void param_set_used_internal(param_t param)
{
int param_index = param_get_index(param);
if (param_index < 0) {
return;
}
unsigned bitindex = param_index - (param_index / sizeof(param_changed_storage[0]));
param_changed_storage[param_index / sizeof(param_changed_storage[0])] |= (1 << bitindex);
}
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);
}
int Mavlink::mavlink_pm_send_param(param_t param)
{
if (param == PARAM_INVALID) { return 1; }
/* buffers for param transmission */
char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
float val_buf;
mavlink_message_t tx_msg;
/* query parameter type */
param_type_t type = param_type(param);
/* copy parameter name */
strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/*
* Map onboard parameter type to MAVLink type,
* endianess matches (both little endian)
*/
uint8_t mavlink_type;
if (type == PARAM_TYPE_INT32) {
mavlink_type = MAVLINK_TYPE_INT32_T;
} else if (type == PARAM_TYPE_FLOAT) {
mavlink_type = MAVLINK_TYPE_FLOAT;
} else {
mavlink_type = MAVLINK_TYPE_FLOAT;
}
/*
* get param value, since MAVLink encodes float and int params in the same
* space during transmission, copy param onto float val_buf
*/
int ret;
if ((ret = param_get(param, &val_buf)) != OK) {
return ret;
}
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
_channel,
&tx_msg,
name_buf,
val_buf,
mavlink_type,
param_count(),
param_get_index(param));
send_message(&tx_msg);
return OK;
}
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
MavlinkParametersManager::send_param(param_t param)
{
if (param == PARAM_INVALID) {
return;
}
mavlink_param_value_t msg;
/*
* get param value, since MAVLink encodes float and int params in the same
* space during transmission, copy param onto float val_buf
*/
if (param_get(param, &msg.param_value) != OK) {
return;
}
msg.param_count = param_count();
msg.param_index = param_get_index(param);
/* copy parameter name */
strncpy(msg.param_id, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* query parameter type */
param_type_t type = param_type(param);
/*
* Map onboard parameter type to MAVLink type,
* endianess matches (both little endian)
*/
if (type == PARAM_TYPE_INT32) {
msg.param_type = MAVLINK_TYPE_INT32_T;
} else if (type == PARAM_TYPE_FLOAT) {
msg.param_type = MAVLINK_TYPE_FLOAT;
} else {
msg.param_type = MAVLINK_TYPE_FLOAT;
}
_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
}
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);
}
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 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);
}