def flyc_request_assistant_unlock(po, ser, val):
    if (po.verbose > 0):
        print("Sending Assistant Unlock request.")
    payload = DJIPayload_FlyController_AssistantUnlockRq()
    payload.lock_state = val

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 0e 04 66 03 0a 9d a5 80 03 df 00 a7 92"))

    pktrpl, _ = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.FLYCONTROLLER, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.FLYCONTROLLER, 0xdf,
      payload)

    if pktrpl is None:
        raise ConnectionError("No response on Assistant Unlock request.")

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if rplpayload is None:
        raise ConnectionError("Unrecognized response to Assistant Unlock request.")

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload

def flyc_param_request_2017_get_table_attribs(po, ser, table_no):
    payload = DJIPayload_FlyController_GetTblAttribute2017Rq()
    payload.table_no = table_no

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 19 04 e4 03 0a 9e a5 80 03 e0 00 00 00 00 2f 87 ca 7a 86 01 00 00 55 e7"))
        ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 03 0a a0 a5 80 03 e0 09 00 17 f4"))

    pktrpl, _ = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.FLYCONTROLLER, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.FLYCONTROLLER, 0xe0,
      payload)

    if pktrpl is None:
        raise ConnectionError("No response on get table attribs request.")

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise LookupError("Unrecognized response to get table attribs request.")

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload

def flyc_param_request_2017_get_param_info_by_index(po, ser, table_no, param_idx):
    payload = DJIPayload_FlyController_GetParamInfoByIndex2017Rq()
    payload.table_no = table_no
    payload.param_index = param_idx

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 48 04 57 03 0a 1b 70 80 03 e1 00 00 00 00 82 00 08 00 04 00 5c 8f da 40 0a d7 23 3c 00 00 c8 42 67 5f 63 6f 6e 66 69 67 2e 6d 72 5f 63 72 61 66 74 2e 72 6f 74 6f 72 5f 36 5f 63 66 67 2e 74 68 72 75 73 74 00 8f a6"))

    pktrpl, _ = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.FLYCONTROLLER, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.FLYCONTROLLER, 0xe1,
      payload)

    if pktrpl is None:
        raise ConnectionError("No response on parameter {:d} info by index request.".format(param_idx))

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    paraminfo = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (paraminfo is None):
        raise ConnectionError("Unrecognized response to parameter {:d} info by index request.".format(param_idx))

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(paraminfo).__name__))
        print(paraminfo)

    return paraminfo

def flyc_param_request_2015_get_param_info_by_index(po, ser, param_idx):
    payload = DJIPayload_FlyController_GetParamInfoByIndex2015Rq()
    payload.param_index = param_idx

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 2e 04 a7 03 0a 77 45 80 03 f0 00 0a 00 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 67 6c 6f 62 61 6c 2e 73 74 61 74 75 73 00 79 ac"))

    pktrpl, _ = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.FLYCONTROLLER, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.FLYCONTROLLER, 0xf0,
      payload)

    if pktrpl is None:
        raise ConnectionError("No response on parameter {:d} info by index request.".format(param_idx))

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    paraminfo = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (paraminfo is None):
        raise ConnectionError("Unrecognized response to parameter {:d} info by index request.".format(param_idx))

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(paraminfo).__name__))
        print(paraminfo)

    return paraminfo

def flyc_param_request_2015_get_param_info_by_hash(po, ser, param_name):
    payload = DJIPayload_FlyController_GetParamInfoByHash2015Rq()
    payload.param_hash = flyc_parameter_compute_hash(po,param_name)

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 43 04 74 03 0a ff 7c 80 03 f7 00 01 00 02 00 0b 00 14 00 00 00 f4 01 00 00 78 00 00 00 67 5f 63 6f 6e 66 69 67 2e 66 6c 79 69 6e 67 5f 6c 69 6d 69 74 2e 6d 61 78 5f 68 65 69 67 68 74 5f 30 00 5d 71"))

    pktrpl, _ = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.FLYCONTROLLER, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.FLYCONTROLLER, 0xf7,
      payload)

    if pktrpl is None:
        raise ConnectionError("No response on parameter info by hash request.")

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    paraminfo = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (paraminfo is None):
        raise LookupError("Unrecognized response to parameter info by hash request.")

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(paraminfo).__name__))
        print(paraminfo)

    return paraminfo

def flyc_param_request_2015_read_param_value_by_hash(po, ser, param_name):
    payload = DJIPayload_FlyController_ReadParamValByHash2015Rq()
    payload.param_hash = flyc_parameter_compute_hash(po,param_name)

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 14 04 6d 03 0a 00 7d 80 03 f8 00 8a 23 71 03 f4 01 57 ee"))

    pktrpl, _ = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.FLYCONTROLLER, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.FLYCONTROLLER, 0xf8,
      payload)

    if pktrpl is None:
        raise ConnectionError("No response on read parameter value by hash request.")

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise LookupError("Unrecognized response to read parameter value by hash request.")

    if sizeof(rplpayload) <= 4:
        raise ValueError("Response indicates parameter does not exist or has no retrievable value.")

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload

def flyc_param_request_2017_read_param_value_by_index(po, ser, table_no, param_idx):
    payload = DJIPayload_FlyController_ReadParamValByIndex2017Rq()
    payload.table_no = table_no
    payload.unknown1 = 1
    payload.param_index = param_idx

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 15 04 a9 03 0a 5a 6c 80 03 e2 00 00 00 00 9e 00 f4 01 10 b1"))

    pktrpl, _ = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.FLYCONTROLLER, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.FLYCONTROLLER, 0xe2,
      payload)

    if pktrpl is None:
        raise ConnectionError("No response on parameter {:d} info by index request.".format(param_idx))

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise ConnectionError("Unrecognized response to parameter {:d} info by index request.".format(param_idx))

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload

def do_assistant_unlock(po, ser):
    try:
        rplpayload = flyc_request_assistant_unlock(po, ser, 1)

        if rplpayload.status != 0:
            raise ValueError("Denial status {:d} returned from Assistant Unlock request.".format(rplpayload.status))

    except Exception as ex:
        if (po.verbose > 0):
            print("Error: "+str(ex))
        eprint("Assistant Unlock command failed; further commands may not work because of this.")
        return False

    return True

def flyc_param_request_2017_write_param_value_by_index(po, ser, table_no, param_idx, param_val):
    if len(param_val) > 16:
        payload = DJIPayload_FlyController_WriteParamValAnyByIndex2017Rq()
    elif len(param_val) > 8:
        payload = DJIPayload_FlyController_WriteParamVal16ByIndex2017Rq()
    elif len(param_val) > 4:
        payload = DJIPayload_FlyController_WriteParamVal8ByIndex2017Rq()
    elif len(param_val) > 2:
        payload = DJIPayload_FlyController_WriteParamVal4ByIndex2017Rq()
    elif len(param_val) > 1:
        payload = DJIPayload_FlyController_WriteParamVal2ByIndex2017Rq()
    else:
        payload = DJIPayload_FlyController_WriteParamVal1ByIndex2017Rq()
    payload.table_no = table_no
    payload.unknown1 = 1
    payload.param_index = param_idx

    if len(param_val) > 1:
        payload.param_value = (c_ubyte * sizeof(payload.param_value)).from_buffer_copy(param_val)
    else:
        payload.param_value = (c_ubyte).from_buffer_copy(param_val)

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 15 04 a9 03 0a 1a de 80 03 e3 00 00 00 00 9e 00 f3 01 a7 40"))

    pktrpl, _ = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.FLYCONTROLLER, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.FLYCONTROLLER, 0xe3,
      payload)

    if pktrpl is None:
        raise ConnectionError("No response on write parameter value by index request.")

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise LookupError("Unrecognized response to write parameter value by index request.")

    if sizeof(rplpayload) <= 4:
        raise ValueError("Response indicates parameter does not exist or is not writeable.")

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload

def flyc_param_request_2015_write_param_value_by_hash(po, ser, param_name, param_val):
    if len(param_val) > 16:
        payload = DJIPayload_FlyController_WriteParamValAnyByHash2015Rq()
    elif len(param_val) > 8:
        payload = DJIPayload_FlyController_WriteParamVal16ByHash2015Rq()
    elif len(param_val) > 4:
        payload = DJIPayload_FlyController_WriteParamVal8ByHash2015Rq()
    elif len(param_val) > 2:
        payload = DJIPayload_FlyController_WriteParamVal4ByHash2015Rq()
    elif len(param_val) > 1:
        payload = DJIPayload_FlyController_WriteParamVal2ByHash2015Rq()
    else:
        payload = DJIPayload_FlyController_WriteParamVal1ByHash2015Rq()
    payload.param_hash = flyc_parameter_compute_hash(po,param_name)
    payload.param_value = (c_ubyte * sizeof(payload.param_value)).from_buffer_copy(param_val)

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 14 04 6d 03 0a 37 c6 80 03 f9 00 8a 23 71 03 f3 01 dd dd"))

    pktrpl, _ = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.FLYCONTROLLER, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.FLYCONTROLLER, 0xf9,
      payload)

    if pktrpl is None:
        raise ConnectionError("No response on write parameter value by hash request.")

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise LookupError("Unrecognized response to write parameter value by hash request.")

    if sizeof(rplpayload) <= 4:
        raise ValueError("Response indicates parameter does not exist or is not writeable.")

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload

def flyc_param_info_limits_to_str(po, paraminfo):
    if (isinstance(paraminfo, DJIPayload_FlyController_GetParamInfoU2015Re) or
      isinstance(paraminfo, DJIPayload_FlyController_GetParamInfoU2017Re)):
        limit_min = '{:d}'.format(paraminfo.limit_min)
        limit_max = '{:d}'.format(paraminfo.limit_max)
        limit_def = '{:d}'.format(paraminfo.limit_def)
    elif (isinstance(paraminfo, DJIPayload_FlyController_GetParamInfoI2015Re) or
      isinstance(paraminfo, DJIPayload_FlyController_GetParamInfoI2017Re)):
        limit_min = '{:d}'.format(paraminfo.limit_min)
        limit_max = '{:d}'.format(paraminfo.limit_max)
        limit_def = '{:d}'.format(paraminfo.limit_def)
    elif (isinstance(paraminfo, DJIPayload_FlyController_GetParamInfoF2015Re) or
      isinstance(paraminfo, DJIPayload_FlyController_GetParamInfoF2017Re)):
        limit_min = '{:f}'.format(paraminfo.limit_min)
        limit_max = '{:f}'.format(paraminfo.limit_max)
        limit_def = '{:f}'.format(paraminfo.limit_def)
    else:
        limit_min = "n/a"
        limit_max = "n/a"
        limit_def = "n/a"
    return (limit_min, limit_max, limit_def)

def flyc_param_value_to_str(po, paraminfo, param_value):
    if (paraminfo.type_id == DJIPayload_FlyController_ParamType.ubyte.value):
        param_bs = bytes(param_value[:1])
        value_str = "{:d}".format(struct.unpack("<B", param_bs)[0])
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.ushort.value):
        param_bs = bytes(param_value[:2])
        value_str = "{:d}".format(struct.unpack("<H", param_bs)[0])
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.ulong.value):
        param_bs = bytes(param_value[:4])
        value_str = "{:d}".format(struct.unpack("<L", param_bs)[0])
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.ulonglong.value):
        param_bs = bytes(param_value[:8])
        value_str = "{:d}".format(struct.unpack("<Q", param_bs)[0])
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.byte.value):
        param_bs = bytes(param_value[:1])
        value_str = "{:d}".format(struct.unpack("<b", param_bs)[0])
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.short.value):
        param_bs = bytes(param_value[:2])
        value_str = "{:d}".format(struct.unpack("<h", param_bs)[0])
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.long.value):
        param_bs = bytes(param_value[:4])
        value_str = "{:d}".format(struct.unpack("<l", param_bs)[0])
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.longlong.value):
        param_bs = bytes(param_value[:8])
        value_str = "{:d}".format(struct.unpack("<q", param_bs)[0])
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.float.value):
        param_bs = bytes(param_value[:4])
        value_str = "{:f}".format(struct.unpack("<f", param_bs)[0])
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.double.value):
        param_bs = bytes(param_value[:8])
        value_str = "{:f}".format(struct.unpack("<d", param_bs)[0])
    else: # array or future type
        value_str = ' '.join('{:02x}'.format(x) for x in param_bs)
    return value_str

def flyc_param_str_to_value(po, paraminfo, value_str):
    if (paraminfo.type_id == DJIPayload_FlyController_ParamType.ubyte.value):
        param_val = struct.pack("<B", int(value_str,0))
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.ushort.value):
        param_val = struct.pack("<H", int(value_str,0))
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.ulong.value):
        param_val = struct.pack("<L", int(value_str,0))
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.ulonglong.value):
        param_val = struct.pack("<Q", int(value_str,0))
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.byte.value):
        param_val = struct.pack("<b", int(value_str,0))
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.short.value):
        param_val = struct.pack("<h", int(value_str,0))
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.long.value):
        param_val = struct.pack("<l", int(value_str,0))
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.longlong.value):
        param_val = struct.pack("<q", int(value_str,0))
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.float.value):
        param_val = struct.pack("<f", float(value_str))
    elif (paraminfo.type_id == DJIPayload_FlyController_ParamType.double.value):
        param_val = struct.pack("<d", float(value_str))
    else: # array or future type
        param_val = bytes.fromhex(value_str)
    return param_val

def flyc_param_request_2015_print_response(po, idx, paraminfo, rplpayload):
    if paraminfo is None:
        # Print headers
        if rplpayload is None:
            param_val = ""
        else:
            param_val = "value"
        if idx is None:
            ident_str = "hash"
        else:
            ident_str = "idx"
        if po.fmt == '2line':
            print("{:10s} {:60s}".format(ident_str, "name"))
            print("{:6s} {:4s} {:6s} {:7s} {:7s} {:7s} {:7s}".format(
              "typeId", "size", "attr", "min", "max", "deflt", param_val))
        elif po.fmt == 'tab':
            print("{:s}\t{:s}\t{:s}\t{:s}\t{:s}\t{:s}\t{:s}\t{:s}\t{:s}".format(
              ident_str, "name", "typeId", "size", "attr", "min", "max", "deflt", param_val))
        elif po.fmt == 'csv':
            print("{:s};{:s};{:s};{:s};{:s};{:s};{:s};{:s};{:s}".format(
              ident_str, "name", "typeId", "size", "attr", "min", "max", "deflt", param_val))
        elif po.fmt == '1line':
            print("{:10s} {:60s} {:6s} {:4s} {:6s} {:7s} {:7s} {:7s} {:7s}".format(
              ident_str, "name", "typeId", "size", "attr", "min", "max", "deflt", param_val))
        else: # po.fmt == 'simple':
            pass
    else:
        # Print actual data
        if rplpayload is None:
            param_val = ""
        else:
            param_val = flyc_param_value_to_str(po, paraminfo, rplpayload.param_value)
        if idx is None:
            if rplpayload is not None:
                ident_str = "0x{:08x}".format(rplpayload.param_hash)
            else:
                ident_str = "n/a"
        else:
            ident_str = "{:d}".format(idx)
        # Convert limits to string before, so we can handle all types in the same way
        (limit_min, limit_max, limit_def) = flyc_param_info_limits_to_str(po, paraminfo)

        if po.fmt == '2line':
            print("{:10s} {:60s}".format(ident_str, paraminfo.name.decode("utf-8")))
            print("{:6d} {:4d} 0x{:04x} {:7s} {:7s} {:7s} {:7s}".format(
              paraminfo.type_id, paraminfo.size, paraminfo.attribute,
              limit_min, limit_max, limit_def, param_val))
        elif po.fmt == 'tab':
            print("{:s}\t{:s}\t{:d}\t{:d}\t0x{:04x}\t{:s}\t{:s}\t{:s}\t{:s}".format(
              ident_str, paraminfo.name.decode("utf-8"),
              paraminfo.type_id, paraminfo.size, paraminfo.attribute,
              limit_min, limit_max, limit_def, param_val))
        elif po.fmt == 'csv':
            print("{:s};{:s};{:d};{:d};0x{:04x};{:s};{:s};{:s};{:s}".format(
              ident_str, paraminfo.name.decode("utf-8"),
              paraminfo.type_id, paraminfo.size, paraminfo.attribute,
              limit_min, limit_max, limit_def, param_val))
        #elif po.fmt == 'json': #TODO maybe output format similar to flyc_param_infos?
        elif po.fmt == '1line':
            print("{:10s} {:60s} {:6d} {:4d} 0x{:04x} {:7s} {:7s} {:7s} {:7s}".format(
              ident_str, paraminfo.name.decode("utf-8"),
              paraminfo.type_id, paraminfo.size, paraminfo.attribute,
              limit_min, limit_max, limit_def, param_val))
        else: # po.fmt == 'simple':
            if rplpayload is None:
                print("{:s} default = {:s} range = < {:s} .. {:s} >".format(paraminfo.name.decode("utf-8"), limit_def, limit_min, limit_max))
            else:
                print("{:s} = {:s} range = < {:s} .. {:s} >".format(paraminfo.name.decode("utf-8"), param_val, limit_min, limit_max))

def flyc_param_request_2017_print_response(po, idx, paraminfo, rplpayload):
    if paraminfo is None:
        # Print headers
        if rplpayload is None:
            param_val = ""
        else:
            param_val = "value"
        if idx is None:
            ident_str = "hash"
        else:
            ident_str = "idx"
        if po.fmt == '2line':
            print("{:10s} {:5s} {:60s}".format(ident_str, "tbl:idx", "name"))
            print("{:6s} {:4s} {:7s} {:7s} {:7s} {:7s}".format(
              "typeId", "size", "min", "max", "deflt", param_val))
        elif po.fmt == 'tab':
            print("{:s}\t{:s}\t{:s}\t{:s}\t{:s}\t{:s}\t{:s}\t{:s}\t{:s}".format(
              ident_str, "tbl:idx", "name", "typeId", "size", "min", "max", "deflt", param_val))
        elif po.fmt == 'csv':
            print("{:s};{:s};{:s};{:s};{:s};{:s};{:s};{:s};{:s}".format(
              ident_str, "tbl:idx", "name", "typeId", "size", "min", "max", "deflt", param_val))
        elif po.fmt == '1line':
            print("{:10s} {:5s} {:60s} {:6s} {:4s} {:7s} {:7s} {:7s} {:7s}".format(
              ident_str, "tbl:idx", "name", "typeId", "size", "min", "max", "deflt", param_val))
        else: # po.fmt == 'simple':
            pass
    else:
        # Print actual data
        if rplpayload is None:
            param_val = ""
        else:
            param_val = flyc_param_value_to_str(po, paraminfo, rplpayload.param_value)
        if idx is None:
            if rplpayload is None:
                ident_str = "n/a"
            elif hasattr(rplpayload, 'param_hash'):
                ident_str = "0x{:08x}".format(rplpayload.param_hash)
            else:
                ident_str = "0x{:08x}".format(flyc_parameter_compute_hash(po,paraminfo.name.decode("utf-8")))
        else:
            ident_str = "{:d}".format(idx)
        tbl_str = "{:d}:{:d}".format(paraminfo.table_no, paraminfo.param_index)

        # Convert limits to string before, so we can handle all types in the same way
        (limit_min, limit_max, limit_def) = flyc_param_info_limits_to_str(po, paraminfo)

        if po.fmt == '2line':
            print("{:10s} {:5s} {:60s}".format(ident_str, tbl_str, paraminfo.name.decode("utf-8")))
            print("{:6d} {:4d} {:7s} {:7s} {:7s} {:7s}".format(
              paraminfo.type_id, paraminfo.size,
              limit_min, limit_max, limit_def, param_val))
        elif po.fmt == 'tab':
            print("{:s}\t{:s}\t{:s}\t{:d}\t{:d}\t{:s}\t{:s}\t{:s}\t{:s}".format(
              ident_str, tbl_str, paraminfo.name.decode("utf-8"),
              paraminfo.type_id, paraminfo.size,
              limit_min, limit_max, limit_def, param_val))
        elif po.fmt == 'csv':
            print("{:s};{:s};{:s};{:d};{:d};{:s};{:s};{:s};{:s}".format(
              ident_str, tbl_str, paraminfo.name.decode("utf-8"),
              paraminfo.type_id, paraminfo.size,
              limit_min, limit_max, limit_def, param_val))
        #elif po.fmt == 'json': #TODO maybe output format similar to flyc_param_infos?
        elif po.fmt == '1line':
            print("{:10s} {:5s} {:60s} {:6d} {:4d} {:7s} {:7s} {:7s} {:7s}".format(
              ident_str, tbl_str, paraminfo.name.decode("utf-8"),
              paraminfo.type_id, paraminfo.size,
              limit_min, limit_max, limit_def, param_val))
        else: # po.fmt == 'simple':
            if rplpayload is None:
                print("{:s} default = {:s} range = < {:s} .. {:s} >".format(paraminfo.name.decode("utf-8"), limit_def, limit_min, limit_max))
            else:
                print("{:s} = {:s} range = < {:s} .. {:s} >".format(paraminfo.name.decode("utf-8"), param_val, limit_min, limit_max))

def do_flyc_param_request_2015_list(po, ser):
    """ List flyc parameters on platforms with single, linear parameters table.

        Tested on the following platforms and FW versions:
        P3X_FW_V01.07.0060 (2018-07-22)
    """
    # Print result data header
    flyc_param_request_2015_print_response(po, True, None, None)

    for idx in range(po.start, po.start+po.count):
        rplpayload = flyc_param_request_2015_get_param_info_by_index(po, ser, idx)

        if sizeof(rplpayload) <= 4:
            if (po.verbose > 0):
                print("Response on parameter {:d} indicates end of list.".format(idx))
            break
        # Print the result data
        flyc_param_request_2015_print_response(po, idx, rplpayload, None)

def do_flyc_param_request_2015_get(po, ser):
    """ Get flyc parameter value on platforms with single, linear parameters table.

        Tested on the following platforms and FW versions:
        P3X_FW_V01.07.0060 (2018-07-22)
    """
    # Get param info first, so we know type and size
    paraminfo = flyc_param_request_2015_get_param_info_by_hash(po, ser, po.param_name)
    # Now get the parameter value
    rplpayload = flyc_param_request_2015_read_param_value_by_hash(po, ser, po.param_name)
    # Print the result data
    flyc_param_request_2015_print_response(po, None, None, True)
    flyc_param_request_2015_print_response(po, None, paraminfo, rplpayload)

def do_flyc_param_request_2015_set(po, ser):
    """ Set new value of flyc parameter on platforms with single, linear parameters table.

        Tested on the following platforms and FW versions:
        P3X_FW_V01.07.0060 (2018-07-22)
    """
    # Get param info first, so we know type and size
    paraminfo = flyc_param_request_2015_get_param_info_by_hash(po, ser, po.param_name)
    # Now set the parameter value
    param_val = flyc_param_str_to_value(po, paraminfo, po.param_value)
    rplpayload = flyc_param_request_2015_write_param_value_by_hash(po, ser, po.param_name, param_val)
    # Print the result data
    flyc_param_request_2015_print_response(po, None, None, True)
    flyc_param_request_2015_print_response(po, None, paraminfo, rplpayload)

def do_flyc_param_request_2017_list(po, ser):
    """ List flyc parameters on platforms with multiple parameter tables.

        Tested on the following platforms and FW versions:
        WM100_FW_V01.00.0900 (2018-07-23)
    """
    do_assistant_unlock(po, ser)
    # Get info on tables first, so we can flatten them
    table_attribs = []
    for table_no in range(0, 255):
        tab_attr = flyc_param_request_2017_get_table_attribs(po, ser, table_no)
        if sizeof(tab_attr) <= 2:
            if (po.verbose > 0):
                print("Response on table no {:d} indicates end of list.".format(table_no))
            break
        table_attribs.append(tab_attr)
    # Print result data header
    flyc_param_request_2017_print_response(po, True, None, None)
    idx = 0
    for tab_attr in table_attribs:
        for tbl_idx in range(0, tab_attr.entries_num):
            if idx > po.start+po.count:
                break
            if idx >= po.start:
                rplpayload = flyc_param_request_2017_get_param_info_by_index(po, ser, tab_attr.table_no, tbl_idx)
                if sizeof(rplpayload) <= 4:
                    eprint("Response on parameter {:d} indicates end of list despite larger size reported.".format(idx))
                    # do not break - this may be error with one specific parameter
                else:
                    # Print the result data
                    flyc_param_request_2017_print_response(po, idx, rplpayload, None)
            idx += 1

def do_flyc_param_request_2017_get(po, ser):
    """ Get flyc parameter value on platforms with multiple parameter tables.

        Tested on the following platforms and FW versions:
        WM100_FW_V01.00.0900 (2018-07-23)
    """
    do_assistant_unlock(po, ser)
    # Get param info first, so we know type and size
    paraminfo = flyc_param_request_2015_get_param_info_by_hash(po, ser, po.param_name)
    # Now get the parameter value
    rplpayload = flyc_param_request_2015_read_param_value_by_hash(po, ser, po.param_name)
    # Print the result data
    flyc_param_request_2015_print_response(po, None, None, True)
    flyc_param_request_2015_print_response(po, None, paraminfo, rplpayload)

def flyc_param_request_2017_get_param_info_by_name_search(po, ser, param_name):
    # Get info on tables first, so we can flatten them
    table_attribs = []
    for table_no in range(0, 255):
        tab_attr = flyc_param_request_2017_get_table_attribs(po, ser, table_no)
        if sizeof(tab_attr) <= 2:
            if (po.verbose > 0):
                print("Response on table no {:d} indicates end of list.".format(table_no))
            break
        table_attribs.append(tab_attr)
    # Now find table location of our param
    idx = 0
    for tab_attr in table_attribs:
        for tbl_idx in range(0, tab_attr.entries_num):
            rplpayload = flyc_param_request_2017_get_param_info_by_index(po, ser, tab_attr.table_no, tbl_idx)
            if sizeof(rplpayload) <= 4:
                eprint("Response on parameter {:d} indicates end of list despite larger size reported.".format(idx))
                # do not break - this may be error with one specific parameter
            elif rplpayload.name.decode("utf-8") == param_name:
                return rplpayload
            idx += 1
    raise LookupError("Parameter not found during parameter info by name search request.")
    return None # unreachble

def do_flyc_param_request_2017_get_alt(po, ser):
    """ Get flyc parameter value on platforms with multiple parameter tables, alternative way.

        Tested on the following platforms and FW versions:
        WM100_FW_V01.00.0900 (2018-07-26)
    """
    do_assistant_unlock(po, ser)
    # Get param info first, so we know type and size
    paraminfo = flyc_param_request_2017_get_param_info_by_name_search(po, ser, po.param_name)
    # Now get the parameter value
    rplpayload = flyc_param_request_2017_read_param_value_by_index(po, ser, paraminfo.table_no, paraminfo.param_index)
    # Print the result data
    flyc_param_request_2017_print_response(po, None, None, True)
    flyc_param_request_2017_print_response(po, None, paraminfo, rplpayload)

def do_flyc_param_request_2017_set(po, ser):
    """ Set new value of flyc parameter on platforms with multiple parameter tables.

        Tested on the following platforms and FW versions:
        WM100_FW_V01.00.0900 (2018-07-23)
    """
    do_assistant_unlock(po, ser)
    # Get param info first, so we know type and size
    paraminfo = flyc_param_request_2015_get_param_info_by_hash(po, ser, po.param_name)
    # Now set the parameter value
    param_val = flyc_param_str_to_value(po, paraminfo, po.param_value)
    rplpayload = flyc_param_request_2015_write_param_value_by_hash(po, ser, po.param_name, param_val)
    # Print the result data
    flyc_param_request_2015_print_response(po, None, None, True)
    flyc_param_request_2015_print_response(po, None, paraminfo, rplpayload)

def do_flyc_param_request_2017_set_alt(po, ser):
    """ Set new value of flyc parameter on platforms with multiple parameter tables, alternative way.

        Tested on the following platforms and FW versions:
        WM100_FW_V01.00.0900 (2018-07-27)
    """
    do_assistant_unlock(po, ser)
    # Get param info first, so we know type and size
    paraminfo = flyc_param_request_2017_get_param_info_by_name_search(po, ser, po.param_name)
    # Now set the parameter value
    param_val = flyc_param_str_to_value(po, paraminfo, po.param_value)
    rplpayload = flyc_param_request_2017_write_param_value_by_index(po, ser, paraminfo.table_no, paraminfo.param_index, param_val)
    # Print the result data
    flyc_param_request_2017_print_response(po, None, None, True)
    flyc_param_request_2017_print_response(po, None, paraminfo, rplpayload)

def do_flyc_param_request(po):
    ser = open_serial_port(po)

    if po.product.value >= PRODUCT_CODE.WM330.value:
        if po.subcmd == FLYC_PARAM_CMD.LIST:
            do_flyc_param_request_2017_list(po, ser)
        elif po.subcmd == FLYC_PARAM_CMD.GET:
            if not po.alt:
                do_flyc_param_request_2017_get(po, ser)
            else:
                do_flyc_param_request_2017_get_alt(po, ser)
        elif po.subcmd == FLYC_PARAM_CMD.SET:
            if not po.alt:
                do_flyc_param_request_2017_set(po, ser)
            else:
                do_flyc_param_request_2017_set_alt(po, ser)
        else:
            raise ValueError("Unrecognized {:s} command: {:s}.".format(po.svcmd.name, po.subcmd.name))
    else:
        if po.subcmd == FLYC_PARAM_CMD.LIST:
            do_flyc_param_request_2015_list(po, ser)
        elif po.subcmd == FLYC_PARAM_CMD.GET:
            do_flyc_param_request_2015_get(po, ser)
        elif po.subcmd == FLYC_PARAM_CMD.SET:
            do_flyc_param_request_2015_set(po, ser)
        else:
            raise ValueError("Unrecognized {:s} command: {:s}.".format(po.svcmd.name, po.subcmd.name))

    ser.close()

def gimbal_calib_request_spark(po, ser, cmd):
    payload = DJIPayload_Gimbal_CalibRq()
    payload.command = cmd.value

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a 71 92 00 04 08 01 11 2c 70"))

    pktrpl, pktreq = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.GIMBAL, 0,
      ACK_TYPE.ACK_BEFORE_EXEC,
      CMD_SET_TYPE.ZENMUSE, 0x08,
      payload, seqnum_check=False)

    if pktrpl is None:
        raise ConnectionError("No response on calibration command {:s} request.".format(cmd.name))

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise ConnectionError("Unrecognized response to calibration command {:s} request.".format(cmd.name))

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload, pktreq

def gimbal_calib_request_spark_receive_progress(po, ser, pktreq):

    pktrpl = receive_reply_for_request(po, ser, pktreq, seqnum_check=False)

    if pktrpl is None:
        raise ConnectionError("No progress tick on calibration request.")

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise ConnectionError("Unrecognized progress tick to calibration request.")

    if (po.verbose > 2):
        print("Parsed progress tick - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload

def gimbal_calib_request_spark_monitor_progress(po, ser, first_rplpayload, pktreq, expect_duration, pass_values):
    if po.dry_test:
        # use to test the code without a drone; packets are different for each calibration
        if pass_values[0] == 16:
            for x in range(4):
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a 71 92 00 04 08 01 11 2c 70"))
            for x in range(4):
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a 01 a3 00 04 08 10 07 65 5b"))
            for x in range(4):
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a 19 6d 00 04 08 01 11 6f f7"))
            for x in range(4):
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a 01 a3 00 04 08 10 07 65 5b"))
            # Final packet marking end of calibration
            ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a f9 e0 00 04 08 10 01 42 79"))
        else: # pass_values[0] == 40
            for x in range(4):
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a f1 df 00 04 08 14 0a 44 84"))
            for x in range(4):
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a f9 ff 00 04 08 19 0c 86 0a"))
            for x in range(4):
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a a9 1d 00 04 08 1b 0f 27 f3"))
            for x in range(4):
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a e1 80 00 04 08 28 0d d8 27"))
            # Final packet marking end of calibration
            ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a 89 b0 00 04 08 28 01 0d 50"))

    rplpayload = first_rplpayload
    curr_time = time.time()
    # As timeout, use expected time + 50%
    start_time = curr_time
    timeout_time = curr_time + expect_duration * 1.5 / 1000
    report_time = curr_time + expect_duration / 10000 # Aim at 10 reports in the run
    ticks_received = 0
    last_tick_time = curr_time
    result = "UNSURE"
    while True:

        if rplpayload is not None:
            ticks_received = ticks_received + 1
            last_tick_time = curr_time
            if rplpayload.status1 == pass_values[0] and rplpayload.status2 == pass_values[1]:
                print("Concluding report received; calibration finished.")
                result = "PASS"
                break

        if curr_time > timeout_time:
            print("Calibration time exceeded; calibration must have ended.")
            break

        if curr_time > last_tick_time + expect_duration / 4000:
            print("Progress reports stopped; calibration must have ended.")
            break

        if curr_time > report_time + expect_duration / 10000:
            print("Progress: received {:d} reports.".format(ticks_received))
            report_time = report_time + expect_duration / 10000

        rplpayload = gimbal_calib_request_spark_receive_progress(po, ser, pktreq)

        curr_time = time.time()

    print("Summary: took {:0.1f} sec; received {:d} reports; result: {:s}.".format(curr_time-start_time,ticks_received,result))


def do_gimbal_calib_request_spark_joint_coarse(po, ser):
    """ Initiates Spark Gimbal Joint Coarse calibration.

        Tested on the following platforms and FW versions:
        WM100_FW_V01.00.0900 (2018-07-27)
        WM230_FW_unknown (2019-03-31, report from bunchofbradys@github)
        WM240_FW_V01.00.0200 (2020-02-28, report from Andris8888@slack)
    """

    print("\nInfo: The Gimbal will move through its boundary positions, then it will fine-tune its central position. It will take around 15 seconds.\n")

    rplpayload, pktreq = gimbal_calib_request_spark(po, ser, DJIPayload_Gimbal_CalibCmd.JointCoarse)

    print("Calibration process started; monitoring progress.")

    gimbal_calib_request_spark_monitor_progress(po, ser, rplpayload, pktreq, 15000, [16, 1])


def do_gimbal_calib_request_spark_linear_hall(po, ser):
    """ Initiates Spark Gimbal Linear Hall calibration.

        Tested on the following platforms and FW versions:
        NONE
    """

    print("\nInfo: The Gimbal will slowly move through all positions in all axes, several times. It will take around 30 seconds.\n")

    rplpayload, pktreq = gimbal_calib_request_spark(po, ser, DJIPayload_Gimbal_CalibCmd.LinearHall)

    print("Calibration process started; monitoring progress.")

    gimbal_calib_request_spark_monitor_progress(po, ser, rplpayload, pktreq, 30000, [40, 1])

def gimbal_calib_request_p3x(po, ser):
    # We don't really need any payload, but that one byte won't influence anything, so we may keep it
    payload = DJIPayload_Gimbal_CalibRq()
    payload.command = 0

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        pass # gimbal does not offer response to the auto calib request

    # in P3X the response is hard-coded to go to MOBILE_APP, so we won't receive it
    # nut we need to request it anyway - otherwise calibration will not start
    pktrpl, pktreq = send_request_and_receive_reply(po, ser,
      COMM_DEV_TYPE.GIMBAL, 0,
      ACK_TYPE.ACK_BEFORE_EXEC,
      CMD_SET_TYPE.ZENMUSE, 0x08,
      payload, seqnum_check=False, retry_num=1)

    if pktrpl is None:
        # Allow no response as only MOBILE_APP can get it
        #raise ConnectionError("No response on Auto Calibration request.")
        return None, pktreq

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise ConnectionError("Unrecognized response to Auto Calibration request.")

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload, pktreq

def do_gimbal_calib_request_p3x_autocal(po, ser):
    """ Initiates Phantom 3 Gimbal Automatic Calibration.

        In Ph3, this only calibrates yaw axis, which uses magnetic sensors.
        Pitch and roll have resistive sensors, and these are not affected;
        if there is misalignment in them, that usually means damaged potentiometer
        or bent aluminium arm, not something you can solve with calibration.

        Tested on the following platforms and FW versions:
        None
    """

    print("\nInfo: The Gimbal will average its readings without movement, then it will move Yaw arm through its boundary positions. " \
        "Then it will do limited pitch movement. End of calibration will be marked by two beeps from gimbal motors. It will take around 15 seconds.\n")

    rplpayload, pktreq = gimbal_calib_request_p3x(po, ser)

    print("Calibration process started; do not touch the drone for 15 seconds.")
    time.sleep(5)
    print("Monitoring the progress is only possibe from a mobile app, so exiting.")

def do_gimbal_calib_request(po):
    ser = open_serial_port(po)

    if po.product.value >= PRODUCT_CODE.WM220.value:
        if po.subcmd == GIMBAL_CALIB_CMD.JOINTCOARSE:
            do_gimbal_calib_request_spark_joint_coarse(po, ser)
        elif po.subcmd == GIMBAL_CALIB_CMD.LINEARHALL:
            do_gimbal_calib_request_spark_linear_hall(po, ser)
        else:
            raise ValueError("Unrecognized {:s} command: {:s}.".format(po.svcmd.name, po.subcmd.name))
    elif po.product.value >= PRODUCT_CODE.P330.value:
        if po.subcmd == GIMBAL_CALIB_CMD.JOINTCOARSE:
            do_gimbal_calib_request_p3x_autocal(po, ser)
        elif po.subcmd == GIMBAL_CALIB_CMD.LINEARHALL:
            raise ValueError("Gimbal in selected platform does not have Hall Effect sensors.")
        else:
            raise ValueError("Unrecognized {:s} command: {:s}.".format(po.svcmd.name, po.subcmd.name))
    else:
        raise ValueError("Calibration for selected platform is not supported.")

    ser.close()


def general_encrypt_get_state_request_p3x(po, ser, receiver_type, cmd):
    """ Sends Encrypt GetChipState or Encrypt GetoduleState request.
    """
    payload = DJIPayload_General_EncryptGetStateRq()
    payload.command = cmd.value

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        if cmd == DJIPayload_General_EncryptCmd.GetChipState:
            ser.mock_data_for_read(bytes.fromhex("55 2d 04 f2 01 0a e9 ab c0 00 30 00 07 30 34 38 4c 41 41 31 45 4a 51 30 34 38 4c 41 41 31 45 4a 51 30 34 38 4c 41 41 31 45 4a 51 94 fd"))
        else: # DJIPayload_General_EncryptCmd.GetModuleState
            if receiver_type == COMM_DEV_TYPE.CAMERA:
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 01 0a ad 00 c0 00 30 00 03 84 5b"))
            elif receiver_type == COMM_DEV_TYPE.GIMBAL:
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 04 0a c5 10 80 00 30 00 33 e4 e1"))
            else: # COMM_DEV_TYPE.LB_DM3XX_SKY
                ser.mock_data_for_read(bytes.fromhex("55 0f 04 a2 08 0a c6 0a c0 00 30 00 03 ba 92"))

    pktrpl, pktreq = send_request_and_receive_reply(po, ser,
      receiver_type, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.GENERAL, 0x30,
      payload, seqnum_check=True)

    if pktrpl is None:
        raise ConnectionError("No response on Encrypt {:s} request.".format(cmd.name))

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise ConnectionError("Unrecognized response to Encrypt {:s} request.".format(cmd.name))

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload, pktreq

def general_encrypt_configure_request_p3x(po, ser, receiver_type, target_type, boardsn, enckey):
    """ Sends Encrypt Pair/Configure request.
    """
    payload = DJIPayload_General_EncryptConfigRq()
    payload.command = DJIPayload_General_EncryptCmd.Config.value
    payload.oper_type = DJIPayload_General_EncryptOperType.WriteAll.value
    payload.config_magic = (c_ubyte * 8).from_buffer_copy(bytes([0xF0, 0xBD, 0xE3, 0x06, 0x81, 0x3E, 0x85, 0xCB]))
    payload.mod_type = target_type.value
    payload.board_sn = (c_ubyte * 10).from_buffer_copy(boardsn)
    payload.key = (c_ubyte * 32).from_buffer_copy(enckey)
    # MD5 of the board sn and key
    md5_sum = hashlib.md5()
    md5_sum.update(payload.board_sn)
    md5_sum.update(payload.key)
    payload.secure_num = (c_ubyte * 16).from_buffer_copy(md5_sum.digest())

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        if receiver_type == COMM_DEV_TYPE.CAMERA:
            ser.mock_data_for_read(bytes.fromhex("55 0e 04 66 01 0a 00 ff 80 00 30 00 fa 57"))
        elif receiver_type == COMM_DEV_TYPE.GIMBAL:
            ser.mock_data_for_read(bytes.fromhex("55 0e 04 66 04 0a 00 ff 80 00 30 00 9b c0"))
        else: # COMM_DEV_TYPE.LB_DM3XX_SKY
            ser.mock_data_for_read(bytes.fromhex("55 0e 04 66 08 0a 00 ff 80 00 30 00 f9 fb"))

    pktrpl, pktreq = send_request_and_receive_reply(po, ser,
      receiver_type, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.GENERAL, 0x30,
      payload, seqnum_check=True)

    if pktrpl is None:
        raise ConnectionError("No response from {:s} during Encrypt Pair {:s} request.".format(receiver_type.name, target_type.name))

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise ConnectionError("Unrecognized response from {:s} during Encrypt Pair {:s} request.".format(receiver_type.name, target_type.name))

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload, pktreq

def general_encrypt_configure_triple_request_p3x(po, ser, receiver_type, m01_boardsn, m01_enckey, m04_boardsn, m04_enckey, m08_boardsn, m08_enckey):
    """ Sends Triple Encrypt Pair/Configure request.
    """
    payload = DJIPayload_General_EncryptConfig3Rq()
    payload.command = DJIPayload_General_EncryptCmd.Config.value
    payload.oper_type = DJIPayload_General_EncryptOperType.WriteAll.value
    payload.config_magic = (c_ubyte * 8).from_buffer_copy(bytes([0xF0, 0xBD, 0xE3, 0x06, 0x81, 0x3E, 0x85, 0xCB]))
    payload.m01_mod_type = COMM_DEV_TYPE.CAMERA.value
    payload.m01_board_sn = (c_ubyte * 10).from_buffer_copy(m01_boardsn)
    payload.m01_key = (c_ubyte * 32).from_buffer_copy(m01_enckey)
    payload.m04_mod_type = COMM_DEV_TYPE.GIMBAL.value
    payload.m04_board_sn = (c_ubyte * 10).from_buffer_copy(m04_boardsn)
    payload.m04_key = (c_ubyte * 32).from_buffer_copy(m04_enckey)
    payload.m08_mod_type = COMM_DEV_TYPE.LB_DM3XX_SKY.value
    payload.m08_board_sn = (c_ubyte * 10).from_buffer_copy(m08_boardsn)
    payload.m08_key = (c_ubyte * 32).from_buffer_copy(m08_enckey)
    # MD5 of the board sn and key
    md5_sum = hashlib.md5()
    md5_sum.update(payload.m01_board_sn)
    md5_sum.update(payload.m01_key)
    payload.m01_secure_num = (c_ubyte * 16).from_buffer_copy(md5_sum.digest())
    md5_sum = hashlib.md5()
    md5_sum.update(payload.m04_board_sn)
    md5_sum.update(payload.m04_key)
    payload.m04_secure_num = (c_ubyte * 16).from_buffer_copy(md5_sum.digest())
    md5_sum = hashlib.md5()
    md5_sum.update(payload.m08_board_sn)
    md5_sum.update(payload.m08_key)
    payload.m08_secure_num = (c_ubyte * 16).from_buffer_copy(md5_sum.digest())

    if (po.verbose > 2):
        print("Prepared request - {:s}:".format(type(payload).__name__))
        print(payload)

    if po.dry_test:
        # use to test the code without a drone
        if receiver_type == COMM_DEV_TYPE.CAMERA:
            ser.mock_data_for_read(bytes.fromhex("55 0e 04 66 01 0a 00 ff 80 00 30 00 fa 57"))

    pktrpl, pktreq = send_request_and_receive_reply(po, ser,
      receiver_type, 0,
      ACK_TYPE.ACK_AFTER_EXEC,
      CMD_SET_TYPE.GENERAL, 0x30,
      payload, seqnum_check=True)

    if pktrpl is None:
        raise ConnectionError("No response from {:s} during Triple Encrypt Pair request.".format(receiver_type.name))

    rplhdr = DJICmdV1Header.from_buffer_copy(pktrpl)
    rplpayload = get_known_payload(rplhdr, pktrpl[sizeof(DJICmdV1Header):-2])

    if (rplpayload is None):
        raise ConnectionError("Unrecognized response from {:s} during Triple Encrypt Pair request.".format(receiver_type.name))

    if (po.verbose > 2):
        print("Parsed response - {:s}:".format(type(rplpayload).__name__))
        print(rplpayload)

    return rplpayload, pktreq

def do_camera_calib_request_p3x_encryptcheck(po, ser):
    """ Verifies Phantom 3 Camera Encryption Pairing.

        Tested on the following platforms and FW versions:
        P3X_FW_V01.07.0060 (2018-08-18)
    """

    result = True
    # Get module states; if state_flags 0x01 and 0x02 are set, then that module has working encryption

    modulestate, _ = general_encrypt_get_state_request_p3x(po, ser, COMM_DEV_TYPE.CAMERA, DJIPayload_General_EncryptCmd.GetModuleState)

    if (modulestate.state_flags & (0x01|0x02)) == (0x01|0x02):
        print("Confirmed proper key storage within {:s}.".format(COMM_DEV_TYPE.CAMERA.name))
    elif (modulestate.state_flags & (0x01|0x02)) == (0x01):
        print("Inconsistent key storage within {:s}.".format(COMM_DEV_TYPE.CAMERA.name))
        result = False
    else: # This means no flag set (it is impossible to get only 0x02 without 0x01)
        print("Uninitialized key verification system within {:s}.".format(COMM_DEV_TYPE.CAMERA.name))
        result = False

    # When LB_DM3XX_SKY receives GetModuleState command, it sends DoEncrypt to CAMERA and compares result with encryption using local key.bin
    modulestate, _ = general_encrypt_get_state_request_p3x(po, ser, COMM_DEV_TYPE.LB_DM3XX_SKY, DJIPayload_General_EncryptCmd.GetModuleState)

    if (modulestate.state_flags & (0x01|0x02)) == (0x01|0x02):
        print("Confirmed proper communication between {:s} and {:s}.".format(COMM_DEV_TYPE.LB_DM3XX_SKY.name, COMM_DEV_TYPE.CAMERA.name))
    elif (modulestate.state_flags & (0x01|0x02)) == (0x01):
        print("Inconsistent key encountered between {:s} and {:s}.".format(COMM_DEV_TYPE.LB_DM3XX_SKY.name, COMM_DEV_TYPE.CAMERA.name))
        result = False
    else: # This means no flag set (it is impossible to get only 0x02 without 0x01)
        print("No key file stored within {:s}.".format(COMM_DEV_TYPE.LB_DM3XX_SKY.name))
        result = False

    modulestate, _ = general_encrypt_get_state_request_p3x(po, ser, COMM_DEV_TYPE.GIMBAL, DJIPayload_General_EncryptCmd.GetModuleState)

    if (modulestate.state_flags & (0x01|0x02)) == (0x01|0x02):
        print("Confirmed proper key storage within {:s}.".format(COMM_DEV_TYPE.GIMBAL.name))
    elif (modulestate.state_flags & (0x01|0x02)) == (0x01):
        print("Inconsistent key storage within {:s}.".format(COMM_DEV_TYPE.GIMBAL.name))
        result = False
    else: # This means no flag set (it is impossible to get only 0x02 without 0x01)
        print("Uninitialized key verification system within {:s}.".format(COMM_DEV_TYPE.GIMBAL.name))
        result = False

    # Final recommendation
    if result:
        print("Encryption pairing NOT recommended.")
    else:
        print("Encryption pairing NEEDED.")

def do_camera_calib_request_p3x_encryptpair(po, ser):
    """ Initiates Phantom 3 Camera Encryption Pairing.

        Tested on the following platforms and FW versions:
        None
    """

    print("\nInfo: The tool will retrieve Board Serial Numbers of {:s}, {:s} and {:s}; ".format(
            COMM_DEV_TYPE.CAMERA.name, COMM_DEV_TYPE.GIMBAL.name, COMM_DEV_TYPE.LB_DM3XX_SKY.name) + \
        "then it will write new encryption key to some of them. It will take around 1 second.\n")

    print("WARNING: Do not use this command unless you know what you're doing! If SHA204 chip in your " \
        "gimbal has Config Zone locked (and all drones have it locked during production), this command " \
        "will just make encryption config inconsistent between the Camera and the SHA204 chip. " + \
        "The camera will then enter Authority Level 0 and will ignore most commands.\n")

    # Camera ChipState contains board serial numbersfor all 3 components
    chipstate, _ = general_encrypt_get_state_request_p3x(po, ser, COMM_DEV_TYPE.CAMERA, DJIPayload_General_EncryptCmd.GetChipState)

    if not po.force:
        raise ValueError("Use '--force' parameter if you really want to write new keys to the device.")

    print("Retrieved Board Serial Numbers; flashing new encryption key.")

    rplpayload, pktreq = general_encrypt_configure_triple_request_p3x(po, ser, COMM_DEV_TYPE.CAMERA, chipstate.m01_boardsn, po.pairkey, chipstate.m04_boardsn, po.pairkey, chipstate.m08_boardsn, po.pairkey)
    if rplpayload.status != 0:
        raise ValueError("Failure status {:d} returned from {:s} during Triple Encrypt Pair request.".format(rplpayload.status,COMM_DEV_TYPE.CAMERA.name))

    if False: # Do NOT send EncryptConfig to gimbal - camera should have sent it already
        rplpayload, pktreq = general_encrypt_configure_request_p3x(po, ser, COMM_DEV_TYPE.GIMBAL, COMM_DEV_TYPE.GIMBAL, chipstate.m04_boardsn, po.pairkey)
        if rplpayload.status != 0:
            raise ValueError("Failure status {:d} returned from {:s} during Encrypt Pair {:s} request.".format(rplpayload.status,COMM_DEV_TYPE.GIMBAL.name,COMM_DEV_TYPE.GIMBAL.name))

    if False: # Do NOT send EncryptConfig to DaVinci - camera should have sent it
        rplpayload, pktreq = general_encrypt_configure_request_p3x(po, ser, COMM_DEV_TYPE.LB_DM3XX_SKY, COMM_DEV_TYPE.LB_DM3XX_SKY, chipstate.m08_boardsn, po.pairkey)
        if rplpayload.status != 0:
            raise ValueError("Failure status {:d} returned from {:s} during Encrypt Pair {:s} request.".format(rplpayload.status,COMM_DEV_TYPE.LB_DM3XX_SKY.name,COMM_DEV_TYPE.LB_DM3XX_SKY.name))

    print("Pairing complete; try EncryptCheck command to verify.")

def do_camera_calib_request(po):
    ser = open_serial_port(po)

    if po.product.value >= PRODUCT_CODE.WM100.value:
        raise ValueError("Calibration for selected platform is not supported.")
    elif po.product.value >= PRODUCT_CODE.WM610.value:
        if po.subcmd == CAMERA_CALIB_CMD.ENCRYPTCHECK:
            do_camera_calib_request_p3x_encryptcheck(po, ser)
        elif po.subcmd == CAMERA_CALIB_CMD.ENCRYPTPAIR:
            if po.pairkey is None:
                po.pairkey = default_32byte_key
            if len(po.pairkey) != 32:
                raise ValueError("Length of encryption key must be 32 bytes, not {:d}.".format(len(po.pairkey)))
            do_camera_calib_request_p3x_encryptpair(po, ser)
        else:
            raise ValueError("Unrecognized {:s} command: {:s}.".format(po.svcmd.name, po.subcmd.name))
    else:
        raise ValueError("Calibration for selected platform is not supported.")

    ser.close()


def parse_product_code(s):
    """ Parses product code string in known formats.
    """
    s = s.upper()
    if s in ALT_PRODUCT_CODE:
        s = ALT_PRODUCT_CODE[s]
    return s

def main():
    """ Main executable function.

      Its task is to parse command line options and call a function which performs serial communication.
    """
    parser = argparse.ArgumentParser(description=__doc__)

    subparser = parser.add_mutually_exclusive_group(required=True)

    subparser.add_argument('--port', type=str,
            help='the serial port to write to and read from')

    subparser.add_argument('--bulk', action='store_true',
            help='use usb bulk instead of serial connection')

    parser.add_argument('product', metavar='product', choices=[i.name for i in PRODUCT_CODE], type=parse_product_code,
            help="target product code name; one of: {:s}".format(','.join(i.name for i in PRODUCT_CODE)))

    parser.add_argument('-b', '--baudrate', default=9600, type=int,
            help="the baudrate to use for the serial port (default is %(default)s)")

    parser.add_argument('-w', '--timeout', default=500, type=int,
            help="how long to wait for answer, in miliseconds (default is %(default)s)")

    parser.add_argument('--dry-test', action='store_true',
            help="internal testing mode; do not use real serial interface and use template answers from the drone.")

    parser.add_argument('-v', '--verbose', action='count', default=0,
            help="increases verbosity level; max level is set by -vvv")

    parser.add_argument('--version', action='version', version="%(prog)s {version} by {author}"
              .format(version=__version__,author=__author__),
            help="display version information and exit")

    subparsers = parser.add_subparsers(dest='svcmd', metavar='command',
            help="service command")

    subpar_flycpar = subparsers.add_parser('FlycParam',
            help="Flight Controller Parameters handling")

    subpar_flycpar_subcmd = subpar_flycpar.add_subparsers(dest='subcmd',
            help="Flyc Param Command")

    subpar_flycpar_list = subpar_flycpar_subcmd.add_parser('list',
            help="list FlyC Parameters")
    subpar_flycpar_list.add_argument('-s', '--start', default=0, type=int,
            help="starting index")
    subpar_flycpar_list.add_argument('-c', '--count', default=100, type=int,
            help="amount of entries to show")
    subpar_flycpar_list.add_argument('-f', '--fmt', default='simple', type=str,
            choices=['simple', '1line', '2line', 'tab', 'csv'],
            help="output format")

    subpar_flycpar_get = subpar_flycpar_subcmd.add_parser('get',
            help="get value of FlyC Param")
    subpar_flycpar_get.add_argument('param_name', type=str,
            help="name string of the requested parameter")
    subpar_flycpar_get.add_argument('--alt', action='store_true',
            help="use alternative way; try in case the normal one does not work")
    subpar_flycpar_get.add_argument('-f', '--fmt', default='simple', type=str,
            choices=['simple', '1line', '2line', 'tab', 'csv'],
            help="output format")

    subpar_flycpar_set = subpar_flycpar_subcmd.add_parser('set',
            help="update value of FlyC Param")
    subpar_flycpar_set.add_argument('param_name', type=str,
            help="name string of the parameter")
    subpar_flycpar_set.add_argument('param_value', type=str,
            help="new value of the parameter")
    subpar_flycpar_set.add_argument('--alt', action='store_true',
            help="use alternative way; try in case the normal one does not work")
    subpar_flycpar_set.add_argument('-f', '--fmt', default='simple', type=str,
            choices=['simple', '1line', '2line', 'tab', 'csv'],
            help="output format")

    subpar_gimbcal = subparsers.add_parser('GimbalCalib',
            help="Gimbal Calibration options")

    subpar_gimbcal_subcmd = subpar_gimbcal.add_subparsers(dest='subcmd',
            help="Gimbal Calibration Command")

    subpar_gimbcal_coarse = subpar_gimbcal_subcmd.add_parser('JointCoarse',
            help="gimbal Joint Coarse calibration; to be performed after " \
             "gimbal has been fixed or replaced, or is not straight")

    subpar_gimbcal_hall = subpar_gimbcal_subcmd.add_parser('LinearHall',
            help="gimbal Linear Hall calibration; to be performed always " \
             "after JointCoarse calibration")

    subpar_camcal = subparsers.add_parser('CameraCalib',
            help="Camera Calibration options")

    subpar_camcal_subcmd = subpar_camcal.add_subparsers(dest='subcmd',
            help="Camera Calibration Command")

    subpar_camcal_encryptcheck = subpar_camcal_subcmd.add_parser('EncryptCheck',
            help="verify encryption pairing between Camera, Gimbal and DM3xx; " \
             "returns whether pairing is required")

    subpar_camcal_encryptpair = subpar_camcal_subcmd.add_parser('EncryptPair',
            help="set encryption key to pair the Camera, Gimbal or DM3xx; " \
             "to be performed after replacing software in any of these chips; UNTESTED - may not work")

    subpar_camcal_encryptpair.add_argument('-k', '--pairkey', type=bytes.fromhex,
            help="Provide 32-byte pairing key as hex string")

    subpar_camcal_encryptpair.add_argument('--force', action='store_true',
            help="forces the keys to be written, even if this could " \
             "lead to inconsistent keys due to their read-only copy")

    po = parser.parse_args()

    po.product = PRODUCT_CODE.from_name(po.product)
    po.svcmd = SERVICE_CMD.from_name(po.svcmd)

    if po.svcmd == SERVICE_CMD.FlycParam:
        po.subcmd = FLYC_PARAM_CMD.from_name(po.subcmd.upper())
        do_flyc_param_request(po)
    elif po.svcmd == SERVICE_CMD.GimbalCalib:
        po.subcmd = GIMBAL_CALIB_CMD.from_name(po.subcmd.upper())
        do_gimbal_calib_request(po)
    elif po.svcmd == SERVICE_CMD.CameraCalib:
        po.subcmd = CAMERA_CALIB_CMD.from_name(po.subcmd.upper())
        do_camera_calib_request(po)

if __name__ == '__main__':
    try:
        main()
    except Exception as ex:
        eprint("Error: "+str(ex))
        #raise
        sys.exit(10)