bool ParameterTest::exportImportAll()
{
static constexpr float MAGIC_FLOAT_VAL = 0.217828f;
// backup current parameters
const char *param_file_name = PX4_STORAGEDIR "/param_backup";
int fd = open(param_file_name, O_WRONLY | O_CREAT, PX4_O_MODE_666);
if (fd < 0) {
PX4_ERR("open '%s' failed (%i)", param_file_name, errno);
return false;
}
int result = param_export(fd, false);
if (result != PX4_OK) {
PX4_ERR("param_export failed");
close(fd);
return false;
}
close(fd);
bool ret = true;
int N = param_count();
// set all params to corresponding param_t value
for (unsigned i = 0; i < N; i++) {
param_t p = param_for_index(i);
if (p == PARAM_INVALID) {
PX4_ERR("param invalid: %d(%d)", p, i);
break;
}
if (param_type(p) == PARAM_TYPE_INT32) {
const int32_t set_val = p;
if (param_set_no_notification(p, &set_val) != PX4_OK) {
PX4_ERR("param_set_no_notification failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
int32_t get_val = 0;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", p, get_val);
}
if (param_type(p) == PARAM_TYPE_FLOAT) {
const float set_val = (float)p + MAGIC_FLOAT_VAL;
if (param_set_no_notification(p, &set_val) != PX4_OK) {
PX4_ERR("param_set_no_notification failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
float get_val = 0.0f;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", p, (float)p + MAGIC_FLOAT_VAL);
}
}
// save
if (param_save_default() != PX4_OK) {
PX4_ERR("param_save_default failed");
return false;
}
// zero all params and verify, but don't save
for (unsigned i = 0; i < N; i++) {
param_t p = param_for_index(i);
if (param_type(p) == PARAM_TYPE_INT32) {
const int32_t set_val = 0;
if (param_set_no_notification(p, &set_val) != PX4_OK) {
PX4_ERR("param set failed: %d", p);
ut_assert("param_set_no_notification failed", false);
}
int32_t get_val = -1;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", set_val, get_val);
}
if (param_type(p) == PARAM_TYPE_FLOAT) {
float set_val = 0.0f;
if (param_set_no_notification(p, &set_val) != PX4_OK) {
PX4_ERR("param set failed: %d", p);
ut_assert("param_set_no_notification failed", false);
}
float get_val = -1.0f;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", set_val, get_val);
}
}
// load saved params
if (param_load_default() != PX4_OK) {
PX4_ERR("param_save_default failed");
ret = true;
}
// check every param
for (unsigned i = 0; i < N; i++) {
param_t p = param_for_index(i);
if (param_type(p) == PARAM_TYPE_INT32) {
int32_t get_val = 0;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", p, get_val);
}
if (param_type(p) == PARAM_TYPE_FLOAT) {
float get_val = 0.0f;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", p, (float)p + MAGIC_FLOAT_VAL);
}
}
param_reset_all();
// restore original params
fd = open(param_file_name, O_RDONLY);
if (fd < 0) {
PX4_ERR("open '%s' failed (%i)", param_file_name, errno);
return false;
}
result = param_import(fd);
close(fd);
if (result < 0) {
PX4_ERR("importing from '%s' failed (%i)", param_file_name, result);
return false;
}
// save
if (param_save_default() != PX4_OK) {
PX4_ERR("param_save_default failed");
return false;
}
return ret;
}
static int
do_load(const char *param_file_name)
{
return param_load_default();
}
bool ParameterTest::exportImport()
{
static constexpr float MAGIC_FLOAT_VAL = 0.314159f;
bool ret = true;
param_t test_params[] = {p0, p1, p2, p3, p4};
// set all params to corresponding param_t value
for (auto p : test_params) {
if (param_type(p) == PARAM_TYPE_INT32) {
const int32_t set_val = p;
if (param_set_no_notification(p, &set_val) != PX4_OK) {
PX4_ERR("param_set_no_notification failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
int32_t get_val = 0;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", p, get_val);
}
if (param_type(p) == PARAM_TYPE_FLOAT) {
const float set_val = (float)p + MAGIC_FLOAT_VAL;
if (param_set_no_notification(p, &set_val) != PX4_OK) {
PX4_ERR("param_set_no_notification failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
float get_val = 0.0f;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", p, (float)p + MAGIC_FLOAT_VAL);
}
}
// save
if (param_save_default() != PX4_OK) {
PX4_ERR("param_save_default failed");
return false;
}
// zero all params and verify, but don't save
for (auto p : test_params) {
if (param_type(p) == PARAM_TYPE_INT32) {
const int32_t set_val = 0;
if (param_set_no_notification(p, &set_val) != PX4_OK) {
PX4_ERR("param_set_no_notification failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
int32_t get_val = -1;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", set_val, get_val);
}
if (param_type(p) == PARAM_TYPE_FLOAT) {
const float set_val = 0.0f;
if (param_set_no_notification(p, &set_val) != PX4_OK) {
PX4_ERR("param_set_no_notification failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
float get_val = -1.0f;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare_float("value for param doesn't match default value", set_val, get_val, 0.001f);
}
}
// load saved params
if (param_load_default() != PX4_OK) {
PX4_ERR("param_save_default failed");
ret = true;
}
// check every param
for (auto p : test_params) {
if (param_type(p) == PARAM_TYPE_INT32) {
int32_t get_val = 0.0f;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare("value for param doesn't match default value", p, get_val);
}
if (param_type(p) == PARAM_TYPE_FLOAT) {
float get_val = 0.0f;
if (param_get(p, &get_val) != PX4_OK) {
PX4_ERR("param_get failed for: %d", p);
ut_assert("param_set_no_notification failed", false);
}
ut_compare_float("value for param doesn't match default value", p, (float)p + MAGIC_FLOAT_VAL, 0.001f);
}
}
return ret;
}
