// Find a variable by name.
//
AP_Param *
AP_Param::find(const char *name, enum ap_var_type *ptype)
{
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
if (type == AP_PARAM_GROUP) {
uint8_t len = strnlen_P(_var_info[i].name, AP_MAX_NAME_SIZE);
if (strncmp_P(name, _var_info[i].name, len) != 0) {
continue;
}
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
AP_Param *ap = find_group(name + len, i, group_info, ptype);
if (ap != NULL) {
return ap;
}
// we continue looking as we want to allow top level
// parameter to have the same prefix name as group
// parameters, for example CAM_P_G
} else if (strcasecmp_P(name, _var_info[i].name) == 0) {
*ptype = (enum ap_var_type)type;
return (AP_Param *)PGM_POINTER(&_var_info[i].ptr);
}
}
return NULL;
}
// find the info structure for a variable
const struct AP_Param::Info *AP_Param::find_var_info_token(const ParamToken *token,
uint32_t * group_element,
const struct GroupInfo ** group_ret,
uint8_t * idx)
{
uint8_t i = token->key;
uint8_t type = PGM_UINT8(&_var_info[i].type);
uintptr_t base = PGM_POINTER(&_var_info[i].ptr);
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
const struct AP_Param::Info *info;
info = find_var_info_group(group_info, i, 0, 0, group_element, group_ret, idx);
if (info != NULL) {
return info;
}
} else if (base == (uintptr_t) this) {
*group_element = 0;
*group_ret = NULL;
*idx = 0;
return &_var_info[i];
} else if (type == AP_PARAM_VECTOR3F &&
(base+sizeof(float) == (uintptr_t) this ||
base+2*sizeof(float) == (uintptr_t) this)) {
// we are inside a Vector3f. Work out which element we are
// referring to.
*idx = (((uintptr_t) this) - base)/sizeof(float);
*group_element = 0;
*group_ret = NULL;
return &_var_info[i];
}
return NULL;
}
// find the info structure for a variable in a group
const struct AP_Param::Info *AP_Param::find_var_info_group(const struct GroupInfo * group_info,
uint8_t vindex,
uint8_t group_base,
uint8_t group_shift,
uint32_t * group_element,
const struct GroupInfo **group_ret,
uint8_t * idx)
{
uintptr_t base = PGM_POINTER(&_var_info[vindex].ptr);
uint8_t type;
for (uint8_t i=0;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
uintptr_t ofs = PGM_POINTER(&group_info[i].offset);
#ifdef AP_NESTED_GROUPS_ENABLED
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
// a nested group
if (group_shift + _group_level_shift >= _group_bits) {
// too deeply nested - this should have been caught by
// setup() !
return NULL;
}
const struct AP_Param::Info *info;
info = find_var_info_group(ginfo, vindex,
GROUP_ID(group_info, group_base, i, group_shift),
group_shift + _group_level_shift,
group_element,
group_ret,
idx);
if (info != NULL) {
return info;
}
} else // Forgive the poor formatting - if continues below.
#endif // AP_NESTED_GROUPS_ENABLED
if ((uintptr_t) this == base + ofs) {
*group_element = GROUP_ID(group_info, group_base, i, group_shift);
*group_ret = &group_info[i];
*idx = 0;
return &_var_info[vindex];
} else if (type == AP_PARAM_VECTOR3F &&
(base+ofs+sizeof(float) == (uintptr_t) this ||
base+ofs+2*sizeof(float) == (uintptr_t) this)) {
// we are inside a Vector3f. We need to work out which
// element of the vector the current object refers to.
*idx = (((uintptr_t) this) - (base+ofs))/sizeof(float);
*group_element = GROUP_ID(group_info, group_base, i, group_shift);
*group_ret = &group_info[i];
return &_var_info[vindex];
}
}
return NULL;
}
/// Returns the next variable in a group, recursing into groups
/// as needed
AP_Param *AP_Param::next_group(uint8_t vindex, const struct GroupInfo *group_info,
bool *found_current,
uint8_t group_base,
uint8_t group_shift,
ParamToken *token,
enum ap_var_type *ptype)
{
enum ap_var_type type;
for (uint8_t i=0;
(type=(enum ap_var_type)PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
#ifdef AP_NESTED_GROUPS_ENABLED
if (type == AP_PARAM_GROUP) {
// a nested group
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
AP_Param *ap;
ap = next_group(vindex, ginfo, found_current, GROUP_ID(group_info, group_base, i, group_shift),
group_shift + _group_level_shift, token, ptype);
if (ap != NULL) {
return ap;
}
} else
#endif // AP_NESTED_GROUPS_ENABLED
{
if (*found_current) {
// got a new one
token->key = vindex;
token->group_element = GROUP_ID(group_info, group_base, i, group_shift);
token->idx = 0;
if (ptype != NULL) {
*ptype = type;
}
return (AP_Param*)(PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset));
}
if (GROUP_ID(group_info, group_base, i, group_shift) == token->group_element) {
*found_current = true;
if (type == AP_PARAM_VECTOR3F && token->idx < 3) {
// return the next element of the vector as a
// float
token->idx++;
if (ptype != NULL) {
*ptype = AP_PARAM_FLOAT;
}
uintptr_t ofs = (uintptr_t)PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset);
ofs += sizeof(float)*(token->idx-1);
return (AP_Param *)ofs;
}
}
}
}
return NULL;
}
// Load the variable from EEPROM, if supported
//
bool AP_Param::load(void)
{
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
uint8_t idx;
const struct AP_Param::Info *info = find_var_info(&group_element, &ginfo, &idx);
if (info == NULL) {
// we don't have any info on how to load it
return false;
}
struct Param_header phdr;
// create the header we will use to match the variable
if (ginfo != NULL) {
phdr.type = PGM_UINT8(&ginfo->type);
} else {
phdr.type = PGM_UINT8(&info->type);
}
phdr.key = PGM_UINT8(&info->key);
phdr.group_element = group_element;
// scan EEPROM to find the right location
uint16_t ofs;
if (!scan(&phdr, &ofs)) {
// if the value isn't stored in EEPROM then set the default value
if (ginfo != NULL) {
uintptr_t base = PGM_POINTER(&info->ptr);
set_value((enum ap_var_type)phdr.type, (void*)(base + PGM_UINT16(&ginfo->offset)),
get_default_value(&ginfo->def_value));
} else {
set_value((enum ap_var_type)phdr.type, (void*)PGM_POINTER(&info->ptr),
get_default_value(&info->def_value));
}
return false;
}
if (phdr.type != AP_PARAM_VECTOR3F && idx != 0) {
// only vector3f can have non-zero idx for now
return false;
}
AP_Param *ap;
ap = this;
if (idx != 0) {
ap = (AP_Param *)((uintptr_t)ap) - (idx*sizeof(float));
}
// found it
_storage.read_block(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
return true;
}
/// Returns the next variable in _var_info, recursing into groups
/// as needed
AP_Param *AP_Param::next(ParamToken *token, enum ap_var_type *ptype)
{
uint8_t i = token->key;
bool found_current = false;
if (i >= _num_vars) {
// illegal token
return NULL;
}
enum ap_var_type type = (enum ap_var_type)PGM_UINT8(&_var_info[i].type);
// allow Vector3f to be seen as 3 variables. First as a vector,
// then as 3 separate floats
if (type == AP_PARAM_VECTOR3F && token->idx < 3) {
token->idx++;
if (ptype != NULL) {
*ptype = AP_PARAM_FLOAT;
}
return (AP_Param *)(((token->idx-1)*sizeof(float))+(uintptr_t)PGM_POINTER(&_var_info[i].ptr));
}
if (type != AP_PARAM_GROUP) {
i++;
found_current = true;
}
for (; i<_num_vars; i++) {
type = (enum ap_var_type)PGM_UINT8(&_var_info[i].type);
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
AP_Param *ap = next_group(i, group_info, &found_current, 0, 0, token, ptype);
if (ap != NULL) {
return ap;
}
} else {
// found the next one
token->key = i;
token->group_element = 0;
token->idx = 0;
if (ptype != NULL) {
*ptype = type;
}
return (AP_Param *)(PGM_POINTER(&_var_info[i].ptr));
}
}
return NULL;
}
// Find a variable by name in a group
AP_Param *
AP_Param::find_group(const char *name, uint8_t vindex, const struct GroupInfo *group_info, enum ap_var_type *ptype)
{
uint8_t type;
for (uint8_t i=0;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
#ifdef AP_NESTED_GROUPS_ENABLED
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
AP_Param *ap = find_group(name, vindex, ginfo, ptype);
if (ap != NULL) {
return ap;
}
} else
#endif // AP_NESTED_GROUPS_ENABLED
if (strcasecmp_P(name, group_info[i].name) == 0) {
uintptr_t p = PGM_POINTER(&_var_info[vindex].ptr);
*ptype = (enum ap_var_type)type;
return (AP_Param *)(p + PGM_POINTER(&group_info[i].offset));
} else if (type == AP_PARAM_VECTOR3F) {
// special case for finding Vector3f elements
uint8_t suffix_len = strnlen_P(group_info[i].name, AP_MAX_NAME_SIZE);
if (strncmp_P(name, group_info[i].name, suffix_len) == 0 &&
name[suffix_len] == '_' &&
(name[suffix_len+1] == 'X' ||
name[suffix_len+1] == 'Y' ||
name[suffix_len+1] == 'Z')) {
uintptr_t p = PGM_POINTER(&_var_info[vindex].ptr);
AP_Float *v = (AP_Float *)(p + PGM_POINTER(&group_info[i].offset));
*ptype = AP_PARAM_FLOAT;
switch (name[suffix_len+1]) {
case 'X':
return (AP_Float *)&v[0];
case 'Y':
return (AP_Float *)&v[1];
case 'Z':
return (AP_Float *)&v[2];
}
}
}
}
return NULL;
}
// Find a object by name.
//
AP_Param *
AP_Param::find_object(const char *name)
{
for (uint8_t i=0; i<_num_vars; i++) {
if (strcasecmp_P(name, _var_info[i].name) == 0) {
return (AP_Param *)PGM_POINTER(&_var_info[i].ptr);
}
}
return NULL;
}
// load default values for all scalars in a sketch. This does not
// recurse into sub-objects
void AP_Param::setup_sketch_defaults(void)
{
setup();
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);//返回参数类型，强制转换为uint8，包括PARAM_NONE等
if (type <= AP_PARAM_FLOAT) {//按道理讲uint8_t一定会小于float，这里可能是保护的作用？？
void *ptr = (void*)PGM_POINTER(&_var_info[i].ptr);//返回指向参数在内存中位置的指针
set_value((enum ap_var_type)type, ptr, PGM_FLOAT(&_var_info[i].def_value));//把参数变量设为一个特定的值
}
}
}
// load default values for all scalars in a sketch. This does not
// recurse into sub-objects
void AP_Param::setup_sketch_defaults(void)
{
setup();
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
if (type <= AP_PARAM_FLOAT) {
void *ptr = (void*)PGM_POINTER(&_var_info[i].ptr);
set_value((enum ap_var_type)type, ptr, PGM_FLOAT(&_var_info[i].def_value));
}
}
}
// find the info structure given a header
// return the Info structure and a pointer to the variables storage
const struct AP_Param::Info *AP_Param::find_by_header(struct Param_header phdr, void **ptr)
{
// loop over all named variables
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
uint8_t key = PGM_UINT8(&_var_info[i].key);
if (key != phdr.key) {
// not the right key
continue;
}
if (type != AP_PARAM_GROUP) {
// if its not a group then we are done
*ptr = (void*)PGM_POINTER(&_var_info[i].ptr);
return &_var_info[i];
}
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
return find_by_header_group(phdr, ptr, i, group_info, 0, 0);
}
return NULL;
}
// return the first variable in _var_info
AP_Param *AP_Param::first(ParamToken *token, enum ap_var_type *ptype)
{
token->key = 0;
token->group_element = 0;
token->idx = 0;
if (_num_vars == 0) {
return NULL;
}
if (ptype != NULL) {
*ptype = (enum ap_var_type)PGM_UINT8(&_var_info[0].type);
}
return (AP_Param *)(PGM_POINTER(&_var_info[0].ptr));
}
// find the info structure given a header and a group_info table
// return the Info structure and a pointer to the variables storage
const struct AP_Param::Info *AP_Param::find_by_header_group(struct Param_header phdr, void **ptr,
uint8_t vindex,
const struct GroupInfo *group_info,
uint8_t group_base,
uint8_t group_shift)
{
uint8_t type;
for (uint8_t i=0;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
#ifdef AP_NESTED_GROUPS_ENABLED
if (type == AP_PARAM_GROUP) {
// a nested group
if (group_shift + _group_level_shift >= _group_bits) {
// too deeply nested - this should have been caught by
// setup() !
return NULL;
}
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
const struct AP_Param::Info *ret = find_by_header_group(phdr, ptr, vindex, ginfo,
GROUP_ID(group_info, group_base, i, group_shift),
group_shift + _group_level_shift);
if (ret != NULL) {
return ret;
}
continue;
}
#endif // AP_NESTED_GROUPS_ENABLED
if (GROUP_ID(group_info, group_base, i, group_shift) == phdr.group_element) {
// found a group element
*ptr = (void*)(PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset));
return &_var_info[vindex];
}
}
return NULL;
}
// validate a group info table
bool AP_Param::check_group_info(const struct AP_Param::GroupInfo * group_info,
uint16_t * total_size,
uint8_t group_shift,
uint8_t prefix_length)
{
uint8_t type;
int8_t max_idx = -1;
for (uint8_t i=0;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
#ifdef AP_NESTED_GROUPS_ENABLED
if (type == AP_PARAM_GROUP) {
// a nested group
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
if (group_shift + _group_level_shift >= _group_bits) {
Debug("double group nesting in %S", group_info[i].name);
return false;
}
if (ginfo == NULL ||
!check_group_info(ginfo, total_size, group_shift + _group_level_shift, prefix_length + strlen_P(group_info[i].name))) {
return false;
}
continue;
}
#endif // AP_NESTED_GROUPS_ENABLED
uint8_t idx = PGM_UINT8(&group_info[i].idx);
if (idx >= (1<<_group_level_shift)) {
Debug("idx too large (%u) in %S", idx, group_info[i].name);
return false;
}
if ((int8_t)idx <= max_idx) {
Debug("indexes must be in increasing order in %S", group_info[i].name);
return false;
}
max_idx = (int8_t)idx;
uint8_t size = type_size((enum ap_var_type)type);
if (size == 0) {
Debug("invalid type in %S", group_info[i].name);
return false;
}
if (prefix_length + strlen_P(group_info[i].name) > 16) {
Debug("suffix is too long in %S", group_info[i].name);
return false;
}
(*total_size) += size + sizeof(struct Param_header);
}
return true;
}
// validate a group info table
bool AP_Param::check_group_info(const struct AP_Param::GroupInfo * group_info,
uint16_t * total_size,
uint8_t group_shift)
{
uint8_t type;
int8_t max_idx = -1;
for (uint8_t i=0;
(type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
i++) {
#ifdef AP_NESTED_GROUPS_ENABLED
if (type == AP_PARAM_GROUP) {
// a nested group
const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
if (group_shift + _group_level_shift >= _group_bits) {
// double nesting of groups is not allowed
return false;
}
if (ginfo == NULL ||
!check_group_info(ginfo, total_size, group_shift + _group_level_shift)) {
return false;
}
continue;
}
#endif // AP_NESTED_GROUPS_ENABLED
uint8_t idx = PGM_UINT8(&group_info[i].idx);
if (idx >= (1<<_group_level_shift)) {
// passed limit on table size
return false;
}
if ((int8_t)idx <= max_idx) {
// the indexes must be in increasing order
return false;
}
max_idx = (int8_t)idx;
uint8_t size = type_size((enum ap_var_type)type);
if (size == 0) {
// not a valid type
return false;
}
(*total_size) += size + sizeof(struct Param_header);
}
return true;
}
// validate the _var_info[] table
bool AP_Param::check_var_info(void)
{
uint16_t total_size = sizeof(struct EEPROM_header);
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
uint8_t key = PGM_UINT8(&_var_info[i].key);
if (type == AP_PARAM_GROUP) {
if (i == 0) {
// first element can't be a group, for first() call
return false;
}
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
if (group_info == NULL ||
!check_group_info(group_info, &total_size, 0)) {
return false;
}
} else {
uint8_t size = type_size((enum ap_var_type)type);
if (size == 0) {
// not a valid type - the top level list can't contain
// AP_PARAM_NONE
return false;
}
total_size += size + sizeof(struct Param_header);
}
if (duplicate_key(i, key)) {
return false;
}
}
if (total_size > _eeprom_size) {
serialDebug("total_size %u exceeds _eeprom_size %u",
total_size, _eeprom_size);
return false;
}
return true;
}
// validate the _var_info[] table
bool AP_Param::check_var_info(void)
{
uint16_t total_size = sizeof(struct EEPROM_header);
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
uint8_t key = PGM_UINT8(&_var_info[i].key);
if (type == AP_PARAM_GROUP) {
if (i == 0) {
// first element can't be a group, for first() call
return false;
}
const struct GroupInfo *group_info = (const struct GroupInfo *)PGM_POINTER(&_var_info[i].group_info);
if (group_info == NULL ||
!check_group_info(group_info, &total_size, 0)) {
return false;
}
} else {
uint8_t size = type_size((enum ap_var_type)type);
if (size == 0) {
// not a valid type - the top level list can't contain
// AP_PARAM_NONE
return false;
}
total_size += size + sizeof(struct Param_header);
}
if (duplicate_key(i, key)) {
return false;
}
}
// we no longer check if total_size is larger than _eeprom_size,
// as we allow for more variables than could fit, relying on not
// saving default values
return true;
}