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ardupilot/libraries/AP_Param/AP_Param.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
//
/// @file AP_Param.h
/// @brief A system for managing and storing variables that are of
/// general interest to the system.
#pragma once
#include <stddef.h>
#include <string.h>
#include <stdint.h>
#include <cmath>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/RingBuffer.h>
#include <StorageManager/StorageManager.h>
#include <AP_Scripting/AP_Scripting_config.h>
#include "AP_Param_config.h"
#include "float.h"
#define AP_MAX_NAME_SIZE 16
// optionally enable debug code for dumping keys
#ifndef AP_PARAM_KEY_DUMP
#define AP_PARAM_KEY_DUMP 0
#endif
#if defined(HAL_GCS_ENABLED)
#define AP_PARAM_DEFAULTS_ENABLED HAL_GCS_ENABLED
#else
#define AP_PARAM_DEFAULTS_ENABLED 1
#endif
/*
maximum size of embedded parameter file
*/
#ifndef AP_PARAM_MAX_EMBEDDED_PARAM
#if FORCE_APJ_DEFAULT_PARAMETERS
#if BOARD_FLASH_SIZE <= 1024
#define AP_PARAM_MAX_EMBEDDED_PARAM 1024
#else
#define AP_PARAM_MAX_EMBEDDED_PARAM 8192
#endif
#else
#define AP_PARAM_MAX_EMBEDDED_PARAM 0
#endif
#endif
// allow for dynamically added tables when scripting enabled
#ifndef AP_PARAM_DYNAMIC_ENABLED
#define AP_PARAM_DYNAMIC_ENABLED AP_SCRIPTING_ENABLED
#endif
// maximum number of dynamically created tables (from scripts)
#ifndef AP_PARAM_MAX_DYNAMIC
#define AP_PARAM_MAX_DYNAMIC 10
#endif
#define AP_PARAM_DYNAMIC_KEY_BASE 300
/*
flags for variables in var_info and group tables
*/
// a nested offset is for subgroups that are not subclasses
#define AP_PARAM_FLAG_NESTED_OFFSET (1<<0)
// a pointer variable is for dynamically allocated objects
#define AP_PARAM_FLAG_POINTER (1<<1)
// an enable variable allows a whole subtree of variables to be made
// invisible
#define AP_PARAM_FLAG_ENABLE (1<<2)
// don't shift index 0 to index 63. Use this when you know there will be
// no conflict with the parent
#define AP_PARAM_FLAG_NO_SHIFT (1<<3)
// the var_info is a pointer, allowing for dynamic definition of the var_info tree
#define AP_PARAM_FLAG_INFO_POINTER (1<<4)
// this parameter is visible to GCS via mavlink but should never be
// set by anything other than the ArduPilot code responsible for its
// use.
#define AP_PARAM_FLAG_INTERNAL_USE_ONLY (1<<5)
// hide parameter from param download
#define AP_PARAM_FLAG_HIDDEN (1<<6)
// Default value is a "pointer" actually its a offest from the base value, but the idea is the same
#define AP_PARAM_FLAG_DEFAULT_POINTER (1<<7)
// keep all flags before the FRAME tags
// vehicle and frame type flags, used to hide parameters when not
// relevent to a vehicle type. Use AP_Param::set_frame_type_flags() to
// enable parameters flagged in this way. frame type flags are stored
// in flags field, shifted by AP_PARAM_FRAME_TYPE_SHIFT.
#define AP_PARAM_FRAME_TYPE_SHIFT 8
// supported frame types for parameters
#define AP_PARAM_FRAME_COPTER (1<<0)
#define AP_PARAM_FRAME_ROVER (1<<1)
#define AP_PARAM_FRAME_PLANE (1<<2)
#define AP_PARAM_FRAME_SUB (1<<3)
#define AP_PARAM_FRAME_TRICOPTER (1<<4)
#define AP_PARAM_FRAME_HELI (1<<5)
#define AP_PARAM_FRAME_BLIMP (1<<6)
// a variant of offsetof() to work around C++ restrictions.
// this can only be used when the offset of a variable in a object
// is constant and known at compile time
#define AP_VAROFFSET(type, element) (((ptrdiff_t)(&((const type *)1)->element))-1)
// find the type of a variable given the class and element
#define AP_CLASSTYPE(clazz, element) ((uint8_t)(((const clazz *) 1)->element.vtype))
// declare a group var_info line
#define AP_GROUPINFO_FLAGS(name, idx, clazz, element, def, flags) { name, AP_VAROFFSET(clazz, element), {def_value : def}, flags, idx, AP_CLASSTYPE(clazz, element)}
// declare a group var_info line with a frame type mask
#define AP_GROUPINFO_FRAME(name, idx, clazz, element, def, frame_flags) AP_GROUPINFO_FLAGS(name, idx, clazz, element, def, (frame_flags)<<AP_PARAM_FRAME_TYPE_SHIFT )
// declare a group var_info line with both flags and frame type mask
#define AP_GROUPINFO_FLAGS_FRAME(name, idx, clazz, element, def, flags, frame_flags) AP_GROUPINFO_FLAGS(name, idx, clazz, element, def, flags|((frame_flags)<<AP_PARAM_FRAME_TYPE_SHIFT) )
// declare a group var_info line with a default "pointer"
#define AP_GROUPINFO_FLAGS_DEFAULT_POINTER(name, idx, clazz, element, def) { name, AP_VAROFFSET(clazz, element), {def_value_offset : AP_VAROFFSET(clazz, element) - AP_VAROFFSET(clazz, def)}, AP_PARAM_FLAG_DEFAULT_POINTER, idx, AP_CLASSTYPE(clazz, element) }
// declare a group var_info line
#define AP_GROUPINFO(name, idx, clazz, element, def) AP_GROUPINFO_FLAGS(name, idx, clazz, element, def, 0)
// declare a nested group entry in a group var_info
#define AP_NESTEDGROUPINFO(clazz, idx) { "", 0, { group_info : clazz::var_info }, 0, idx, AP_PARAM_GROUP }
// declare a subgroup entry in a group var_info. This is for having another arbitrary object as a member of the parameter list of
// an object
#define AP_SUBGROUPINFO(element, name, idx, thisclazz, elclazz) { name, AP_VAROFFSET(thisclazz, element), { group_info : elclazz::var_info }, AP_PARAM_FLAG_NESTED_OFFSET, idx, AP_PARAM_GROUP }
// declare a second parameter table for the same object
#define AP_SUBGROUPEXTENSION(name, idx, clazz, vinfo) { name, 0, { group_info : clazz::vinfo }, AP_PARAM_FLAG_NESTED_OFFSET, idx, AP_PARAM_GROUP }
// declare a pointer subgroup entry in a group var_info
#define AP_SUBGROUPPTR(element, name, idx, thisclazz, elclazz) { name, AP_VAROFFSET(thisclazz, element), { group_info : elclazz::var_info }, AP_PARAM_FLAG_POINTER, idx, AP_PARAM_GROUP }
// declare a pointer subgroup entry in a group var_info with a pointer var_info
#define AP_SUBGROUPVARPTR(element, name, idx, thisclazz, var_info) { name, AP_VAROFFSET(thisclazz, element), { group_info_ptr : &var_info }, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER, idx, AP_PARAM_GROUP }
#define AP_GROUPEND { "", 0, { group_info : nullptr }, 0, 0xFF, AP_PARAM_NONE }
// Vehicle defines for info struct
#define GSCALAR(v, name, def) { name, &AP_PARAM_VEHICLE_NAME.g.v, {def_value : def}, 0, Parameters::k_param_ ## v, AP_PARAM_VEHICLE_NAME.g.v.vtype }
#define GARRAY(v, index, name, def) { name, &AP_PARAM_VEHICLE_NAME.g.v[index], {def_value : def}, 0, Parameters::k_param_ ## v ## index, AP_PARAM_VEHICLE_NAME.g.v[index].vtype }
#define ASCALAR(v, name, def) { name, (const void *)&AP_PARAM_VEHICLE_NAME.aparm.v, {def_value : def}, 0, Parameters::k_param_ ## v, AP_PARAM_VEHICLE_NAME.aparm.v.vtype }
#define GGROUP(v, name, class) { name, &AP_PARAM_VEHICLE_NAME.g.v, {group_info : class::var_info}, 0, Parameters::k_param_ ## v, AP_PARAM_GROUP }
#define GOBJECT(v, name, class) { name, (const void *)&AP_PARAM_VEHICLE_NAME.v, {group_info : class::var_info}, 0, Parameters::k_param_ ## v, AP_PARAM_GROUP }
#define GOBJECTPTR(v, name, class) { name, (const void *)&AP_PARAM_VEHICLE_NAME.v, {group_info : class::var_info}, AP_PARAM_FLAG_POINTER, Parameters::k_param_ ## v, AP_PARAM_GROUP }
#define GOBJECTVARPTR(v, name, var_info_ptr) { name, (const void *)&AP_PARAM_VEHICLE_NAME.v, {group_info_ptr : var_info_ptr}, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER, Parameters::k_param_ ## v, AP_PARAM_GROUP }
#define GOBJECTN(v, pname, name, class) { name, (const void *)&AP_PARAM_VEHICLE_NAME.v, {group_info : class::var_info}, 0, Parameters::k_param_ ## pname, AP_PARAM_GROUP }
#define PARAM_VEHICLE_INFO { "", (const void *)&AP_PARAM_VEHICLE_NAME, {group_info : AP_Vehicle::var_info}, 0, Parameters::k_param_vehicle, AP_PARAM_GROUP }
#define AP_VAREND { "", nullptr, {group_info : nullptr }, 0, 0, AP_PARAM_NONE }
#define AP_GROUP_ELEM_IDX(subgrp_idx, grp_idx) (grp_idx << 6 | subgrp_idx)
enum ap_var_type {
AP_PARAM_NONE = 0,
AP_PARAM_INT8,
AP_PARAM_INT16,
AP_PARAM_INT32,
AP_PARAM_FLOAT,
AP_PARAM_VECTOR3F,
AP_PARAM_GROUP
};
/// Base class for variables.
///
/// Provides naming and lookup services for variables.
///
class AP_Param
{
public:
// the Info and GroupInfo structures are passed by the main
// program in setup() to give information on how variables are
// named and their location in memory
struct GroupInfo {
const char *name;
ptrdiff_t offset; // offset within the object
union {
const struct GroupInfo *group_info;
const struct GroupInfo **group_info_ptr; // when AP_PARAM_FLAG_INFO_POINTER is set in flags
const float def_value;
ptrdiff_t def_value_offset; // Default value offset from param object, when AP_PARAM_FLAG_DEFAULT_POINTER is set in flags
};
uint16_t flags;
uint8_t idx; // identifier within the group
uint8_t type; // AP_PARAM_*
};
struct Info {
const char *name;
const void *ptr; // pointer to the variable in memory
union {
const struct GroupInfo *group_info;
const struct GroupInfo **group_info_ptr; // when AP_PARAM_FLAG_INFO_POINTER is set in flags
const float def_value;
ptrdiff_t def_value_offset; // Default value offset from param object, when AP_PARAM_FLAG_DEFAULT_POINTER is set in flags
};
uint16_t flags;
uint16_t key; // k_param_*
uint8_t type; // AP_PARAM_*
};
struct ConversionInfo {
uint16_t old_key; // k_param_*
uint32_t old_group_element; // index in old object
enum ap_var_type type; // AP_PARAM_*
const char *new_name;
};
// param default table element
struct defaults_table_struct {
const char *name; // parameter name
float value; // parameter value
};
// called once at startup to setup the _var_info[] table. This
// will also check the EEPROM header and re-initialise it if the
// wrong version is found
static bool setup();
// constructor with var_info
AP_Param(const struct Info *info)
{
_var_info = info;
uint16_t i;
for (i=0; info[i].type != AP_PARAM_NONE; i++) ;
_num_vars = i;
#if AP_PARAM_DYNAMIC_ENABLED
_num_vars_base = _num_vars;
#endif
if (_singleton != nullptr) {
AP_HAL::panic("AP_Param must be singleton");
}
_singleton = this;
}
// empty constructor
AP_Param() {}
// a token used for first()/next() state
typedef struct {
uint32_t key : 9;
uint32_t idx : 4; // offset into array types
uint32_t group_element : 18;
uint32_t last_disabled : 1;
} ParamToken;
// nesting structure for recursive call states
struct GroupNesting {
static const uint8_t numlevels = 2;
uint8_t level;
const struct GroupInfo *group_ret[numlevels];
};
// return true if AP_Param has been initialised via setup()
static bool initialised(void);
// the 'group_id' of a element of a group is the 18 bit identifier
// used to distinguish between this element of the group and other
// elements of the same group. It is calculated using a bit shift per
// level of nesting, so the first level of nesting gets 6 bits the 2nd
// level gets the next 6 bits, and the 3rd level gets the last 6
// bits. This limits groups to having at most 64 elements.
static uint32_t group_id(const struct GroupInfo *grpinfo, uint32_t base, uint8_t i, uint8_t shift);
/// Copy the variable's name, prefixed by any containing group name, to a
/// buffer.
///
/// If the variable has no name, the buffer will contain an empty string.
///
/// Note that if the combination of names is larger than the buffer, the
/// result in the buffer will be truncated.
///
/// @param token token giving current variable
/// @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,
const struct GroupNesting &group_nesting,
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.
///
/// If the variable has no name, it cannot be found by this interface.
///
/// @param name The full name of the variable to be found.
/// @param flags If non-null will be filled with parameter flags
/// @return A pointer to the variable, or nullptr if
/// it does not exist.
///
static AP_Param * find(const char *name, enum ap_var_type *ptype, uint16_t *flags = nullptr);
/// set a default value by name
///
/// @param name The full name of the variable to be found.
/// @param value The default value
/// @return true if the variable is found
static bool set_default_by_name(const char *name, float value);
/// set parameter defaults from a defaults_table_struct
///
/// @param table pointer to array of defaults_table_struct structures
/// @param count number of elements in table array
static void set_defaults_from_table(const struct defaults_table_struct *table, uint8_t count);
/// set a value by name
///
/// @param name The full name of the variable to be found.
/// @param value The new value
/// @return true if the variable is found
static bool set_by_name(const char *name, float value);
/// gat a value by name, used by scripting
///
/// @param name The full name of the variable to be found.
/// @param value A reference to the variable
/// @return true if the variable is found
static bool get(const char *name, float &value);
/// set and save a value by name
///
/// @param name The full name of the variable to be found.
/// @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);
/// Find a variable by index.
///
///
/// @param idx The index of the variable
/// @return A pointer to the variable, or nullptr if
/// it does not exist.
///
static AP_Param * find_by_index(uint16_t idx, enum ap_var_type *ptype, ParamToken *token);
// by-name equivalent of find_by_index()
static AP_Param* find_by_name(const char* name, enum ap_var_type *ptype, ParamToken *token);
/// Find a variable by pointer
///
///
/// @param p Pointer to variable
/// @return key for variable
static bool find_key_by_pointer_group(const void *ptr, uint16_t vindex, const struct GroupInfo *group_info,
ptrdiff_t offset, uint16_t &key);
static bool find_key_by_pointer(const void *ptr, uint16_t &key);
/// Find key of top level group variable by pointer
///
///
/// @param p Pointer to variable
/// @return key for variable
static bool find_top_level_key_by_pointer(const void *ptr, uint16_t &key);
/// Find a object in the top level var_info table
///
/// If the variable has no name, it cannot be found by this interface.
///
/// @param name The full name of the variable to be found.
///
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 storage, synchronous API
///
/// @param force_save If true then force save even if default
///
/// @return True if the variable was saved successfully.
///
void save_sync(bool force_save, bool send_to_gcs);
/// flush all pending parameter saves
/// used on reboot
static void flush(void);
/// Save the current value of the variable to storage, async interface
///
/// @param force_save If true then force save even if default
///
void save(bool force_save=false);
/// Load the variable from EEPROM.
///
/// @return True if the variable was loaded successfully.
///
bool load(void);
/// Load all variables from EEPROM
///
/// This function performs a best-efforts attempt to load all
/// of the variables from EEPROM. If some fail to load, their
/// values will remain as they are.
///
/// @return False if any variable failed to load
///
static bool load_all();
// return true if eeprom is full, used for arming check
static bool get_eeprom_full(void) {
return eeprom_full;
}
// returns storage space used:
static uint16_t storage_used() { return sentinal_offset; }
// returns storage space :
static uint16_t storage_size() { return _storage.size(); }
/// reoad the hal.util defaults file. Called after pointer parameters have been allocated
///
static void reload_defaults_file(bool last_pass);
static void load_object_from_eeprom(const void *object_pointer, const struct GroupInfo *group_info);
// set a AP_Param variable to a specified value
static void set_value(enum ap_var_type type, void *ptr, float def_value);
/*
set a parameter to a float
*/
void set_float(float value, enum ap_var_type var_type);
// load default values for scalars in a group
static void setup_object_defaults(const void *object_pointer, const struct GroupInfo *group_info);
// set a value directly in an object.
// return true if the name was found and set, else false.
// This should only be used by example code, not by mainline vehicle code
static bool set_object_value(const void *object_pointer,
const struct GroupInfo *group_info,
const char *name, float value);
// load default values for all scalars in the main sketch. This
// 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, uint8_t flags=0);
// convert old vehicle parameters to new object parameters with scaling - assumes we use the same scaling factor for all values in the table
static void convert_old_parameters_scaled(const ConversionInfo *conversion_table, uint8_t table_size, float scaler, uint8_t flags);
// convert an object which was stored in a vehicle's G2 into a new
// object in AP_Vehicle.cpp:
struct G2ObjectConversion {
void *object_pointer;
const struct AP_Param::GroupInfo *var_info;
uint16_t old_index; // Old parameter index in g2
};
static void convert_g2_objects(const void *g2, const G2ObjectConversion g2_conversions[], uint8_t num_conversions);
// convert an object which was stored in a vehicle's top-level
// Parameters object into a new object in AP_Vehicle.cpp:
struct TopLevelObjectConversion {
void *object_pointer;
const struct AP_Param::GroupInfo *var_info;
uint16_t old_index; // Old parameter index in g
};
static void convert_toplevel_objects(const TopLevelObjectConversion g2_conversions[], uint8_t num_conversions);
/*
convert width of a parameter, allowing update to wider scalar
values without changing the parameter indexes. This will return
true if the parameter was converted from an old parameter value
*/
bool convert_parameter_width(ap_var_type old_ptype, float scale_factor=1.0) {
return _convert_parameter_width(old_ptype, scale_factor, false);
}
bool convert_centi_parameter(ap_var_type old_ptype) {
return convert_parameter_width(old_ptype, 0.01f);
}
// Converting bitmasks should be done bitwise rather than numerically
bool convert_bitmask_parameter_width(ap_var_type old_ptype) {
return _convert_parameter_width(old_ptype, 1.0, true);
}
// convert a single parameter with scaling
enum {
CONVERT_FLAG_REVERSE=1, // handle _REV -> _REVERSED conversion
CONVERT_FLAG_FORCE=2 // store new value even if configured in eeprom already
};
static void convert_old_parameter(const struct ConversionInfo *info, float scaler, uint8_t flags=0);
// move all parameters from a class to a new location
// is_top_level: Is true if the class had its own top level key, param_key. It is false if the class was a subgroup
static void convert_class(uint16_t param_key, void *object_pointer,
const struct AP_Param::GroupInfo *group_info,
uint16_t old_index, bool is_top_level);
/*
fetch a parameter value based on the index within a group. This
is used to find the old value of a parameter that has been
removed from an object.
*/
static bool get_param_by_index(void *obj_ptr, uint8_t idx, ap_var_type old_ptype, void *pvalue);
/// Erase all variables in EEPROM.
///
static void erase_all(void);
/// Returns the first variable
///
/// @return The first variable in _var_info, or nullptr if
/// there are none.
///
static AP_Param * first(ParamToken *token, enum ap_var_type *ptype, float *default_val = nullptr);
/// Returns the next variable in _var_info, recursing into groups
/// as needed
static AP_Param * next(ParamToken *token, enum ap_var_type *ptype) { return next(token, ptype, false); }
static AP_Param * next(ParamToken *token, enum ap_var_type *ptype, bool skip_disabled, float *default_val = nullptr);
/// Returns the next scalar variable in _var_info, recursing into groups
/// as needed
static AP_Param * next_scalar(ParamToken *token, enum ap_var_type *ptype, float *default_val = nullptr);
/// get the size of a type in bytes
static uint8_t type_size(enum ap_var_type type);
/// cast a variable to a float given its type
float cast_to_float(enum ap_var_type type) const;
// check var table for consistency
static void check_var_info(void);
// return true if the parameter is configured
bool configured(void) const;
// return true if the parameter is read-only
bool is_read_only(void) const;
// return the persistent top level key for the ParamToken key
static uint16_t get_persistent_key(uint16_t key) { return var_info(key).key; }
// count of parameters in tree
static uint16_t count_parameters(void);
// invalidate parameter count
static void invalidate_count(void);
static void set_hide_disabled_groups(bool value) { _hide_disabled_groups = value; }
// set frame type flags. Used to unhide frame specific parameters
static void set_frame_type_flags(uint16_t flags_to_set) {
invalidate_count();
_frame_type_flags |= flags_to_set;
}
// check if a given frame type should be included
static bool check_frame_type(uint16_t flags);
#if AP_PARAM_KEY_DUMP
/// print the value of all variables
static void show_all(AP_HAL::BetterStream *port, bool showKeyValues=false);
/// print the value of one variable
static void show(const AP_Param *param,
const char *name,
enum ap_var_type ptype,
AP_HAL::BetterStream *port);
/// print the value of one variable
static void show(const AP_Param *param,
const ParamToken &token,
enum ap_var_type ptype,
AP_HAL::BetterStream *port);
#endif // AP_PARAM_KEY_DUMP
static AP_Param *get_singleton() { return _singleton; }
#if AP_PARAM_DYNAMIC_ENABLED
// allow for dynamically added parameter tables from scripts
static bool add_table(uint8_t key, const char *prefix, uint8_t num_params);
static bool add_param(uint8_t key, uint8_t param_num, const char *pname, float default_value);
static bool load_int32(uint16_t key, uint32_t group_element, int32_t &value);
#endif
static bool load_defaults_file(const char *filename, bool last_pass);
protected:
// store default value in linked list
static void add_default(AP_Param *ap, float v);
private:
static AP_Param *_singleton;
/// EEPROM header
///
/// This structure is placed at the head of the EEPROM to indicate
/// that the ROM is formatted for AP_Param.
///
struct EEPROM_header {
uint8_t magic[2];
uint8_t revision;
uint8_t spare;
};
static_assert(sizeof(struct EEPROM_header) == 4, "Bad EEPROM_header size!");
static uint16_t sentinal_offset;
/* This header is prepended to a variable stored in EEPROM.
* The meaning is as follows:
*
* - key: the k_param enum value from Parameter.h in the sketch
*
* - group_element: This is zero for top level parameters. For
* parameters stored within an object this is divided
* into 3 lots of 6 bits, allowing for three levels
* of object to be stored in the eeprom
*
* - type: the ap_var_type value for the variable
*/
struct Param_header {
// to get 9 bits for key we needed to split it into two parts to keep binary compatibility
uint32_t key_low : 8;
uint32_t type : 5;
uint32_t key_high : 1;
uint32_t group_element : 18;
};
static_assert(sizeof(struct Param_header) == 4, "Bad Param_header size!");
// number of bits in each level of nesting of groups
static const uint8_t _group_level_shift = 6;
static const uint8_t _group_bits = 18;
static const uint16_t _sentinal_key = 0x1FF;
static const uint8_t _sentinal_type = 0x1F;
static const uint8_t _sentinal_group = 0xFF;
static uint16_t _frame_type_flags;
/*
this is true if when scanning a defaults file we find all of the parameters
*/
static bool done_all_default_params;
/*
structure for built-in defaults file that can be modified using apj_tool.py
*/
#if AP_PARAM_MAX_EMBEDDED_PARAM > 0
struct PACKED param_defaults_struct {
char magic_str[8];
uint8_t param_magic[8];
uint16_t max_length;
volatile uint16_t length;
volatile char data[AP_PARAM_MAX_EMBEDDED_PARAM];
};
static const param_defaults_struct param_defaults_data;
#endif
static void check_group_info(const struct GroupInfo *group_info, uint16_t *total_size,
uint8_t max_bits, uint8_t prefix_length);
static bool duplicate_key(uint16_t vindex, uint16_t key);
static bool adjust_group_offset(uint16_t vindex, const struct GroupInfo &group_info, ptrdiff_t &new_offset);
static bool get_base(const struct Info &info, ptrdiff_t &base);
/// get group_info pointer based on flags
static const struct GroupInfo *get_group_info(const struct GroupInfo &ginfo);
/// get group_info pointer based on flags
static const struct GroupInfo *get_group_info(const struct Info &ginfo);
const struct Info * find_var_info_group(
const struct GroupInfo * group_info,
uint16_t vindex,
uint32_t group_base,
uint8_t group_shift,
ptrdiff_t group_offset,
uint32_t * group_element,
const struct GroupInfo * &group_ret,
struct GroupNesting &group_nesting,
uint8_t * idx) const;
const struct Info * find_var_info(
uint32_t * group_element,
const struct GroupInfo * &group_ret,
struct GroupNesting &group_nesting,
uint8_t * idx) const;
const struct Info * find_var_info_token(const ParamToken &token,
uint32_t * group_element,
const struct GroupInfo * &group_ret,
struct GroupNesting &group_nesting,
uint8_t * idx) const;
static const struct Info * find_by_header_group(
struct Param_header phdr, void **ptr,
uint16_t vindex,
const struct GroupInfo *group_info,
uint32_t group_base,
uint8_t group_shift,
ptrdiff_t group_offset);
static const struct Info * find_by_header(
struct Param_header phdr,
void **ptr);
void add_vector3f_suffix(
char *buffer,
size_t buffer_size,
uint8_t idx) const;
static AP_Param * find_group(
const char *name,
uint16_t vindex,
ptrdiff_t group_offset,
const struct GroupInfo *group_info,
enum ap_var_type *ptype);
static void write_sentinal(uint16_t ofs);
static uint16_t get_key(const Param_header &phdr);
static void set_key(Param_header &phdr, uint16_t key);
static bool is_sentinal(const Param_header &phrd);
static bool scan(
const struct Param_header *phdr,
uint16_t *pofs);
static void eeprom_write_check(
const void *ptr,
uint16_t ofs,
uint8_t size);
static AP_Param * next_group(
const uint16_t vindex,
const struct GroupInfo *group_info,
bool *found_current,
const uint32_t group_base,
const uint8_t group_shift,
const ptrdiff_t group_offset,
ParamToken *token,
enum ap_var_type *ptype,
bool skip_disabled,
float *default_val);
// find a default value given a pointer to a default value in flash
static float get_default_value(const AP_Param *object_ptr, const struct GroupInfo &info);
static float get_default_value(const AP_Param *object_ptr, const struct Info &info);
static bool parse_param_line(char *line, char **vname, float &value, bool &read_only);
/*
load a parameter defaults file. This happens as part of load_all()
*/
static bool count_defaults_in_file(const char *filename, uint16_t &num_defaults);
static bool count_param_defaults(const volatile char *ptr, int32_t length, uint16_t &count);
static bool read_param_defaults_file(const char *filename, bool last_pass, uint16_t &idx);
// load a defaults.parm using AP_FileSystem:
static void load_defaults_file_from_filesystem(const char *filename, bool lastpass);
// load an @ROMFS defaults.parm using ROMFS API:
static void load_defaults_file_from_romfs(const char *filename, bool lastpass);
// load defaults from supplied string:
static void load_param_defaults(const volatile char *ptr, int32_t length, bool last_pass);
/*
load defaults from embedded parameters
*/
static bool count_embedded_param_defaults(uint16_t &count);
static void load_embedded_param_defaults(bool last_pass);
// return true if the parameter is configured in the defaults file
bool configured_in_defaults_file(bool &read_only) const;
// return true if the parameter is configured in EEPROM/FRAM
bool configured_in_storage(void) const;
/*
convert width of a parameter, allowing update to wider scalar
values without changing the parameter indexes. This will return
true if the parameter was converted from an old parameter value
*/
bool _convert_parameter_width(ap_var_type old_ptype, float scale_factor, bool bitmask);
// send a parameter to all GCS instances
void send_parameter(const char *name, enum ap_var_type param_header_type, uint8_t idx) const;
static StorageAccess _storage;
static StorageAccess _storage_bak;
static uint16_t _num_vars;
static uint16_t _parameter_count;
static uint16_t _count_marker;
static uint16_t _count_marker_done;
static HAL_Semaphore _count_sem;
static const struct Info * _var_info;
#if AP_PARAM_DYNAMIC_ENABLED
// allow for a dynamically allocated var table
static uint16_t _num_vars_base;
static struct Info * _var_info_dynamic;
static const struct AP_Param::Info &var_info(uint16_t i) {
return i<_num_vars_base? _var_info[i] : _var_info_dynamic[i-_num_vars_base];
}
static uint8_t _dynamic_table_sizes[AP_PARAM_MAX_DYNAMIC];
#else
// simple static var table in flash
static const struct Info &var_info(uint16_t i) {
return _var_info[i];
}
#endif
/*
list of overridden values from load_defaults_file()
*/
struct param_override {
const AP_Param *object_ptr;
float value;
bool read_only; // param is marked @READONLY
};
static struct param_override *param_overrides;
static uint16_t num_param_overrides;
static uint16_t param_overrides_len;
static uint16_t num_read_only;
// values filled into the EEPROM header
static const uint8_t k_EEPROM_magic0 = 0x50;
static const uint8_t k_EEPROM_magic1 = 0x41; ///< "AP"
static const uint8_t k_EEPROM_revision = 6; ///< current format revision
static bool _hide_disabled_groups;
// support for background saving of parameters. We pack it to reduce memory for the
// queue
struct PACKED param_save {
AP_Param *param;
bool force_save;
};
static ObjectBuffer_TS<struct param_save> save_queue;
static bool registered_save_handler;
// background function for saving parameters
void save_io_handler(void);
// Store default values from add_default() calls in linked list
struct defaults_list {
AP_Param *ap;
float val;
defaults_list *next;
};
static defaults_list *default_list;
static void check_default(AP_Param *ap, float *default_value);
static bool eeprom_full;
};
namespace AP {
AP_Param *param();
};
/// Template class for scalar variables.
///
/// Objects of this type have a value, and can be treated in many ways as though they
/// were the value.
///
/// @tparam T The scalar type of the variable
/// @tparam PT The AP_PARAM_* type
///
template<typename T, ap_var_type PT>
class AP_ParamT : public AP_Param
{
public:
static const ap_var_type vtype = PT;
/// Value getter
///
const T &get(void) const {
return _value;
}
/// Value setter
///
void set(const T &v) {
_value = v;
}
// set a parameter that is an ENABLE param
void set_enable(const T &v);
/// Sets if the parameter is unconfigured
///
void set_default(const T &v);
/// Sets parameter and default
///
void set_and_default(const T &v);
/// Value setter - set value, tell GCS
///
void set_and_notify(const T &v);
/// Combined set and save
///
void set_and_save(const T &v);
/// Combined set and save, but only does the save if the value if
/// different from the current ram value, thus saving us a
/// scan(). This should only be used where we have not set() the
/// value separately, as otherwise the value in EEPROM won't be
/// updated correctly.
void set_and_save_ifchanged(const T &v);
/// Conversion to T returns a reference to the value.
///
/// This allows the class to be used in many situations where the value would be legal.
///
operator const T &() const {
return _value;
}
/// AP_ParamT types can implement AP_Param::cast_to_float
///
float cast_to_float(void) const;
protected:
T _value;
};
/// Template class for non-scalar variables.
///
/// Objects of this type have a value, and can be treated in many ways as though they
/// were the value.
///
/// @tparam T The scalar type of the variable
/// @tparam PT AP_PARAM_* type
///
template<typename T, ap_var_type PT>
class AP_ParamV : public AP_Param
{
public:
static const ap_var_type vtype = PT;
/// Value getter
///
const T &get(void) const {
return _value;
}
/// Value setter
///
void set(const T &v) {
_value = v;
}
/// Value setter - set value, tell GCS
///
void set_and_notify(const T &v);
/// Combined set and save
///
void set_and_save(const T &v);
/// Combined set and save, but only does the save if the value is
/// different from the current ram value, thus saving us a
/// scan(). This should only be used where we have not set() the
/// value separately, as otherwise the value in EEPROM won't be
/// updated correctly.
void set_and_save_ifchanged(const T &v);
/// Conversion to T returns a reference to the value.
///
/// This allows the class to be used in many situations where the value would be legal.
///
operator const T &() const {
return _value;
}
protected:
T _value;
};
/// Template class for array variables.
///
/// Objects created using this template behave like arrays of the type T,
/// but are stored like single variables.
///
/// @tparam T The scalar type of the variable
/// @tparam N number of elements
/// @tparam PT the AP_PARAM_* type
///
template<typename T, uint8_t N, ap_var_type PT>
class AP_ParamA : public AP_Param
{
public:
static const ap_var_type vtype = PT;
/// Array operator accesses members.
///
/// @note It would be nice to range-check i here, but then what would we return?
///
const T & operator[](uint8_t i) {
return _value[i];
}
const T & operator[](int8_t i) {
return _value[(uint8_t)i];
}
/// Value getter
///
/// @note Returns zero for index values out of range.
///
T get(uint8_t i) const {
if (i < N) {
return _value[i];
} else {
return (T)0;
}
}
/// Value setter
///
/// @note Attempts to set an index out of range are discarded.
///
void set(uint8_t i, const T &v) {
if (i < N) {
_value[i] = v;
}
}
protected:
T _value[N];
};
/// Convenience macro for defining instances of the AP_ParamT template.
///
// declare a scalar type
// _t is the base type
// _suffix is the suffix on the AP_* type name
// _pt is the enum ap_var_type type
#define AP_PARAMDEF(_t, _suffix, _pt) typedef AP_ParamT<_t, _pt> AP_ ## _suffix;
AP_PARAMDEF(float, Float, AP_PARAM_FLOAT); // defines AP_Float
AP_PARAMDEF(int8_t, Int8, AP_PARAM_INT8); // defines AP_Int8
AP_PARAMDEF(int16_t, Int16, AP_PARAM_INT16); // defines AP_Int16
AP_PARAMDEF(int32_t, Int32, AP_PARAM_INT32); // defines AP_Int32
// declare a non-scalar type
// this is used in AP_Math.h
// _t is the base type
// _suffix is the suffix on the AP_* type name
// _pt is the enum ap_var_type type
#define AP_PARAMDEFV(_t, _suffix, _pt) typedef AP_ParamV<_t, _pt> AP_ ## _suffix;
/*
template class for enum types based on AP_Int8
*/
template<typename eclass>
class AP_Enum : public AP_Int8
{
public:
operator const eclass () const {
return (eclass)_value;
}
void set(eclass v) {
AP_Int8::set(int8_t(v));
}
};
template<typename eclass>
class AP_Enum16 : public AP_Int16
{
public:
operator const eclass () const {
return (eclass)_value;
}
void set(eclass v) {
AP_Int16::set(int16_t(v));
}
};
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