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AP_Param: fixed a bug in default file handling 

this fixes a bug in how default file values are handled that affects
any common sub-objects. When we had a default value for something like
SERVO12_FUNCTION then configured_in_defaults_file() would return true
for SERVO1_FUNCTION as it shares a common default value pointer

this changes the implementation to use the object pointer instead
This commit is contained in:
Andrew Tridgell 2017-01-22 21:42:54 +11:00
parent 33a84624c6
commit 4687785185
2 changed files with 19 additions and 60 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

70
libraries/AP_Param/AP_Param.cpp
View File

@ -767,31 +767,6 @@ AP_Param::find(const char *name, enum ap_var_type *ptype)
return nullptr;
}
/*
find the def_value for a variable by name
*/
const float *
AP_Param::find_def_value_ptr(const char *name)
{
enum ap_var_type ptype;
AP_Param *vp = find(name, &ptype);
if (vp == nullptr) {
return nullptr;
}
uint32_t group_element;
const struct GroupInfo *ginfo;
struct GroupNesting group_nesting {};
uint8_t gidx;
const struct AP_Param::Info *info = vp->find_var_info(&group_element, ginfo, group_nesting, &gidx);
if (info == nullptr) {
return nullptr;
}
if (ginfo != nullptr) {
return &ginfo->def_value;
}
return &info->def_value;
}
// Find a variable by index. Note that this is quite slow.
//
AP_Param *
@ -972,9 +947,9 @@ bool AP_Param::save(bool force_save)
float v1 = cast_to_float((enum ap_var_type)phdr.type);
float v2;
if (ginfo != nullptr) {
v2 = get_default_value(&ginfo->def_value);
v2 = get_default_value(this, &ginfo->def_value);
} else {
v2 = get_default_value(&info->def_value);
v2 = get_default_value(this, &info->def_value);
}
if (is_equal(v1,v2) && !force_save) {
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type, v2);
@ -1046,10 +1021,10 @@ bool AP_Param::load(void)
group_offset += group_nesting.group_ret[i]->offset;
}
set_value((enum ap_var_type)phdr.type, (void*)(base + ginfo->offset + group_offset),
get_default_value(&ginfo->def_value));
get_default_value(this, &ginfo->def_value));
} else {
set_value((enum ap_var_type)phdr.type, (void*)base,
get_default_value(&info->def_value));
get_default_value(this, &info->def_value));
}
return false;
}
@ -1112,16 +1087,8 @@ bool AP_Param::configured_in_defaults_file(void) const
return false;
}
const float* def_value_ptr;
if (ginfo != nullptr) {
def_value_ptr = &ginfo->def_value;
} else {
def_value_ptr = &info->def_value;
}
for (uint16_t i=0; i<num_param_overrides; i++) {
if (def_value_ptr == param_overrides[i].def_value_ptr) {
if (this == param_overrides[i].object_ptr) {
return true;
}
}
@ -1162,7 +1129,8 @@ void AP_Param::setup_object_defaults(const void *object_pointer, const struct Gr
i++) {
if (type <= AP_PARAM_FLOAT) {
void *ptr = (void *)(base + group_info[i].offset);
set_value((enum ap_var_type)type, ptr, get_default_value(&group_info[i].def_value));
set_value((enum ap_var_type)type, ptr,
get_default_value((const AP_Param *)ptr, &group_info[i].def_value));
}
}
}
@ -1200,7 +1168,8 @@ void AP_Param::setup_sketch_defaults(void)
if (type <= AP_PARAM_FLOAT) {
ptrdiff_t base;
if (get_base(_var_info[i], base)) {
set_value((enum ap_var_type)type, (void*)base, get_default_value(&_var_info[i].def_value));
set_value((enum ap_var_type)type, (void*)base,
get_default_value((const AP_Param *)base, &_var_info[i].def_value));
}
}
}
@ -1775,7 +1744,8 @@ bool AP_Param::load_defaults_file(const char *filename, bool panic_on_error)
if (!parse_param_line(line, &pname, value)) {
continue;
}
if (!find_def_value_ptr(pname)) {
enum ap_var_type var_type;
if (!find(pname, &var_type)) {
if (panic_on_error) {
fclose(f);
::printf("invalid param %s in defaults file\n", pname);
@ -1816,20 +1786,14 @@ bool AP_Param::load_defaults_file(const char *filename, bool panic_on_error)
if (!parse_param_line(line, &pname, value)) {
continue;
}
const float *def_value_ptr = find_def_value_ptr(pname);
if (!def_value_ptr) {
enum ap_var_type var_type;
AP_Param *vp = find(pname, &var_type);
if (!vp) {
continue;
}
param_overrides[idx].def_value_ptr = def_value_ptr;
param_overrides[idx].object_ptr = vp;
param_overrides[idx].value = value;
idx++;
enum ap_var_type var_type;
AP_Param *vp = AP_Param::find(pname, &var_type);
if (!vp) {
fclose(f);
AP_HAL::panic("AP_Param: Failed to set param default");
return false;
}
if (!vp->configured_in_storage()) {
vp->set_float(value, var_type);
}
@ -1846,10 +1810,10 @@ bool AP_Param::load_defaults_file(const char *filename, bool panic_on_error)
/*
find a default value given a pointer to a default value in flash
*/
float AP_Param::get_default_value(const float *def_value_ptr)
float AP_Param::get_default_value(const AP_Param *vp, const float *def_value_ptr)
{
for (uint16_t i=0; i<num_param_overrides; i++) {
if (def_value_ptr == param_overrides[i].def_value_ptr) {
if (vp == param_overrides[i].object_ptr) {
return param_overrides[i].value;
}
}

9
libraries/AP_Param/AP_Param.h
View File

@ -473,12 +473,7 @@ private:
enum ap_var_type *ptype);
// find a default value given a pointer to a default value in flash
static float get_default_value(const float *def_value_ptr);
/*
find the def_value for a variable by name
*/
static const float *find_def_value_ptr(const char *name);
static float get_default_value(const AP_Param *object_ptr, const float *def_value_ptr);
#if HAL_OS_POSIX_IO == 1
/*
@ -500,7 +495,7 @@ private:
list of overridden values from load_defaults_file()
*/
struct param_override {
const float *def_value_ptr;
const AP_Param *object_ptr;
float value;
};
static struct param_override *param_overrides;