int
param_reset(param_t param)
{
struct param_wbuf_s *s = NULL;
bool param_found = false;
param_lock();
if (handle_in_range(param)) {
/* look for a saved value */
s = param_find_changed(param);
/* if we found one, erase it */
if (s != NULL) {
int pos = utarray_eltidx(param_values, s);
utarray_erase(param_values, pos, 1);
}
param_found = true;
}
param_unlock();
if (s != NULL) {
param_notify_changes();
}
return (!param_found);
}
/**
* Obtain a pointer to the storage allocated for a parameter.
*
* @param param The parameter whose storage is sought.
* @return A pointer to the parameter value, or NULL
* if the parameter does not exist.
*/
static const void *
param_get_value_ptr(param_t param)
{
const void *result = NULL;
param_assert_locked();
if (handle_in_range(param)) {
const union param_value_u *v;
/* work out whether we're fetching the default or a written value */
struct param_wbuf_s *s = param_find_changed(param);
if (s != NULL) {
v = &s->val;
} else {
v = ¶m_info_base[param].val;
}
if (param_type(param) >= PARAM_TYPE_STRUCT &&
param_type(param) <= PARAM_TYPE_STRUCT_MAX) {
result = v->p;
} else {
result = v;
}
}
return result;
}
bool
param_value_unsaved(param_t param)
{
static struct param_wbuf_s *s;
s = param_find_changed(param);
return (s && s->unsaved) ? true : false;
}
bool
param_value_is_default(param_t param)
{
struct param_wbuf_s *s;
param_lock_reader();
s = param_find_changed(param);
param_unlock_reader();
return s ? false : true;
}
bool
param_value_unsaved(param_t param)
{
struct param_wbuf_s *s;
param_lock_reader();
s = param_find_changed(param);
bool ret = s && s->unsaved;
param_unlock_reader();
return ret;
}
void copy_params_to_shmem(struct param_info_s *param_info_base)
{
param_t param;
unsigned int i;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_ERR("Could not get shmem lock");
return;
}
PX4_DEBUG("%d krait params allocated", param_count());
for (param = 0; param < param_count(); param++) {
struct param_wbuf_s *s = param_find_changed(param);
if (s == NULL) {
shmem_info_p->params_val[param] = param_info_base[param].val;
} else {
shmem_info_p->params_val[param] = s->val;
}
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32) {
{
PX4_INFO("%d: written %d for param %s to shared mem",
param, shmem_info_p->params_val[param].i, param_name(param));
}
} else if (param_type(param) == PARAM_TYPE_FLOAT) {
{
PX4_INFO("%d: written %f for param %s to shared mem",
param, (double)shmem_info_p->params_val[param].f, param_name(param));
}
}
#endif
}
//PX4_DEBUG("written %u params to shmem offset %lu", param_count(), (unsigned char*)&shmem_info_p->params_count-(unsigned char*)shmem_info_p);
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
shmem_info_p->krait_changed_index[i] = 0;
adsp_changed_index[i] = 0;
}
release_shmem_lock();
}
void copy_params_to_shmem(const param_info_s *param_info_base)
{
param_t param;
unsigned int i;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
return;
}
//else PX4_INFO("Got lock\n");
for (param = 0; param < param_count(); param++) {
//{PX4_INFO("writing to offset %d\n", (unsigned char*)(shmem_info_p->adsp_params[param].name)-(unsigned char*)shmem_info_p);}
struct param_wbuf_s *s = param_find_changed(param);
if (s == NULL) {
shmem_info_p->params_val[param] = param_info_base[param].val;
}
else {
shmem_info_p->params_val[param] = s->val;
}
#ifdef SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("%d: written %d for param %s to shared mem", param, shmem_info_p->params_val[param].i, param_name(param));
} else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("%d: written %f for param %s to shared mem", param, shmem_info_p->params_val[param].f, param_name(param));
}
#endif
}
for (i = 0; i < MAX_SHMEM_PARAMS / 8 + 1; i++) {
shmem_info_p->adsp_changed_index[i] = 0;
krait_changed_index[i] = 0;
}
release_shmem_lock(__FILE__, __LINE__);
//PX4_INFO("Released lock\n");
}
static int
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes)
{
int result = -1;
bool params_changed = false;
param_lock();
if (param_values == NULL) {
utarray_new(param_values, ¶m_icd);
}
if (param_values == NULL) {
debug("failed to allocate modified values array");
goto out;
}
if (handle_in_range(param)) {
struct param_wbuf_s *s = param_find_changed(param);
if (s == NULL) {
/* construct a new parameter */
struct param_wbuf_s buf = {
.param = param,
.val.p = NULL,
.unsaved = false
};
/* add it to the array and sort */
utarray_push_back(param_values, &buf);
utarray_sort(param_values, param_compare_values);
/* find it after sorting */
s = param_find_changed(param);
}
/* update the changed value */
switch (param_type(param)) {
case PARAM_TYPE_INT32:
s->val.i = *(int32_t *)val;
break;
case PARAM_TYPE_FLOAT:
s->val.f = *(float *)val;
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
if (s->val.p == NULL) {
s->val.p = malloc(param_size(param));
if (s->val.p == NULL) {
debug("failed to allocate parameter storage");
goto out;
}
}
memcpy(s->val.p, val, param_size(param));
break;
default:
goto out;
}
s->unsaved = !mark_saved;
params_changed = true;
result = 0;
}
out:
param_unlock();
/*
* If we set something, now that we have unlocked, go ahead and advertise that
* a thing has been set.
*/
if (params_changed && notify_changes) {
param_notify_changes();
}
return result;
}
int
param_set(param_t param, const void *val)
{
return param_set_internal(param, val, false, true);
}
int
param_set_no_notification(param_t param, const void *val)
{
return param_set_internal(param, val, false, false);
}
bool
param_used(param_t param)
{
int param_index = param_get_index(param);
if (param_index < 0) {
return false;
}
return param_changed_storage[param_index / bits_per_allocation_unit] &
(1 << param_index % bits_per_allocation_unit);
}
bool
param_value_is_default(param_t param)
{
return param_find_changed(param) ? false : true;
}
static int
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes)
{
int result = -1;
bool params_changed = false;
param_lock_writer();
perf_begin(param_set_perf);
if (param_values == NULL) {
utarray_new(param_values, ¶m_icd);
}
if (param_values == NULL) {
PX4_ERR("failed to allocate modified values array");
goto out;
}
if (handle_in_range(param)) {
struct param_wbuf_s *s = param_find_changed(param);
if (s == NULL) {
/* construct a new parameter */
struct param_wbuf_s buf = {
.param = param,
.val.p = NULL,
.unsaved = false
};
params_changed = true;
/* add it to the array and sort */
utarray_push_back(param_values, &buf);
utarray_sort(param_values, param_compare_values);
/* find it after sorting */
s = param_find_changed(param);
}
/* update the changed value */
switch (param_type(param)) {
case PARAM_TYPE_INT32:
params_changed = params_changed || s->val.i != *(int32_t *)val;
s->val.i = *(int32_t *)val;
break;
case PARAM_TYPE_FLOAT:
params_changed = params_changed || fabsf(s->val.f - * (float *)val) > FLT_EPSILON;
s->val.f = *(float *)val;
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
if (s->val.p == NULL) {
size_t psize = param_size(param);
if (psize > 0) {
s->val.p = malloc(psize);
} else {
s->val.p = NULL;
}
if (s->val.p == NULL) {
PX4_ERR("failed to allocate parameter storage");
goto out;
}
}
memcpy(s->val.p, val, param_size(param));
params_changed = true;
break;
default:
goto out;
}
s->unsaved = !mark_saved;
result = 0;
if (!mark_saved) { // this is false when importing parameters
param_autosave();
}
}
out:
perf_end(param_set_perf);
param_unlock_writer();
/*
* If we set something, now that we have unlocked, go ahead and advertise that
* a thing has been set.
*/
if (params_changed && notify_changes) {
_param_notify_changes();
}
return result;
}
#if defined(FLASH_BASED_PARAMS)
int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes)
{
return param_set_internal(param, val, mark_saved, notify_changes);
}
const void *param_get_value_ptr_external(param_t param)
{
return param_get_value_ptr(param);
}
#endif
int
param_set(param_t param, const void *val)
{
return param_set_internal(param, val, false, true);
}
int
param_set_no_notification(param_t param, const void *val)
{
return param_set_internal(param, val, false, false);
}
bool
param_used(param_t param)
{
int param_index = param_get_index(param);
if (param_index < 0) {
return false;
}
return param_changed_storage[param_index / bits_per_allocation_unit] &
(1 << param_index % bits_per_allocation_unit);
}
static int
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved)
{
int result = -1;
bool params_changed = false;
PX4_DEBUG("param_set_internal params: param = %d, val = 0x%X, mark_saved: %d, notify_changes: %d",
param, val, (int)mark_saved, (int)notify_changes);
param_lock();
if (!handle_in_range(param)) {
return result;
}
mark_saved = true; //mark all params as saved
if (param_values == NULL) {
utarray_new(param_values, ¶m_icd);
}
if (param_values == NULL) {
debug("failed to allocate modified values array");
goto out;
}
if (handle_in_range(param)) {
struct param_wbuf_s *s = param_find_changed(param);
if (s == NULL) {
/* construct a new parameter */
struct param_wbuf_s buf = {
.param = param,
.val.p = NULL,
.unsaved = false
};
/* add it to the array and sort */
utarray_push_back(param_values, &buf);
utarray_sort(param_values, param_compare_values);
/* find it after sorting */
s = param_find_changed(param);
}
/* update the changed value */
switch (param_type(param)) {
case PARAM_TYPE_INT32:
s->val.i = *(int32_t *)val;
break;
case PARAM_TYPE_FLOAT:
s->val.f = *(float *)val;
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
if (s->val.p == NULL) {
s->val.p = malloc(param_size(param));
if (s->val.p == NULL) {
debug("failed to allocate parameter storage");
goto out;
}
}
memcpy(s->val.p, val, param_size(param));
break;
default:
goto out;
}
s->unsaved = !mark_saved;
params_changed = true;
result = 0;
}
out:
param_unlock();
/*
* If we set something, now that we have unlocked, go ahead and advertise that
* a thing has been set.
*/
if (!param_import_done) { notify_changes = 0; }
if (params_changed && notify_changes) {
param_notify_changes(is_saved);
}
if (result == 0 && !set_called_from_get) {
update_to_shmem(param, *(union param_value_u *)val);
}
#ifdef ENABLE_SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("param_set for %s : %d\n", param_name(param), ((union param_value_u *)val)->i);
}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("param_set for %s : %f\n", param_name(param), (double)((union param_value_u *)val)->f);
}
else {
PX4_INFO("Unknown param type for %s\n", param_name(param));
}
#endif
return result;
}
int
param_set(param_t param, const void *val)
{
return param_set_internal(param, val, false, true, false);
}
int
param_set_no_autosave(param_t param, const void *val)
{
return param_set_internal(param, val, false, true, true);
}
int
param_set_no_notification(param_t param, const void *val)
{
return param_set_internal(param, val, false, false, false);
}
bool
param_used(param_t param)
{
// TODO FIXME: for now all params are used
return true;
int param_index = param_get_index(param);
if (param_index < 0) {
return false;
}
return param_changed_storage[param_index / bits_per_allocation_unit] &
(1 << param_index % bits_per_allocation_unit);
}
void param_set_used_internal(param_t param)
{
int param_index = param_get_index(param);
if (param_index < 0) {
return;
}
param_changed_storage[param_index / bits_per_allocation_unit] |=
(1 << param_index % bits_per_allocation_unit);
}
static int
param_set_internal(param_t param, const void *val, bool mark_saved)
{
int result = -1;
bool params_changed = false;
param_lock();
if (param_values == NULL)
utarray_new(param_values, ¶m_icd);
if (param_values == NULL) {
debug("failed to allocate modified values array");
goto out;
}
if (handle_in_range(param)) {
struct param_wbuf_s *s = param_find_changed(param);
if (s == NULL) {
/* construct a new parameter */
struct param_wbuf_s buf = {
.param = param,
.val.p = NULL,
.unsaved = false
};
/* add it to the array and sort */
utarray_push_back(param_values, &buf);
utarray_sort(param_values, param_compare_values);
/* find it after sorting */
s = param_find_changed(param);
}
/* update the changed value */
switch (param_type(param)) {
case PARAM_TYPE_INT32:
s->val.i = *(int32_t *)val;
break;
case PARAM_TYPE_FLOAT:
s->val.f = *(float *)val;
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
if (s->val.p == NULL) {
s->val.p = malloc(param_size(param));
if (s->val.p == NULL) {
debug("failed to allocate parameter storage");
goto out;
}
}
memcpy(s->val.p, val, param_size(param));
break;
default:
goto out;
}
s->unsaved = !mark_saved;
params_changed = true;
result = 0;
}
out:
param_unlock();
/*
* If we set something, now that we have unlocked, go ahead and advertise that
* a thing has been set.
*/
if (params_changed)
param_notify_changes();
return result;
}
int
param_set(param_t param, const void *val)
{
return param_set_internal(param, val, false);
}
void
param_reset(param_t param)
{
struct param_wbuf_s *s = NULL;
param_lock();
if (handle_in_range(param)) {
/* look for a saved value */
s = param_find_changed(param);
/* if we found one, erase it */
if (s != NULL) {
int pos = utarray_eltidx(param_values, s);
utarray_erase(param_values, pos, 1);
}
}
param_unlock();
if (s != NULL)
param_notify_changes();
}
void
param_reset_all(void)
{
param_lock();
if (param_values != NULL) {
utarray_free(param_values);
}
/* mark as reset / deleted */
param_values = NULL;
param_unlock();
param_notify_changes();
}
