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AP_Param: improved queue handling and added set_and_save_by_name_ifchanged

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This commit is contained in:
Andrew Tridgell 2021-04-08 11:11:13 +10:00
parent d8575f0607
commit 23785c00dc
2 changed files with 33 additions and 2 deletions
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34
libraries/AP_Param/AP_Param.cpp
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@ -1207,8 +1207,8 @@ void AP_Param::save(bool force_save)
}
while (!save_queue.push(p)) {
// if we can't save to the queue
if (hal.util->get_soft_armed() || !hal.scheduler->in_main_thread()) {
// if we are armed then don't sleep, instead we lose the
if (hal.util->get_soft_armed() && hal.scheduler->in_main_thread()) {
// if we are armed in main thread then don't sleep, instead we lose the
// parameter save
return;
}
@ -2567,6 +2567,36 @@ bool AP_Param::set_and_save_by_name(const char *name, float value)
return false;
}
/*
set and save a value by name
*/
bool AP_Param::set_and_save_by_name_ifchanged(const char *name, float value)
{
enum ap_var_type vtype;
AP_Param *vp = find(name, &vtype);
if (vp == nullptr) {
return false;
}
switch (vtype) {
case AP_PARAM_INT8:
((AP_Int8 *)vp)->set_and_save_ifchanged(value);
return true;
case AP_PARAM_INT16:
((AP_Int16 *)vp)->set_and_save_ifchanged(value);
return true;
case AP_PARAM_INT32:
((AP_Int32 *)vp)->set_and_save_ifchanged(value);
return true;
case AP_PARAM_FLOAT:
((AP_Float *)vp)->set_and_save_ifchanged(value);
return true;
default:
break;
}
// not a supported type
return false;
}
#if AP_PARAM_KEY_DUMP
/*
do not remove this show_all() code, it is essential for debugging

1
libraries/AP_Param/AP_Param.h
View File

@ -304,6 +304,7 @@ public:
/// @param value The new value
/// @return true if the variable is found
static bool set_and_save_by_name(const char *name, float value);
static bool set_and_save_by_name_ifchanged(const char *name, float value);
// name helper for scripting
static bool set_and_save(const char *name, float value) { return set_and_save_by_name(name, value); };