示例#1
0
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);
}
示例#2
0
文件: param.c 项目: hopewhd/Firmware
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);
}
示例#3
0
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;
}
示例#4
0
文件: param.c 项目: eyeam3/Firmware
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);
}
示例#6
0
文件: param.c 项目: hopewhd/Firmware
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, &param_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);
}
示例#7
0
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, &param_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);
}
示例#8
0
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, &param_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);
}
示例#9
0
文件: param.c 项目: eyeam3/Firmware
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);
}