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AP_Param: provide facility to notify GCS of param set

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Peter Barker 2015-10-07 09:08:59 +11:00 committed by Andrew Tridgell
parent 046b008889
commit 5f9b1c5f4e
2 changed files with 49 additions and 2 deletions
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33
libraries/AP_Param/AP_Param.cpp
View File

@ -371,7 +371,7 @@ const struct AP_Param::Info *AP_Param::find_var_info_group(const struct GroupInf
// find the info structure for a variable
const struct AP_Param::Info *AP_Param::find_var_info(uint32_t * group_element,
const struct GroupInfo ** group_ret,
uint8_t * idx)
uint8_t * idx) const
{
for (uint8_t i=0; i<_num_vars; i++) {
uint8_t type = PGM_UINT8(&_var_info[i].type);
@ -530,6 +530,11 @@ void AP_Param::copy_name_token(const ParamToken &token, char *buffer, size_t buf
Debug("no info found");
return;
}
copy_name_info(info, ginfo, idx, buffer, buffer_size, force_scalar);
}
void AP_Param::copy_name_info(const struct AP_Param::Info *info, const struct GroupInfo *ginfo, uint8_t idx, char *buffer, size_t buffer_size, bool force_scalar) const
{
strncpy(buffer, info->name, buffer_size);
if (ginfo != NULL) {
uint8_t len = strnlen(buffer, buffer_size);
@ -672,6 +677,32 @@ AP_Param::find_object(const char *name)
return NULL;
}
// notify GCS of current value of parameter
void AP_Param::notify() const {
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
uint8_t idx;
const struct AP_Param::Info *info = find_var_info(&group_element, &ginfo, &idx);
if (info == NULL) {
// this is probably very bad
return;
}
char name[AP_MAX_NAME_SIZE+1];
copy_name_info(info, ginfo, idx, name, sizeof(name), true);
uint32_t param_header_type;
if (ginfo != NULL) {
param_header_type = PGM_UINT8(&ginfo->type);
} else {
param_header_type = PGM_UINT8(&info->type);
}
GCS_MAVLINK::send_parameter_value_all(name, (enum ap_var_type)info->type,
cast_to_float((enum ap_var_type)param_header_type));
}
// Save the variable to EEPROM, if supported
//

18
libraries/AP_Param/AP_Param.h
View File

@ -141,6 +141,11 @@ public:
/// @param buffer The destination buffer
/// @param bufferSize Total size of the destination buffer.
///
void copy_name_info(const struct AP_Param::Info *info, const struct GroupInfo *ginfo, uint8_t idx, char *buffer, size_t bufferSize, bool force_scalar=false) const;
/// Copy the variable's name, prefixed by any containing group name, to a
/// buffer.
///
/// Uses token to look up AP_Param::Info for the variable
void copy_name_token(const ParamToken &token, char *buffer, size_t bufferSize, bool force_scalar=false) const;
/// Find a variable by name.
@ -170,6 +175,10 @@ public:
///
static AP_Param * find_object(const char *name);
/// Notify GCS of current parameter value
///
void notify() const;
/// Save the current value of the variable to EEPROM.
///
/// @param force_save If true then force save even if default
@ -319,7 +328,7 @@ private:
const struct Info * find_var_info(
uint32_t * group_element,
const struct GroupInfo ** group_ret,
uint8_t * idx);
uint8_t * idx) const;
const struct Info * find_var_info_token(const ParamToken &token,
uint32_t * group_element,
const struct GroupInfo ** group_ret,
@ -432,6 +441,13 @@ public:
set(v);
}
}
/// Value setter - set value, tell GCS
///
void set_and_notify(const T &v) {
set(v);
notify();
}
/// Combined set and save
///