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AP_Param: added reload_defaults_file() 

this allows defaults to be set for parameters in pointer objects
This commit is contained in:
Andrew Tridgell 2017-01-09 20:52:36 +11:00
parent ccae8979c1
commit 0c32178d07
2 changed files with 39 additions and 26 deletions
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55
libraries/AP_Param/AP_Param.cpp
View File

@ -1209,25 +1209,12 @@ void AP_Param::setup_sketch_defaults(void)
// Load all variables from EEPROM
//
bool AP_Param::load_all(void)
bool AP_Param::load_all(bool check_defaults_file)
{
struct Param_header phdr;
uint16_t ofs = sizeof(AP_Param::EEPROM_header);
#if HAL_OS_POSIX_IO == 1
/*
if the HAL specifies a defaults parameter file then override
defaults using that file
*/
const char *default_file = hal.util->get_custom_defaults_file();
if (default_file) {
if (load_defaults_file(default_file)) {
printf("Loaded defaults from %s\n", default_file);
} else {
printf("Failed to load defaults from %s\n", default_file);
}
}
#endif
reload_defaults_file(check_defaults_file);
while (ofs < _storage.size()) {
_storage.read_block(&phdr, ofs, sizeof(phdr));
@ -1254,6 +1241,26 @@ bool AP_Param::load_all(void)
return false;
}
/*
reload from hal.util defaults file
*/
void AP_Param::reload_defaults_file(bool panic_on_error)
{
#if HAL_OS_POSIX_IO == 1
/*
if the HAL specifies a defaults parameter file then override
defaults using that file
*/
const char *default_file = hal.util->get_custom_defaults_file();
if (default_file) {
if (load_defaults_file(default_file, panic_on_error)) {
printf("Loaded defaults from %s\n", default_file);
} else {
printf("Failed to load defaults from %s\n", default_file);
}
}
#endif
}
/*
@ -1714,7 +1721,7 @@ bool AP_Param::parse_param_line(char *line, char **vname, float &value)
/*
load a default set of parameters from a file
*/
bool AP_Param::load_defaults_file(const char *filename)
bool AP_Param::load_defaults_file(const char *filename, bool panic_on_error)
{
if (filename == nullptr) {
return false;
@ -1736,10 +1743,14 @@ bool AP_Param::load_defaults_file(const char *filename)
continue;
}
if (!find_def_value_ptr(pname)) {
fclose(f);
::printf("invalid param %s in defaults file\n", pname);
AP_HAL::panic("AP_Param: Invalid param in defaults file");
return false;
if (panic_on_error) {
fclose(f);
::printf("invalid param %s in defaults file\n", pname);
AP_HAL::panic("AP_Param: Invalid param in defaults file");
return false;
} else {
continue;
}
}
num_defaults++;
}
@ -1774,9 +1785,7 @@ bool AP_Param::load_defaults_file(const char *filename)
}
const float *def_value_ptr = find_def_value_ptr(pname);
if (!def_value_ptr) {
fclose(f);
AP_HAL::panic("AP_Param: Invalid param in defaults file");
return false;
continue;
}
param_overrides[idx].def_value_ptr = def_value_ptr;
param_overrides[idx].value = value;

10
libraries/AP_Param/AP_Param.h
View File

@ -262,8 +262,12 @@ public:
///
/// @return False if any variable failed to load
///
static bool load_all(void);
static bool load_all(bool check_defaults_file=true);
/// reoad the hal.util defaults file. Called after pointer parameters have been allocated
///
static void reload_defaults_file(bool panic_on_error=true);
static void load_object_from_eeprom(const void *object_pointer, const struct GroupInfo *group_info);
// set a AP_Param variable to a specified value
@ -473,9 +477,9 @@ private:
load a parameter defaults file. This happens as part of load_all()
*/
static bool parse_param_line(char *line, char **vname, float &value);
static bool load_defaults_file(const char *filename);
static bool load_defaults_file(const char *filename, bool panic_on_error);
#endif
// send a parameter to all GCS instances
void send_parameter(const char *name, enum ap_var_type param_header_type, uint8_t idx) const;