/**
* @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
*/
int
param_load_default(void)
{
warnx("param_load_default\n");
int fd_load = PARAM_OPEN(param_get_default_file(), O_RDONLY);
if (fd_load < 0) {
/* no parameter file is OK, otherwise this is an error */
if (errno != ENOENT) {
warn("open '%s' for reading failed", param_get_default_file());
return -1;
}
return 1;
}
int result = param_load(fd_load);
PARAM_CLOSE(fd_load);
if (result != 0) {
warn("error reading parameters from '%s'", param_get_default_file());
return -2;
}
return 0;
}
/**
* @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
*/
int
param_load_default(void)
{
int res = 0;
#if !defined(FLASH_BASED_PARAMS)
int fd_load = PARAM_OPEN(param_get_default_file(), O_RDONLY);
if (fd_load < 0) {
/* no parameter file is OK, otherwise this is an error */
if (errno != ENOENT) {
warn("open '%s' for reading failed", param_get_default_file());
return -1;
}
return 1;
}
int result = param_load(fd_load);
PARAM_CLOSE(fd_load);
if (result != 0) {
warn("error reading parameters from '%s'", param_get_default_file());
return -2;
}
#else
// no need for locking
res = flash_param_load();
#endif
return res;
}
/**
* @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
*/
static int
param_load_default_no_notify(void)
{
int fd_load = open(param_get_default_file(), O_RDONLY);
if (fd_load < 0) {
release_shmem_lock();
/* no parameter file is OK, otherwise this is an error */
if (errno != ENOENT) {
debug("open '%s' for reading failed", param_get_default_file());
return -1;
}
return 1;
}
int result = param_import(fd_load);
close(fd_load);
PX4_INFO("param loading done\n");
if (result != 0) {
warn("error reading parameters from '%s'", param_get_default_file());
return -2;
}
return 0;
}
int
param_save_default(void)
{
/* delete the file in case it exists */
unlink(param_get_default_file());
/* create the file */
int fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0) {
warn("opening '%s' for writing failed", param_get_default_file());
return -1;
}
int result = param_export(fd, false);
close(fd);
if (result != 0) {
warn("error exporting parameters to '%s'", param_get_default_file());
unlink(param_get_default_file());
return -2;
}
return 0;
}
int
param_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "save")) {
if (argc >= 3) {
do_save(argv[2]);
} else {
do_save(param_get_default_file());
}
}
if (!strcmp(argv[1], "load")) {
if (argc >= 3) {
do_load(argv[2]);
} else {
do_load(param_get_default_file());
}
}
if (!strcmp(argv[1], "import")) {
if (argc >= 3) {
do_import(argv[2]);
} else {
do_import(param_get_default_file());
}
}
if (!strcmp(argv[1], "select")) {
if (argc >= 3) {
param_set_default_file(argv[2]);
} else {
param_set_default_file(NULL);
}
warnx("selected parameter default file %s", param_get_default_file());
exit(0);
}
if (!strcmp(argv[1], "show"))
if (argc >= 3) {
do_show(argv[2]);
} else {
do_show(NULL);
}
}
errx(1, "expected a command, try 'load', 'import', 'show', 'select' or 'save'");
}
int
param_save_default(void)
{
int res;
int fd;
const char *filename = param_get_default_file();
/* write parameters to temp file */
fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
if (fd < 0) {
warn("failed to open param file: %s", filename);
return ERROR;
}
res = param_export(fd, false);
if (res != OK) {
warnx("failed to write parameters to file: %s", filename);
}
PARAM_CLOSE(fd);
return res;
}
int
param_save_default(void)
{
int result;
/* delete the file in case it exists */
struct stat buffer;
if (stat(param_get_default_file(), &buffer) == 0) {
result = unlink(param_get_default_file());
if (result != OK)
warnx("unlinking file %s failed.", param_get_default_file());
}
/* create the file */
int fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0) {
warn("opening '%s' for writing failed", param_get_default_file());
return fd;
}
result = param_export(fd, false);
close(fd);
if (result != 0) {
warn("error exporting parameters to '%s'", param_get_default_file());
unlink(param_get_default_file());
return result;
}
return 0;
}
int
param_save_default(void)
{
int res = OK;
int fd = -1;
bool is_locked = false;
const char *filename = param_get_default_file();
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_ERR("Could not get shmem lock\n");
res = ERROR;
goto exit;
}
is_locked = true;
fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
if (fd < 0) {
PX4_ERR("failed to open param file: %s", filename);
goto exit;
}
res = param_export(fd, false);
if (res != OK) {
PX4_ERR("failed to write parameters to file: %s", filename);
goto exit;
}
PARAM_CLOSE(fd);
fd = -1;
exit:
if (is_locked) {
release_shmem_lock();
}
if (fd >= 0) {
close(fd);
}
if (res == OK) {
PX4_INFO("saving params completed successfully\n");
}
return res;
}
/**
* @return 0 on success, 1 if all params have not yet been stored, -1 if device open failed, -2 if writing parameters failed
*/
int
param_load_default(void)
{
int fd = open(param_get_default_file(), O_RDONLY);
if (fd < 0) {
/* no parameter file is OK, otherwise this is an error */
if (errno != ENOENT) {
warn("open '%s' for reading failed", param_get_default_file());
return -1;
}
return 1;
}
int result = param_load(fd);
close(fd);
if (result != 0) {
warn("error reading parameters from '%s'", param_get_default_file());
return -2;
}
return 0;
}
int
param_save_default(void)
{
int res = PX4_ERROR;
#if !defined(FLASH_BASED_PARAMS)
const char *filename = param_get_default_file();
/* write parameters to temp file */
int fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
if (fd < 0) {
PX4_ERR("failed to open param file: %s", filename);
return ERROR;
}
int attempts = 5;
while (res != OK && attempts > 0) {
res = param_export(fd, false);
attempts--;
if (res != PX4_OK) {
PX4_ERR("param_export failed, retrying %d", attempts);
lseek(fd, 0, SEEK_SET); // jump back to the beginning of the file
}
}
if (res != OK) {
PX4_ERR("failed to write parameters to file: %s", filename);
}
PARAM_CLOSE(fd);
#else
param_lock_writer();
res = flash_param_save();
param_unlock_writer();
#endif
return res;
}
int
param_save_default(void)
{
int res;
#if !defined(FLASH_BASED_PARAMS)
int fd;
const char *filename = param_get_default_file();
/* write parameters to temp file */
fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
if (fd < 0) {
warn("failed to open param file: %s", filename);
return ERROR;
}
res = 1;
int attempts = 5;
while (res != OK && attempts > 0) {
res = param_export(fd, false);
attempts--;
}
if (res != OK) {
warnx("failed to write parameters to file: %s", filename);
}
PARAM_CLOSE(fd);
#else
res = flash_param_save();
#endif
return res;
}
int
param_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "save")) {
if (argc >= 3) {
do_save(argv[2]);
} else {
if (param_save_default()) {
warnx("Param export failed.");
exit(1);
} else {
exit(0);
}
}
}
if (!strcmp(argv[1], "load")) {
if (argc >= 3) {
do_load(argv[2]);
} else {
do_load(param_get_default_file());
}
}
if (!strcmp(argv[1], "import")) {
if (argc >= 3) {
do_import(argv[2]);
} else {
do_import(param_get_default_file());
}
}
if (!strcmp(argv[1], "select")) {
if (argc >= 3) {
param_set_default_file(argv[2]);
} else {
param_set_default_file(NULL);
}
warnx("selected parameter default file %s", param_get_default_file());
exit(0);
}
if (!strcmp(argv[1], "show")) {
if (argc >= 3) {
do_show(argv[2]);
} else {
do_show(NULL);
}
}
if (!strcmp(argv[1], "set")) {
if (argc >= 4) {
do_set(argv[2], argv[3]);
} else {
errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
}
}
if (!strcmp(argv[1], "compare")) {
if (argc >= 4) {
do_compare(argv[2], &argv[3], argc - 3);
} else {
errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
}
}
}
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
}
int
param_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "save")) {
if (argc >= 3) {
return do_save(argv[2]);
} else {
int ret = do_save_default();
if (ret) {
PX4_ERR("Param save failed (%i)", ret);
return 1;
} else {
return 0;
}
}
}
if (!strcmp(argv[1], "load")) {
if (argc >= 3) {
return do_load(argv[2]);
} else {
return do_load(param_get_default_file());
}
}
if (!strcmp(argv[1], "import")) {
if (argc >= 3) {
return do_import(argv[2]);
} else {
return do_import(param_get_default_file());
}
}
if (!strcmp(argv[1], "select")) {
if (argc >= 3) {
param_set_default_file(argv[2]);
} else {
param_set_default_file(NULL);
}
PX4_INFO("selected parameter default file %s", param_get_default_file());
return 0;
}
if (!strcmp(argv[1], "show")) {
if (argc >= 3) {
// optional argument -c to show only non-default params
if (!strcmp(argv[2], "-c")) {
if (argc >= 4) {
return do_show(argv[3], true);
} else {
return do_show(NULL, true);
}
} else {
return do_show(argv[2], false);
}
} else {
return do_show(NULL, false);
}
}
if (!strcmp(argv[1], "set")) {
if (argc >= 5) {
/* if the fail switch is provided, fails the command if not found */
bool fail = !strcmp(argv[4], "fail");
return do_set(argv[2], argv[3], fail);
} else if (argc >= 4) {
return do_set(argv[2], argv[3], false);
} else {
PX4_ERR("not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'");
return 1;
}
}
if (!strcmp(argv[1], "compare")) {
if (argc >= 4) {
return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR_EQUAL);
} else {
PX4_ERR("not enough arguments.\nTry 'param compare PARAM_NAME 3'");
return 1;
}
}
if (!strcmp(argv[1], "greater")) {
if (argc >= 4) {
return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR_GREATER);
} else {
PX4_ERR("not enough arguments.\nTry 'param greater PARAM_NAME 3'");
return 1;
}
}
if (!strcmp(argv[1], "reset")) {
if (argc >= 3) {
return do_reset((const char **) &argv[2], argc - 2);
} else {
return do_reset(NULL, 0);
}
}
if (!strcmp(argv[1], "reset_nostart")) {
if (argc >= 3) {
return do_reset_nostart((const char **) &argv[2], argc - 2);
} else {
return do_reset_nostart(NULL, 0);
}
}
if (!strcmp(argv[1], "index_used")) {
if (argc >= 3) {
return do_show_index(argv[2], true);
} else {
PX4_ERR("no index provided");
return 1;
}
}
if (!strcmp(argv[1], "index")) {
if (argc >= 3) {
return do_show_index(argv[2], false);
} else {
PX4_ERR("no index provided");
return 1;
}
}
if (!strcmp(argv[1], "find")) {
if (argc >= 3) {
return do_find(argv[2]);
} else {
PX4_ERR("not enough arguments.\nTry 'param find PARAM_NAME'");
return 1;
}
}
}
PX4_INFO("expected a command, try 'load', 'import', 'show [-c] [<filter>]', 'set <param> <value>', 'compare',\n'index', 'index_used', 'find', 'greater', 'select', 'save', or 'reset' ");
return 1;
}
int
param_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "save")) {
if (argc >= 3) {
return do_save(argv[2]);
} else {
if (param_save_default()) {
warnx("Param export failed.");
return 1;
} else {
return 0;
}
}
}
if (!strcmp(argv[1], "load")) {
if (argc >= 3) {
return do_load(argv[2]);
} else {
return do_load(param_get_default_file());
}
}
if (!strcmp(argv[1], "import")) {
if (argc >= 3) {
return do_import(argv[2]);
} else {
return do_import(param_get_default_file());
}
}
if (!strcmp(argv[1], "select")) {
if (argc >= 3) {
param_set_default_file(argv[2]);
} else {
param_set_default_file(NULL);
}
warnx("selected parameter default file %s", param_get_default_file());
return 0;
}
if (!strcmp(argv[1], "show")) {
if (argc >= 3) {
do_show(argv[2]);
return 0;
} else {
do_show(NULL);
return 0;
}
}
if (!strcmp(argv[1], "set")) {
if (argc >= 5) {
/* if the fail switch is provided, fails the command if not found */
bool fail = !strcmp(argv[4], "fail");
return do_set(argv[2], argv[3], fail);
} else if (argc >= 4) {
return do_set(argv[2], argv[3], false);
} else {
warnx("not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'");
return 1;
}
}
if (!strcmp(argv[1], "compare")) {
if (argc >= 4) {
return do_compare(argv[2], &argv[3], argc - 3);
} else {
warnx("not enough arguments.\nTry 'param compare PARAM_NAME 3'");
return 1;
}
}
if (!strcmp(argv[1], "reset")) {
if (argc >= 3) {
return do_reset((const char **) &argv[2], argc - 2);
} else {
return do_reset(NULL, 0);
}
}
if (!strcmp(argv[1], "reset_nostart")) {
if (argc >= 3) {
return do_reset_nostart((const char **) &argv[2], argc - 2);
} else {
return do_reset_nostart(NULL, 0);
}
}
if (!strcmp(argv[1], "index_used")) {
if (argc >= 3) {
do_show_index(argv[2], true);
} else {
warnx("no index provided");
return 1;
}
}
if (!strcmp(argv[1], "index")) {
if (argc >= 3) {
do_show_index(argv[2], false);
} else {
warnx("no index provided");
return 1;
}
}
}
warnx("expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
return 1;
}