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AP_DroneCAN: improve get/set param comments

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This commit is contained in:
Randy Mackay 2023-08-08 14:37:25 +09:00 committed by Andrew Tridgell
parent e614a1c58c
commit 6fe31396d9
2 changed files with 40 additions and 17 deletions
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29
libraries/AP_DroneCAN/AP_DroneCAN.cpp
View File

@ -1264,6 +1264,11 @@ void AP_DroneCAN::handle_debug(const CanardRxTransfer& transfer, const uavcan_pr
#endif
}
/*
/*
send any queued request to get/set parameter
called from loop
*/
void AP_DroneCAN::send_parameter_request()
{
WITH_SEMAPHORE(_param_sem);
@ -1274,12 +1279,16 @@ void AP_DroneCAN::send_parameter_request()
param_request_sent = true;
}
/*
set named float parameter on node
*/
bool AP_DroneCAN::set_parameter_on_node(uint8_t node_id, const char *name, float value, ParamGetSetFloatCb *cb)
{
WITH_SEMAPHORE(_param_sem);
// fail if waiting for any previous get/set request
if (param_int_cb != nullptr ||
param_float_cb != nullptr) {
//busy
return false;
}
param_getset_req.index = 0;
@ -1292,12 +1301,16 @@ bool AP_DroneCAN::set_parameter_on_node(uint8_t node_id, const char *name, float
return true;
}
/*
set named integer parameter on node
*/
bool AP_DroneCAN::set_parameter_on_node(uint8_t node_id, const char *name, int32_t value, ParamGetSetIntCb *cb)
{
WITH_SEMAPHORE(_param_sem);
// fail if waiting for any previous get/set request
if (param_int_cb != nullptr ||
param_float_cb != nullptr) {
//busy
return false;
}
param_getset_req.index = 0;
@ -1310,12 +1323,16 @@ bool AP_DroneCAN::set_parameter_on_node(uint8_t node_id, const char *name, int32
return true;
}
/*
get named float parameter on node
*/
bool AP_DroneCAN::get_parameter_on_node(uint8_t node_id, const char *name, ParamGetSetFloatCb *cb)
{
WITH_SEMAPHORE(_param_sem);
// fail if waiting for any previous get/set request
if (param_int_cb != nullptr ||
param_float_cb != nullptr) {
//busy
return false;
}
param_getset_req.index = 0;
@ -1327,12 +1344,16 @@ bool AP_DroneCAN::get_parameter_on_node(uint8_t node_id, const char *name, Param
return true;
}
/*
get named integer parameter on node
*/
bool AP_DroneCAN::get_parameter_on_node(uint8_t node_id, const char *name, ParamGetSetIntCb *cb)
{
WITH_SEMAPHORE(_param_sem);
// fail if waiting for any previous get/set request
if (param_int_cb != nullptr ||
param_float_cb != nullptr) {
//busy
return false;
}
param_getset_req.index = 0;

28
libraries/AP_DroneCAN/AP_DroneCAN.h
View File

@ -95,7 +95,9 @@ public:
// THIS IS NOT A THREAD SAFE API!
void send_reboot_request(uint8_t node_id);
// set param value
// get or set param value
// returns true on success, false on failure
// failures occur when waiting on node to respond to previous get or set request
bool set_parameter_on_node(uint8_t node_id, const char *name, float value, ParamGetSetFloatCb *cb);
bool set_parameter_on_node(uint8_t node_id, const char *name, int32_t value, ParamGetSetIntCb *cb);
bool get_parameter_on_node(uint8_t node_id, const char *name, ParamGetSetFloatCb *cb);
@ -151,27 +153,27 @@ private:
// send notify vehicle state
void notify_state_send();
// send parameter get/set request
// send queued parameter get/set request. called from loop
void send_parameter_request();
// send parameter save request
// send queued parameter save request. called from loop
void send_parameter_save_request();
// periodic logging
void logging();
// set parameter on a node
ParamGetSetIntCb *param_int_cb;
ParamGetSetFloatCb *param_float_cb;
bool param_request_sent = true;
HAL_Semaphore _param_sem;
uint8_t param_request_node_id;
// get parameter on a node
ParamGetSetIntCb *param_int_cb; // latest get param request callback function (for integers)
ParamGetSetFloatCb *param_float_cb; // latest get param request callback function (for floats)
bool param_request_sent = true; // true after a param request has been sent, false when queued to be sent
HAL_Semaphore _param_sem; // semaphore protecting this block of variables
uint8_t param_request_node_id; // node id of most recent get param request
// save parameters on a node
ParamSaveCb *save_param_cb;
bool param_save_request_sent = true;
HAL_Semaphore _param_save_sem;
uint8_t param_save_request_node_id;
ParamSaveCb *save_param_cb; // latest save param request callback function
bool param_save_request_sent = true; // true after a save param request has been sent, false when queued to be sent
HAL_Semaphore _param_save_sem; // semaphore protecting this block of variables
uint8_t param_save_request_node_id; // node id of most recent save param request
// UAVCAN parameters
AP_Int8 _dronecan_node;