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AP_Param: added find_old_parameter() method 

allows for custom conversion of parameters
This commit is contained in:
Andrew Tridgell 2016-12-31 10:49:43 +11:00 committed by Randy Mackay
parent d011783d76
commit 0d6801fbe6
2 changed files with 30 additions and 12 deletions
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39
libraries/AP_Param/AP_Param.cpp
View File

@ -1560,10 +1560,10 @@ void AP_Param::show_all(AP_HAL::BetterStream *port, bool showKeyValues)
}
}
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat"
// convert one old vehicle parameter to new object parameter
void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float scaler)
/*
find an old parameter and return it.
*/
bool AP_Param::find_old_parameter(const struct ConversionInfo *info, AP_Param *value)
{
// find the old value in EEPROM.
uint16_t pofs;
@ -1572,17 +1572,31 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float sc
set_key(header, info->old_key);
header.group_element = info->old_group_element;
if (!scan(&header, &pofs)) {
// the old parameter isn't saved in the EEPROM.
return false;
}
// load the old value from EEPROM
_storage.read_block(value, pofs+sizeof(header), type_size((enum ap_var_type)header.type));
return true;
}
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat"
// convert one old vehicle parameter to new object parameter
void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float scaler)
{
uint8_t old_value[type_size(info->type)];
AP_Param *ap = (AP_Param *)&old_value[0];
if (!find_old_parameter(info, ap)) {
// the old parameter isn't saved in the EEPROM. It was
// probably still set to the default value, which isn't stored
// no need to convert
return;
}
// load the old value from EEPROM
uint8_t old_value[type_size((enum ap_var_type)header.type)];
_storage.read_block(old_value, pofs+sizeof(header), sizeof(old_value));
const AP_Param *ap = (const AP_Param *)&old_value[0];
// find the new variable in the variable structures
enum ap_var_type ptype;
AP_Param *ap2;
@ -1600,7 +1614,7 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float sc
}
// see if they are the same type and no scaling applied
if (ptype == (ap_var_type)header.type && is_equal(scaler, 1.0f)) {
if (ptype == info->type && is_equal(scaler, 1.0f)) {
// copy the value over only if the new parameter does not already
// have the old value (via a default).
if (memcmp(ap2, ap, sizeof(old_value)) != 0) {
@ -1608,9 +1622,9 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float sc
// and save
ap2->save();
}
} else if (ptype <= AP_PARAM_FLOAT && header.type <= AP_PARAM_FLOAT) {
} else if (ptype <= AP_PARAM_FLOAT && info->type <= AP_PARAM_FLOAT) {
// perform scalar->scalar conversion
float v = ap->cast_to_float((enum ap_var_type)header.type);
float v = ap->cast_to_float(info->type);
if (!is_equal(v,ap2->cast_to_float(ptype))) {
// the value needs to change
set_value(ptype, ap2, v * scaler);
@ -1632,6 +1646,7 @@ void AP_Param::convert_old_parameters(const struct ConversionInfo *conversion_ta
}
}
/*
set a parameter to a float value
*/

3
libraries/AP_Param/AP_Param.h
View File

@ -288,6 +288,9 @@ public:
// does not recurse into the sub-objects
static void setup_sketch_defaults(void);
// find an old parameter and return it.
static bool find_old_parameter(const struct ConversionInfo *info, AP_Param *value);
// convert old vehicle parameters to new object parameters
static void convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size);