static int
do_show(const char *search_string, bool only_changed)
{
PARAM_PRINT("Symbols: x = used, + = saved, * = unsaved\n");
param_foreach(do_show_print, (char *)search_string, only_changed, false);
PARAM_PRINT("\n %u parameters total, %u used.\n", param_count(), param_count_used());
return 0;
}
static int
do_show_index(const char *index, bool used_index)
{
char *end;
int i = strtol(index, &end, 10);
param_t param;
int32_t ii;
float ff;
if (used_index) {
param = param_for_used_index(i);
} else {
param = param_for_index(i);
}
if (param == PARAM_INVALID) {
PX4_ERR("param not found for index %u", i);
return 1;
}
PARAM_PRINT("index %d: %c %c %s [%d,%d] : ", i, (param_used(param) ? 'x' : ' '),
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param), param_get_used_index(param), param_get_index(param));
switch (param_type(param)) {
case PARAM_TYPE_INT32:
if (!param_get(param, &ii)) {
PARAM_PRINT("%ld\n", (long)ii);
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &ff)) {
PARAM_PRINT("%4.4f\n", (double)ff);
}
break;
default:
PARAM_PRINT("<unknown type %d>\n", 0 + param_type(param));
}
return 0;
}
void MsgEnvironment::print()
{
std::cout << "####################:\n";
std::cout << "MsgEnvironment:\n";
std::cout << "####################:\n";
std::cout << PARAM_PRINT(message);
std::cout << PARAM_PRINT(time);
std::cout << PARAM_PRINT(x_max);
std::cout << PARAM_PRINT(y_max);
std::cout << PARAM_PRINT(x_base_robot_start);
std::cout << PARAM_PRINT(y_base_robot_start);
std::cout << PARAM_PRINT(x_base_left_corner);
std::cout << PARAM_PRINT(y_base_left_corner);
std::cout << PARAM_PRINT(phi_base);
}
static int
do_find(const char *name)
{
param_t ret = param_find_no_notification(name);
if (ret == PARAM_INVALID) {
PX4_ERR("Parameter %s not found", name);
return 1;
}
PARAM_PRINT("Found param %s at index %" PRIxPTR "\n", name, ret);
return 0;
}
static int
do_set(const char *name, const char *val, bool fail_on_not_found)
{
int32_t i;
float f;
param_t param = param_find(name);
/* set nothing if parameter cannot be found */
if (param == PARAM_INVALID) {
/* param not found - fail silenty in scripts as it prevents booting */
PX4_ERR("Parameter %s not found.", name);
return (fail_on_not_found) ? 1 : 0;
}
/*
* Set parameter if type is known and conversion from string to value turns out fine
*/
switch (param_type(param)) {
case PARAM_TYPE_INT32:
if (!param_get(param, &i)) {
/* convert string */
char *end;
int32_t newval = strtol(val, &end, 10);
if (i != newval) {
PARAM_PRINT("%c %s: ",
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
PARAM_PRINT("curr: %ld", (long)i);
param_set_no_autosave(param, &newval);
PARAM_PRINT(" -> new: %ld\n", (long)newval);
}
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &f)) {
/* convert string */
char *end;
float newval = strtod(val, &end);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
if (f != newval) {
#pragma GCC diagnostic pop
PARAM_PRINT("%c %s: ",
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
PARAM_PRINT("curr: %4.4f", (double)f);
param_set_no_autosave(param, &newval);
PARAM_PRINT(" -> new: %4.4f\n", (double)newval);
}
}
break;
default:
PX4_ERR("<unknown / unsupported type %d>\n", 0 + param_type(param));
return 1;
}
int ret = param_save_default();
if (ret) {
PX4_ERR("Param save failed (%i)", ret);
return 1;
} else {
return 0;
}
}
static void
do_show_print(void *arg, param_t param)
{
int32_t i;
float f;
const char *search_string = (const char *)arg;
const char *p_name = (const char *)param_name(param);
/* print nothing if search string is invalid and not matching */
if (!(arg == NULL)) {
/* start search */
const char *ss = search_string;
const char *pp = p_name;
/* XXX this comparison is only ok for trailing wildcards */
while (*ss != '\0' && *pp != '\0') {
// case insensitive comparison (param_name is always upper case)
if (toupper(*ss) == *pp) {
ss++;
pp++;
} else if (*ss == '*') {
if (*(ss + 1) != '\0') {
PX4_WARN("* symbol only allowed at end of search string");
// FIXME - should exit
return;
}
pp++;
} else {
/* param not found */
return;
}
}
/* the search string must have been consumed */
if (!(*ss == '\0' || *ss == '*') || *pp != '\0') {
return;
}
}
PARAM_PRINT("%c %c %s [%d,%d] : ", (param_used(param) ? 'x' : ' '),
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param), param_get_used_index(param), param_get_index(param));
/*
* This case can be expanded to handle printing common structure types.
*/
switch (param_type(param)) {
case PARAM_TYPE_INT32:
if (!param_get(param, &i)) {
PARAM_PRINT("%ld\n", (long)i);
return;
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &f)) {
PARAM_PRINT("%4.4f\n", (double)f);
return;
}
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
PARAM_PRINT("<struct type %d size %zu>\n", 0 + param_type(param), param_size(param));
return;
default:
PARAM_PRINT("<unknown type %d>\n", 0 + param_type(param));
return;
}
PARAM_PRINT("<error fetching parameter %lu>\n", (unsigned long)param);
}
