How to use the uavcan.protocol.param.GetSet.Request function in uavcan

def _request_next(self):
        def callback(event):
            if event:
                value, value_type = extract_value(event.response.value)
                self.q.put(Parameter(name=str(event.response.name), value=value, type=value_type))
                if len(event.response.name) == 0:
                    self.done = True
            else:
                self.logger.warning('Service request has timed out!')
                self.q.put(None)
                self.done = True

        self.node.request(uavcan.protocol.param.GetSet.Request(index=self.index), self.node_id, callback)
        self.index = self.index + 1

def set_antenna_delay(node, value):
    request = uavcan.protocol.param.GetSet.Request()
    request.name = '/uwb/antenna_delay'
    request.value = uavcan.protocol.param.Value(real_value=value)

#print(uavcan.to_yaml(event))
            if return_yaml:
                param_yaml = uavcan.to_yaml(event)
            else:
                param_dict['name'] = str(event.transfer.payload.name)
                if hasattr(event.transfer.payload.value,'integer_value'):
                    param_dict['value'] = event.transfer.payload.value.integer_value
                if hasattr(event.transfer.payload.value,'real_value'):
                    param_dict['value'] = event.transfer.payload.value.real_value
    
    tmo_time = time.time() + 5.0
    while not is_valid:
        if time.time() > tmo_time: break
        response_received = False
        if is_name:
            node.request(uavcan.protocol.param.GetSet.Request(
                        index = 0,
                        #value = uavcan.protocol.param.Value(empty=uavcan.protocol.param.Empty()),
                        name = str(indnam)
                    ),
                    target_node_id,
                    param_getset_response
                )
        else:
            node.request(uavcan.protocol.param.GetSet.Request(
                        index = int(indnam),
                        #value = uavcan.protocol.param.Value(empty=uavcan.protocol.param.Empty()),
                        #name = ''
                    ),
                    target_node_id,
                    param_getset_response
                )

value = float(self._value_widget.text())
                self._param_struct.value.real_value = value
            elif value_type == 'boolean_value':
                value = bool(self._value_widget.isChecked())
                self._param_struct.value.boolean_value = value
            elif value_type == 'string_value':
                value = self._value_widget.text()
                self._param_struct.value.string_value = value
            else:
                raise RuntimeError('This is not happening!')
        except Exception as ex:
            show_error('Format error', 'Could not parse value', ex, self)
            return

        try:
            request = uavcan.protocol.param.GetSet.Request(name=self._param_struct.name,
                                                           value=self._param_struct.value)
            logger.info('Sending param set request: %s', request)
            self._node.request(request, self._target_node_id, self._on_response, priority=REQUEST_PRIORITY)
        except Exception as ex:
            show_error('Node error', 'Could not send param set request', ex, self)
        else:
            self.show_message('Set request sent')

def _do_fetch(self):
        try:
            request = uavcan.protocol.param.GetSet.Request(name=self._param_struct.name)
            self._node.request(request, self._target_node_id, self._on_response, priority=REQUEST_PRIORITY)
        except Exception as ex:
            show_error('Node error', 'Could not send param get request', ex, self)
        else:
            self.show_message('Fetch request sent')