Updated supervisor callback to include the commands

Author: ArisMorgens

cflib/crazyflie/supervisor.py

@@ -87,7 +87,7 @@ def __init__(self, crazyflie):
         self._last_fetch_time = 0
         self._bitfield = None
         self._cf.add_port_callback(CRTPPort.SUPERVISOR, self._supervisor_callback)
-        self._response_received = False
+        self._bitfield_response_received = False
 
     def _supervisor_callback(self, pk: CRTPPacket):
         """
@@ -101,9 +101,19 @@ def _supervisor_callback(self, pk: CRTPPacket):
             orig_cmd = cmd & 0x7F
             if orig_cmd == CMD_GET_STATE_BITFIELD:
                 self._bitfield = int.from_bytes(pk.data[1:], byteorder='little')
-                self._response_received = True
+                self._bitfield_response_received = True
                 logger.info(f'Supervisor bitfield received: 0x{self._bitfield:04X}')
 
+            elif orig_cmd == CMD_ARM_SYSTEM:
+                success = bool(pk.data[1])
+                is_armed = bool(pk.data[2])
+                logger.info(f'Arm response: success={success}, is_armed={is_armed}')
+
+            elif orig_cmd == CMD_RECOVER_SYSTEM:
+                success = bool(pk.data[1])
+                recovered = bool(pk.data[2])
+                logger.info(f'Recovery response: success={success}, recovered={recovered}')
+
     def _fetch_bitfield(self, timeout=0.2):
         """
         Request the bitfield and wait for response (blocking).
@@ -116,15 +126,15 @@ def _fetch_bitfield(self, timeout=0.2):
             return self._bitfield
 
         # Send a new request
-        self._response_received = False
+        self._bitfield_response_received = False
         pk = CRTPPacket()
         pk.set_header(CRTPPort.SUPERVISOR, SUPERVISOR_CH_INFO)
         pk.data = [CMD_GET_STATE_BITFIELD]
         self._cf.send_packet(pk)
 
         # Wait for response
         start_time = now
-        while not self._response_received:
+        while not self._bitfield_response_received:
             if time.time() - start_time > timeout:
                 logger.warning('Timeout waiting for supervisor bitfield response')
                 return self._bitfield or 0  # still return last known value