int UavcanNode::list_params(int remote_node_id)
{
int rv = 0;
int index = 0;
uavcan::protocol::param::GetSet::Response resp;
set_setget_response(&resp);
while (true) {
uavcan::protocol::param::GetSet::Request req;
req.index = index++;
_callback_success = false;
int call_res = get_set_param(remote_node_id, nullptr, req);
if (call_res < 0 || !_callback_success) {
std::printf("Failed to get param: %d\n", call_res);
rv = -1;
break;
}
if (resp.name.empty()) { // Empty name means no such param, which means we're finished
break;
}
print_params(resp);
}
free_setget_response();
return rv;
}
int UavcanNode::get_param(int remote_node_id, const char *name)
{
uavcan::protocol::param::GetSet::Request req;
uavcan::protocol::param::GetSet::Response resp;
set_setget_response(&resp);
int rv = get_set_param(remote_node_id, name, req);
if (rv < 0 || resp.name.empty()) {
std::printf("Failed to get param: %s\n", name);
rv = -1;
} else {
print_params(resp);
rv = 0;
}
free_setget_response();
return rv;
}
int UavcanNode::set_param(int remote_node_id, const char *name, char *value)
{
uavcan::protocol::param::GetSet::Request req;
uavcan::protocol::param::GetSet::Response resp;
set_setget_response(&resp);
int rv = get_set_param(remote_node_id, name, req);
if (rv < 0 || resp.name.empty()) {
std::printf("Failed to retrieve param: %s\n", name);
rv = -1;
} else {
rv = 0;
req = {};
if (resp.value.is(uavcan::protocol::param::Value::Tag::integer_value)) {
int64_t i = std::strtoull(value, NULL, 10);
int64_t min = resp.min_value.to<uavcan::protocol::param::NumericValue::Tag::integer_value>();
int64_t max = resp.max_value.to<uavcan::protocol::param::NumericValue::Tag::integer_value>();
if (i >= min && i <= max) {
req.value.to<uavcan::protocol::param::Value::Tag::integer_value>() = i;
} else {
std::printf("Invalid value for: %s must be between %lld and %lld\n", name, min, max);
rv = -1;
}
} else if (resp.value.is(uavcan::protocol::param::Value::Tag::real_value)) {
float f = static_cast<float>(std::atof(value));
float min = resp.min_value.to<uavcan::protocol::param::NumericValue::Tag::real_value>();
float max = resp.max_value.to<uavcan::protocol::param::NumericValue::Tag::real_value>();
if (f >= min && f <= max) {
req.value.to<uavcan::protocol::param::Value::Tag::real_value>() = f;
} else {
std::printf("Invalid value for: %s must be between %.4f and %.4f\n", name, static_cast<double>(min),
static_cast<double>(max));
rv = -1;
}
} else if (resp.value.is(uavcan::protocol::param::Value::Tag::boolean_value)) {
int8_t i = (value[0] == '1' || value[0] == 't') ? 1 : 0;
req.value.to<uavcan::protocol::param::Value::Tag::boolean_value>() = i;
} else if (resp.value.is(uavcan::protocol::param::Value::Tag::string_value)) {
req.value.to<uavcan::protocol::param::Value::Tag::string_value>() = value;
}
if (rv == 0) {
rv = get_set_param(remote_node_id, name, req);
if (rv < 0 || resp.name.empty()) {
std::printf("Failed to set param: %s\n", name);
return -1;
}
return 0;
}
}
free_setget_response();
return rv;
}