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ardupilot/libraries/AP_Param/AP_Param.cpp

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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/>.
*/
//
//
// total up and check overflow
// check size of group var_info
/// @file AP_Param.cpp
/// @brief The AP variable store.
#include "AP_Param.h"
#include <cmath>
#include <string.h>
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS.h>
#include <StorageManager/StorageManager.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <stdio.h>
extern const AP_HAL::HAL &hal;
#define ENABLE_DEBUG 1
#if ENABLE_DEBUG
# define Debug(fmt, args ...) do {::printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
#else
# define Debug(fmt, args ...)
#endif
// Note about AP_Vector3f handling.
// The code has special cases for AP_Vector3f to allow it to be viewed
// as both a single 3 element vector and as a set of 3 AP_Float
// variables. This is done to make it possible for MAVLink to see
// vectors as parameters, which allows users to save their compass
// offsets in MAVLink parameter files. The code involves quite a few
// special cases which could be generalised to any vector/matrix type
// if we end up needing this behaviour for other than AP_Vector3f
// static member variables for AP_Param.
//
// number of rows in the _var_info[] table
uint16_t AP_Param::_num_vars;
// cached parameter count
uint16_t AP_Param::_parameter_count;
// storage and naming information about all types that can be saved
const AP_Param::Info *AP_Param::_var_info;
struct AP_Param::param_override *AP_Param::param_overrides = nullptr;
uint16_t AP_Param::num_param_overrides = 0;
ObjectBuffer<AP_Param::param_save> AP_Param::save_queue{30};
bool AP_Param::registered_save_handler;
// we need a dummy object for the parameter save callback
static AP_Param save_dummy;
/*
this holds default parameters in the normal NAME=value form for a
parameter file. It can be manipulated by apj_tool.py to change the
defaults on a binary without recompiling
*/
const AP_Param::param_defaults_struct AP_Param::param_defaults_data = {
"PARMDEF",
{ 0x55, 0x37, 0xf4, 0xa0, 0x38, 0x5d, 0x48, 0x5b },
AP_PARAM_MAX_EMBEDDED_PARAM,
0
};
// storage object
StorageAccess AP_Param::_storage(StorageManager::StorageParam);
// flags indicating frame type
uint16_t AP_Param::_frame_type_flags;
// write to EEPROM
void AP_Param::eeprom_write_check(const void *ptr, uint16_t ofs, uint8_t size)
{
_storage.write_block(ofs, ptr, size);
}
bool AP_Param::_hide_disabled_groups = true;
// write a sentinal value at the given offset
void AP_Param::write_sentinal(uint16_t ofs)
{
struct Param_header phdr;
phdr.type = _sentinal_type;
set_key(phdr, _sentinal_key);
phdr.group_element = _sentinal_group;
eeprom_write_check(&phdr, ofs, sizeof(phdr));
}
// erase all EEPROM variables by re-writing the header and adding
// a sentinal
void AP_Param::erase_all(void)
{
struct EEPROM_header hdr;
// write the header
hdr.magic[0] = k_EEPROM_magic0;
hdr.magic[1] = k_EEPROM_magic1;
hdr.revision = k_EEPROM_revision;
hdr.spare = 0;
eeprom_write_check(&hdr, 0, sizeof(hdr));
// add a sentinal directly after the header
write_sentinal(sizeof(struct EEPROM_header));
}
/* 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.
*/
uint32_t AP_Param::group_id(const struct GroupInfo *grpinfo, uint32_t base, uint8_t i, uint8_t shift)
{
if (grpinfo[i].idx == 0 && shift != 0 && !(grpinfo[i].flags & AP_PARAM_NO_SHIFT)) {
/*
this is a special case for a bug in the original design. An
idx of 0 shifted by n bits is still zero, which makes it
indistinguishable from a different parameter. This can lead
to parameter loops. We use index 63 for that case.
*/
return base + (63U<<shift);
}
return base + (grpinfo[i].idx<<shift);
}
/*
check if a frame type should be included. A frame is included if
either there are no frame type flags on a parameter or if at least
one of the flags has been set by set_frame_type_flags()
*/
bool AP_Param::check_frame_type(uint16_t flags)
{
uint16_t frame_flags = flags >> AP_PARAM_FRAME_TYPE_SHIFT;
if (frame_flags == 0) {
return true;
}
return (frame_flags & _frame_type_flags) != 0;
}
// validate a group info table
bool AP_Param::check_group_info(const struct AP_Param::GroupInfo * group_info,
uint16_t * total_size,
uint8_t group_shift,
uint8_t prefix_length)
{
uint8_t type;
uint64_t used_mask = 0;
for (uint8_t i=0;
(type=group_info[i].type) != AP_PARAM_NONE;
i++) {
uint8_t idx = group_info[i].idx;
if (idx >= (1<<_group_level_shift)) {
Debug("idx too large (%u) in %s", idx, group_info[i].name);
return false;
}
if (group_shift != 0 && idx == 0) {
// great idx 0 as 63 for duplicates. See group_id()
idx = 63;
}
if (used_mask & (1ULL<<idx)) {
Debug("Duplicate group idx %u for %s", idx, group_info[i].name);
return false;
}
used_mask |= (1ULL<<idx);
if (type == AP_PARAM_GROUP) {
// a nested group
if (group_shift + _group_level_shift >= _group_bits) {
Debug("double group nesting in %s", group_info[i].name);
return false;
}
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
if (!check_group_info(ginfo, total_size, group_shift + _group_level_shift, prefix_length + strlen(group_info[i].name))) {
return false;
}
continue;
}
uint8_t size = type_size((enum ap_var_type)type);
if (size == 0) {
Debug("invalid type in %s", group_info[i].name);
return false;
}
if (prefix_length + strlen(group_info[i].name) > 16) {
Debug("suffix is too long in %s", group_info[i].name);
return false;
}
(*total_size) += size + sizeof(struct Param_header);
}
return true;
}
// check for duplicate key values
bool AP_Param::duplicate_key(uint16_t vindex, uint16_t key)
{
for (uint16_t i=vindex+1; i<_num_vars; i++) {
uint16_t key2 = _var_info[i].key;
if (key2 == key) {
// no duplicate keys allowed
return true;
}
}
return false;
}
/*
get group_info pointer for a group
*/
const struct AP_Param::GroupInfo *AP_Param::get_group_info(const struct GroupInfo &ginfo)
{
if (ginfo.flags & AP_PARAM_FLAG_INFO_POINTER) {
return *ginfo.group_info_ptr;
}
return ginfo.group_info;
}
/*
get group_info pointer for a group
*/
const struct AP_Param::GroupInfo *AP_Param::get_group_info(const struct Info &info)
{
if (info.flags & AP_PARAM_FLAG_INFO_POINTER) {
return *info.group_info_ptr;
}
return info.group_info;
}
// validate the _var_info[] table
bool AP_Param::check_var_info(void)
{
uint16_t total_size = sizeof(struct EEPROM_header);
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = _var_info[i].type;
uint16_t key = _var_info[i].key;
if (type == AP_PARAM_GROUP) {
if (i == 0) {
// first element can't be a group, for first() call
return false;
}
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
if (!check_group_info(group_info, &total_size, 0, strlen(_var_info[i].name))) {
return false;
}
} else {
uint8_t size = type_size((enum ap_var_type)type);
if (size == 0) {
// not a valid type - the top level list can't contain
// AP_PARAM_NONE
return false;
}
total_size += size + sizeof(struct Param_header);
}
if (duplicate_key(i, key)) {
return false;
}
if (type != AP_PARAM_GROUP && (_var_info[i].flags & AP_PARAM_FLAG_POINTER)) {
// only groups can be pointers
return false;
}
}
// we no longer check if total_size is larger than _eeprom_size,
// as we allow for more variables than could fit, relying on not
// saving default values
return true;
}
// setup the _var_info[] table
bool AP_Param::setup(void)
{
struct EEPROM_header hdr;
// check the header
_storage.read_block(&hdr, 0, sizeof(hdr));
if (hdr.magic[0] != k_EEPROM_magic0 ||
hdr.magic[1] != k_EEPROM_magic1 ||
hdr.revision != k_EEPROM_revision) {
// header doesn't match. We can't recover any variables. Wipe
// the header and setup the sentinal directly after the header
Debug("bad header in setup - erasing");
erase_all();
}
return true;
}
// check if AP_Param has been initialised
bool AP_Param::initialised(void)
{
return _var_info != nullptr;
}
/*
adjust offset of a group element for nested groups and group pointers
The new_offset variable is relative to the vindex base. This makes
dealing with pointer groups tricky
*/
bool AP_Param::adjust_group_offset(uint16_t vindex, const struct GroupInfo &group_info, ptrdiff_t &new_offset)
{
if (group_info.flags & AP_PARAM_FLAG_NESTED_OFFSET) {
new_offset += group_info.offset;
return true;
}
if (group_info.flags & AP_PARAM_FLAG_POINTER) {
// group_info.offset refers to a pointer
ptrdiff_t base;
if (!get_base(_var_info[vindex], base)) {
// the object is not allocated yet
return false;
}
void **p = (void **)(base + new_offset + group_info.offset);
if (*p == nullptr) {
// the object is not allocated yet
return false;
}
// calculate offset that is needed to take base object and adjust for this object
new_offset = ((ptrdiff_t)*p) - base;
}
return true;
}
/*
get the base pointer for a variable, accounting for AP_PARAM_FLAG_POINTER
*/
bool AP_Param::get_base(const struct Info &info, ptrdiff_t &base)
{
if (info.flags & AP_PARAM_FLAG_POINTER) {
base = *(ptrdiff_t *)info.ptr;
return (base != (ptrdiff_t)0);
}
base = (ptrdiff_t)info.ptr;
return true;
}
// find the info structure given a header and a group_info table
// return the Info structure and a pointer to the variables storage
const struct AP_Param::Info *AP_Param::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)
{
uint8_t type;
for (uint8_t i=0;
(type=group_info[i].type) != AP_PARAM_NONE;
i++) {
if (type == AP_PARAM_GROUP) {
// a nested group
if (group_shift + _group_level_shift >= _group_bits) {
// too deeply nested - this should have been caught by
// setup() !
return nullptr;
}
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
ptrdiff_t new_offset = group_offset;
if (!adjust_group_offset(vindex, group_info[i], new_offset)) {
continue;
}
const struct AP_Param::Info *ret = find_by_header_group(phdr, ptr, vindex, ginfo,
group_id(group_info, group_base, i, group_shift),
group_shift + _group_level_shift, new_offset);
if (ret != nullptr) {
return ret;
}
continue;
}
if (group_id(group_info, group_base, i, group_shift) == phdr.group_element && type == phdr.type) {
// found a group element
ptrdiff_t base;
if (!get_base(_var_info[vindex], base)) {
continue;
}
*ptr = (void*)(base + group_info[i].offset + group_offset);
return &_var_info[vindex];
}
}
return nullptr;
}
// find the info structure given a header
// return the Info structure and a pointer to the variables storage
const struct AP_Param::Info *AP_Param::find_by_header(struct Param_header phdr, void **ptr)
{
// loop over all named variables
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = _var_info[i].type;
uint16_t key = _var_info[i].key;
if (key != get_key(phdr)) {
// not the right key
continue;
}
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
return find_by_header_group(phdr, ptr, i, group_info, 0, 0, 0);
}
if (type == phdr.type) {
// found it
ptrdiff_t base;
if (!get_base(_var_info[i], base)) {
return nullptr;
}
*ptr = (void*)base;
return &_var_info[i];
}
}
return nullptr;
}
// find the info structure for a variable in a group
const struct AP_Param::Info *AP_Param::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
{
ptrdiff_t base;
if (!get_base(_var_info[vindex], base)) {
return nullptr;
}
uint8_t type;
for (uint8_t i=0;
(type=group_info[i].type) != AP_PARAM_NONE;
i++) {
ptrdiff_t ofs = group_info[i].offset + group_offset;
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
// a nested group
if (group_shift + _group_level_shift >= _group_bits) {
// too deeply nested - this should have been caught by
// setup() !
return nullptr;
}
const struct AP_Param::Info *info;
ptrdiff_t new_offset = group_offset;
if (!adjust_group_offset(vindex, group_info[i], new_offset)) {
continue;
}
if (group_nesting.level >= group_nesting.numlevels) {
return nullptr;
}
group_nesting.group_ret[group_nesting.level++] = &group_info[i];
info = find_var_info_group(ginfo, vindex,
group_id(group_info, group_base, i, group_shift),
group_shift + _group_level_shift,
new_offset,
group_element,
group_ret,
group_nesting,
idx);
if (info != nullptr) {
return info;
}
group_nesting.level--;
} else if ((ptrdiff_t) this == base + ofs) {
*group_element = group_id(group_info, group_base, i, group_shift);
group_ret = &group_info[i];
*idx = 0;
return &_var_info[vindex];
} else if (type == AP_PARAM_VECTOR3F &&
(base+ofs+(ptrdiff_t)sizeof(float) == (ptrdiff_t) this ||
base+ofs+2*(ptrdiff_t)sizeof(float) == (ptrdiff_t) this)) {
// we are inside a Vector3f. We need to work out which
// element of the vector the current object refers to.
*idx = (((ptrdiff_t) this) - (base+ofs))/sizeof(float);
*group_element = group_id(group_info, group_base, i, group_shift);
group_ret = &group_info[i];
return &_var_info[vindex];
}
}
return nullptr;
}
// 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,
struct GroupNesting &group_nesting,
uint8_t * idx) const
{
group_ret = nullptr;
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = _var_info[i].type;
ptrdiff_t base;
if (!get_base(_var_info[i], base)) {
continue;
}
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
const struct AP_Param::Info *info;
info = find_var_info_group(group_info, i, 0, 0, 0, group_element, group_ret, group_nesting, idx);
if (info != nullptr) {
return info;
}
} else if (base == (ptrdiff_t) this) {
*group_element = 0;
*idx = 0;
return &_var_info[i];
} else if (type == AP_PARAM_VECTOR3F &&
(base+(ptrdiff_t)sizeof(float) == (ptrdiff_t) this ||
base+2*(ptrdiff_t)sizeof(float) == (ptrdiff_t) this)) {
// we are inside a Vector3f. Work out which element we are
// referring to.
*idx = (((ptrdiff_t) this) - base)/sizeof(float);
*group_element = 0;
return &_var_info[i];
}
}
return nullptr;
}
// find the info structure for a variable
const struct AP_Param::Info *AP_Param::find_var_info_token(const ParamToken &token,
uint32_t * group_element,
const struct GroupInfo * &group_ret,
struct GroupNesting &group_nesting,
uint8_t * idx) const
{
uint16_t i = token.key;
uint8_t type = _var_info[i].type;
ptrdiff_t base;
if (!get_base(_var_info[i], base)) {
return nullptr;
}
group_ret = nullptr;
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
return nullptr;
}
const struct AP_Param::Info *info;
info = find_var_info_group(group_info, i, 0, 0, 0, group_element, group_ret, group_nesting, idx);
if (info != nullptr) {
return info;
}
} else if (base == (ptrdiff_t) this) {
*group_element = 0;
*idx = 0;
return &_var_info[i];
} else if (type == AP_PARAM_VECTOR3F &&
(base+(ptrdiff_t)sizeof(float) == (ptrdiff_t) this ||
base+2*(ptrdiff_t)sizeof(float) == (ptrdiff_t) this)) {
// we are inside a Vector3f. Work out which element we are
// referring to.
*idx = (((ptrdiff_t) this) - base)/sizeof(float);
*group_element = 0;
return &_var_info[i];
}
return nullptr;
}
// return the storage size for a AP_PARAM_* type
uint8_t AP_Param::type_size(enum ap_var_type type)
{
switch (type) {
case AP_PARAM_NONE:
case AP_PARAM_GROUP:
return 0;
case AP_PARAM_INT8:
return 1;
case AP_PARAM_INT16:
return 2;
case AP_PARAM_INT32:
return 4;
case AP_PARAM_FLOAT:
return 4;
case AP_PARAM_VECTOR3F:
return 3*4;
}
Debug("unknown type %u\n", type);
return 0;
}
/*
extract 9 bit key from Param_header
*/
uint16_t AP_Param::get_key(const Param_header &phdr)
{
return ((uint16_t)phdr.key_high)<<8 | phdr.key_low;
}
/*
set 9 bit key in Param_header
*/
void AP_Param::set_key(Param_header &phdr, uint16_t key)
{
phdr.key_low = key & 0xFF;
phdr.key_high = key >> 8;
}
/*
return true if a header is the end of eeprom sentinal
*/
bool AP_Param::is_sentinal(const Param_header &phdr)
{
// note that this is an ||, not an &&, as this makes us more
// robust to power off while adding a variable to EEPROM
if (phdr.type == _sentinal_type ||
get_key(phdr) == _sentinal_key ||
phdr.group_element == _sentinal_group) {
return true;
}
// also check for 0xFFFFFFFF and 0x00000000, which are the fill
// values for storage. These can appear if power off occurs while
// writing data
uint32_t v = *(uint32_t *)&phdr;
if (v == 0 || v == 0xFFFFFFFF) {
return true;
}
return false;
}
// scan the EEPROM looking for a given variable by header content
// return true if found, along with the offset in the EEPROM where
// the variable is stored
// if not found return the offset of the sentinal
// if the sentinal isn't found either, the offset is set to 0xFFFF
bool AP_Param::scan(const AP_Param::Param_header *target, uint16_t *pofs)
{
struct Param_header phdr;
uint16_t ofs = sizeof(AP_Param::EEPROM_header);
while (ofs < _storage.size()) {
_storage.read_block(&phdr, ofs, sizeof(phdr));
if (phdr.type == target->type &&
get_key(phdr) == get_key(*target) &&
phdr.group_element == target->group_element) {
// found it
*pofs = ofs;
return true;
}
if (is_sentinal(phdr)) {
// we've reached the sentinal
*pofs = ofs;
return false;
}
ofs += type_size((enum ap_var_type)phdr.type) + sizeof(phdr);
}
*pofs = 0xffff;
Debug("scan past end of eeprom");
return false;
}
/**
* add a _X, _Y, _Z suffix to the name of a Vector3f element
* @param buffer
* @param buffer_size
* @param idx Suffix: 0 --> _X; 1 --> _Y; 2 --> _Z; (other --> undefined)
*/
void AP_Param::add_vector3f_suffix(char *buffer, size_t buffer_size, uint8_t idx) const
{
const size_t len = strnlen(buffer, buffer_size);
if (len + 2 <= buffer_size) {
buffer[len] = '_';
buffer[len + 1] = static_cast<char>('X' + idx);
if (len + 3 <= buffer_size) {
buffer[len + 2] = 0;
}
}
}
// Copy the variable's whole name to the supplied buffer.
//
// If the variable is a group member, prepend the group name.
//
void AP_Param::copy_name_token(const ParamToken &token, char *buffer, size_t buffer_size, bool force_scalar) const
{
uint32_t group_element;
const struct GroupInfo *ginfo;
struct GroupNesting group_nesting {};
uint8_t idx;
const struct AP_Param::Info *info = find_var_info_token(token, &group_element, ginfo, group_nesting, &idx);
if (info == nullptr) {
*buffer = 0;
Debug("no info found");
return;
}
copy_name_info(info, ginfo, group_nesting, idx, buffer, buffer_size, force_scalar);
}
void AP_Param::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 buffer_size, bool force_scalar) const
{
strncpy(buffer, info->name, buffer_size);
for (uint8_t i=0; i<group_nesting.level; i++) {
uint8_t len = strnlen(buffer, buffer_size);
if (len < buffer_size) {
strncpy(&buffer[len], group_nesting.group_ret[i]->name, buffer_size-len);
}
}
if (ginfo != nullptr) {
uint8_t len = strnlen(buffer, buffer_size);
if (len < buffer_size) {
strncpy(&buffer[len], ginfo->name, buffer_size-len);
}
if ((force_scalar || idx != 0) && AP_PARAM_VECTOR3F == ginfo->type) {
// the caller wants a specific element in a Vector3f
add_vector3f_suffix(buffer, buffer_size, idx);
}
} else if ((force_scalar || idx != 0) && AP_PARAM_VECTOR3F == info->type) {
add_vector3f_suffix(buffer, buffer_size, idx);
}
}
// Find a variable by name in a group
AP_Param *
AP_Param::find_group(const char *name, uint16_t vindex, ptrdiff_t group_offset,
const struct GroupInfo *group_info, enum ap_var_type *ptype)
{
uint8_t type;
for (uint8_t i=0;
(type=group_info[i].type) != AP_PARAM_NONE;
i++) {
if (type == AP_PARAM_GROUP) {
if (strncasecmp(name, group_info[i].name, strlen(group_info[i].name)) != 0) {
continue;
}
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
ptrdiff_t new_offset = group_offset;
if (!adjust_group_offset(vindex, group_info[i], new_offset)) {
continue;
}
AP_Param *ap = find_group(name+strlen(group_info[i].name), vindex, new_offset, ginfo, ptype);
if (ap != nullptr) {
return ap;
}
} else if (strcasecmp(name, group_info[i].name) == 0) {
ptrdiff_t base;
if (!get_base(_var_info[vindex], base)) {
continue;
}
*ptype = (enum ap_var_type)type;
return (AP_Param *)(base + group_info[i].offset + group_offset);
} else if (type == AP_PARAM_VECTOR3F) {
// special case for finding Vector3f elements
uint8_t suffix_len = strnlen(group_info[i].name, AP_MAX_NAME_SIZE);
if (strncmp(name, group_info[i].name, suffix_len) == 0 &&
name[suffix_len] == '_' &&
(name[suffix_len+1] == 'X' ||
name[suffix_len+1] == 'Y' ||
name[suffix_len+1] == 'Z')) {
ptrdiff_t base;
if (!get_base(_var_info[vindex], base)) {
continue;
}
AP_Float *v = (AP_Float *)(base + group_info[i].offset + group_offset);
*ptype = AP_PARAM_FLOAT;
switch (name[suffix_len+1]) {
case 'X':
return (AP_Float *)&v[0];
case 'Y':
return (AP_Float *)&v[1];
case 'Z':
return (AP_Float *)&v[2];
}
}
}
}
return nullptr;
}
// Find a variable by name.
//
AP_Param *
AP_Param::find(const char *name, enum ap_var_type *ptype)
{
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = _var_info[i].type;
if (type == AP_PARAM_GROUP) {
uint8_t len = strnlen(_var_info[i].name, AP_MAX_NAME_SIZE);
if (strncmp(name, _var_info[i].name, len) != 0) {
continue;
}
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
AP_Param *ap = find_group(name + len, i, 0, group_info, ptype);
if (ap != nullptr) {
return ap;
}
// we continue looking as we want to allow top level
// parameter to have the same prefix name as group
// parameters, for example CAM_P_G
} else if (strcasecmp(name, _var_info[i].name) == 0) {
*ptype = (enum ap_var_type)type;
ptrdiff_t base;
if (!get_base(_var_info[i], base)) {
return nullptr;
}
return (AP_Param *)base;
}
}
return nullptr;
}
// Find a variable by index. Note that this is quite slow.
//
AP_Param *
AP_Param::find_by_index(uint16_t idx, enum ap_var_type *ptype, ParamToken *token)
{
AP_Param *ap;
uint16_t count=0;
for (ap=AP_Param::first(token, ptype);
ap && count < idx;
ap=AP_Param::next_scalar(token, ptype)) {
count++;
}
return ap;
}
/*
Find a variable by pointer, returning key. This is used for loading pointer variables
*/
bool AP_Param::find_key_by_pointer_group(const void *ptr, uint16_t vindex,
const struct GroupInfo *group_info,
ptrdiff_t offset, uint16_t &key)
{
for (uint8_t i=0; group_info[i].type != AP_PARAM_NONE; i++) {
if (group_info[i].type != AP_PARAM_GROUP) {
continue;
}
ptrdiff_t base;
if (!get_base(_var_info[vindex], base)) {
continue;
}
if (group_info[i].flags & AP_PARAM_FLAG_POINTER) {
if (ptr == *(void **)(base+group_info[i].offset+offset)) {
key = _var_info[vindex].key;
return true;
}
} else if (ptr == (void *)(base+group_info[i].offset+offset)) {
key = _var_info[vindex].key;
return true;
}
ptrdiff_t new_offset = offset;
if (!adjust_group_offset(vindex, group_info[i], new_offset)) {
continue;
}
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
if (find_key_by_pointer_group(ptr, vindex, ginfo, new_offset, key)) {
return true;
}
}
return false;
}
/*
Find a variable by pointer, returning key. This is used for loading pointer variables
*/
bool AP_Param::find_key_by_pointer(const void *ptr, uint16_t &key)
{
for (uint16_t i=0; i<_num_vars; i++) {
if (_var_info[i].type != AP_PARAM_GROUP) {
continue;
}
if ((_var_info[i].flags & AP_PARAM_FLAG_POINTER) &&
ptr == *(void **)_var_info[i].ptr) {
key = _var_info[i].key;
return true;
}
ptrdiff_t offset = 0;
const struct GroupInfo *ginfo = get_group_info(_var_info[i]);
if (ginfo == nullptr) {
continue;
}
if (find_key_by_pointer_group(ptr, i, ginfo, offset, key)) {
return true;
}
}
return false;
}
// Find a object by name.
//
AP_Param *
AP_Param::find_object(const char *name)
{
for (uint16_t i=0; i<_num_vars; i++) {
if (strcasecmp(name, _var_info[i].name) == 0) {
ptrdiff_t base;
if (!get_base(_var_info[i], base)) {
return nullptr;
}
return (AP_Param *)base;
}
}
return nullptr;
}
// notify GCS of current value of parameter
void AP_Param::notify() const {
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
struct GroupNesting group_nesting {};
uint8_t idx;
const struct AP_Param::Info *info = find_var_info(&group_element, ginfo, group_nesting, &idx);
if (info == nullptr) {
// this is probably very bad
return;
}
char name[AP_MAX_NAME_SIZE+1];
copy_name_info(info, ginfo, group_nesting, idx, name, sizeof(name), true);
uint32_t param_header_type;
if (ginfo != nullptr) {
param_header_type = ginfo->type;
} else {
param_header_type = info->type;
}
send_parameter(name, (enum ap_var_type)param_header_type, idx);
}
/*
Save the variable to HAL storage, synchronous version
*/
void AP_Param::save_sync(bool force_save)
{
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
struct GroupNesting group_nesting {};
uint8_t idx;
const struct AP_Param::Info *info = find_var_info(&group_element, ginfo, group_nesting, &idx);
const AP_Param *ap;
if (info == nullptr) {
// we don't have any info on how to store it
return;
}
struct Param_header phdr;
// create the header we will use to store the variable
if (ginfo != nullptr) {
phdr.type = ginfo->type;
} else {
phdr.type = info->type;
}
set_key(phdr, info->key);
phdr.group_element = group_element;
ap = this;
if (phdr.type != AP_PARAM_VECTOR3F && idx != 0) {
// only vector3f can have non-zero idx for now
return;
}
if (idx != 0) {
ap = (const AP_Param *)((ptrdiff_t)ap) - (idx*sizeof(float));
}
if (phdr.type == AP_PARAM_INT8 && ginfo != nullptr && (ginfo->flags & AP_PARAM_FLAG_ENABLE)) {
// clear cached parameter count
_parameter_count = 0;
}
char name[AP_MAX_NAME_SIZE+1];
copy_name_info(info, ginfo, group_nesting, idx, name, sizeof(name), true);
// scan EEPROM to find the right location
uint16_t ofs;
if (scan(&phdr, &ofs)) {
// found an existing copy of the variable
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
send_parameter(name, (enum ap_var_type)phdr.type, idx);
return;
}
if (ofs == (uint16_t) ~0) {
return;
}
// if the value is the default value then don't save
if (phdr.type <= AP_PARAM_FLOAT) {
float v1 = cast_to_float((enum ap_var_type)phdr.type);
float v2;
if (ginfo != nullptr) {
v2 = get_default_value(this, &ginfo->def_value);
} else {
v2 = get_default_value(this, &info->def_value);
}
if (is_equal(v1,v2) && !force_save) {
gcs().send_parameter_value(name, (enum ap_var_type)info->type, v2);
return;
}
if (!force_save &&
(phdr.type != AP_PARAM_INT32 &&
(fabsf(v1-v2) < 0.0001f*fabsf(v1)))) {
// for other than 32 bit integers, we accept values within
// 0.01 percent of the current value as being the same
gcs().send_parameter_value(name, (enum ap_var_type)info->type, v2);
return;
}
}
if (ofs+type_size((enum ap_var_type)phdr.type)+2*sizeof(phdr) >= _storage.size()) {
// we are out of room for saving variables
hal.console->printf("EEPROM full\n");
return;
}
// write a new sentinal, then the data, then the header
write_sentinal(ofs + sizeof(phdr) + type_size((enum ap_var_type)phdr.type));
eeprom_write_check(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
eeprom_write_check(&phdr, ofs, sizeof(phdr));
send_parameter(name, (enum ap_var_type)phdr.type, idx);
}
/*
put variable into queue to be saved
*/
void AP_Param::save(bool force_save)
{
struct param_save p;
p.param = this;
p.force_save = force_save;
while (!save_queue.push(p)) {
// if we can't save to the queue
if (hal.util->get_soft_armed()) {
// if we are armed then don't sleep, instead we lose the
// parameter save
return;
}
// when we are disarmed then loop waiting for a slot to become
// available. This guarantees completion for large parameter
// set loads
hal.scheduler->delay_microseconds(500);
}
}
/*
background function for saving parameters. This runs on the IO thread
*/
void AP_Param::save_io_handler(void)
{
struct param_save p;
while (save_queue.pop(p)) {
p.param->save_sync(p.force_save);
}
}
/*
wait for all parameters to save
*/
void AP_Param::flush(void)
{
uint16_t counter = 200; // 2 seconds max
while (counter-- && save_queue.available()) {
hal.scheduler->delay(10);
}
}
// Load the variable from EEPROM, if supported
//
bool AP_Param::load(void)
{
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
struct GroupNesting group_nesting {};
uint8_t idx;
const struct AP_Param::Info *info = find_var_info(&group_element, ginfo, group_nesting, &idx);
if (info == nullptr) {
// we don't have any info on how to load it
return false;
}
struct Param_header phdr;
// create the header we will use to match the variable
if (ginfo != nullptr) {
phdr.type = ginfo->type;
} else {
phdr.type = info->type;
}
set_key(phdr, info->key);
phdr.group_element = group_element;
// scan EEPROM to find the right location
uint16_t ofs;
if (!scan(&phdr, &ofs)) {
// if the value isn't stored in EEPROM then set the default value
ptrdiff_t base;
if (!get_base(*info, base)) {
return false;
}
if (ginfo != nullptr) {
// add in nested group offset
ptrdiff_t group_offset = 0;
for (uint8_t i=0; i<group_nesting.level; i++) {
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(this, &ginfo->def_value));
} else {
set_value((enum ap_var_type)phdr.type, (void*)base,
get_default_value(this, &info->def_value));
}
return false;
}
if (phdr.type != AP_PARAM_VECTOR3F && idx != 0) {
// only vector3f can have non-zero idx for now
return false;
}
AP_Param *ap;
ap = this;
if (idx != 0) {
ap = (AP_Param *)((ptrdiff_t)ap) - (idx*sizeof(float));
}
// found it
_storage.read_block(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
return true;
}
bool AP_Param::configured_in_storage(void) const
{
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
struct GroupNesting group_nesting {};
uint8_t idx;
const struct AP_Param::Info *info = find_var_info(&group_element, ginfo, group_nesting, &idx);
if (info == nullptr) {
// we don't have any info on how to load it
return false;
}
struct Param_header phdr;
// create the header we will use to match the variable
if (ginfo != nullptr) {
phdr.type = ginfo->type;
} else {
phdr.type = info->type;
}
set_key(phdr, info->key);
phdr.group_element = group_element;
// scan EEPROM to find the right location
uint16_t ofs;
// only vector3f can have non-zero idx for now
return scan(&phdr, &ofs) && (phdr.type == AP_PARAM_VECTOR3F || idx == 0);
}
bool AP_Param::configured_in_defaults_file(void) const
{
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
struct GroupNesting group_nesting {};
uint8_t idx;
const struct AP_Param::Info *info = find_var_info(&group_element, ginfo, group_nesting, &idx);
if (info == nullptr) {
// we don't have any info on how to load it
return false;
}
for (uint16_t i=0; i<num_param_overrides; i++) {
if (this == param_overrides[i].object_ptr) {
return true;
}
}
return false;
}
// set a AP_Param variable to a specified value
void AP_Param::set_value(enum ap_var_type type, void *ptr, float value)
{
switch (type) {
case AP_PARAM_INT8:
((AP_Int8 *)ptr)->set(value);
break;
case AP_PARAM_INT16:
((AP_Int16 *)ptr)->set(value);
break;
case AP_PARAM_INT32:
((AP_Int32 *)ptr)->set(value);
break;
case AP_PARAM_FLOAT:
((AP_Float *)ptr)->set(value);
break;
default:
break;
}
}
// load default values for scalars in a group. This does not recurse
// into other objects. This is a static function that should be called
// in the objects constructor
void AP_Param::setup_object_defaults(const void *object_pointer, const struct GroupInfo *group_info)
{
ptrdiff_t base = (ptrdiff_t)object_pointer;
uint8_t type;
for (uint8_t i=0;
(type=group_info[i].type) != AP_PARAM_NONE;
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((const AP_Param *)ptr, &group_info[i].def_value));
}
}
}
// set a value directly in an object. This should only be used by
// example code, not by mainline vehicle code
bool AP_Param::set_object_value(const void *object_pointer,
const struct GroupInfo *group_info,
const char *name, float value)
{
ptrdiff_t base = (ptrdiff_t)object_pointer;
uint8_t type;
bool found = false;
for (uint8_t i=0;
(type=group_info[i].type) != AP_PARAM_NONE;
i++) {
if (strcmp(name, group_info[i].name) == 0 && type <= AP_PARAM_FLOAT) {
void *ptr = (void *)(base + group_info[i].offset);
set_value((enum ap_var_type)type, ptr, value);
// return true here ?
found = true;
}
}
return found;
}
// load default values for all scalars in a sketch. This does not
// recurse into sub-objects
void AP_Param::setup_sketch_defaults(void)
{
setup();
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = _var_info[i].type;
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((const AP_Param *)base, &_var_info[i].def_value));
}
}
}
}
// Load all variables from EEPROM
//
bool AP_Param::load_all()
{
struct Param_header phdr;
uint16_t ofs = sizeof(AP_Param::EEPROM_header);
reload_defaults_file(false);
if (!registered_save_handler) {
registered_save_handler = true;
hal.scheduler->register_io_process(FUNCTOR_BIND((&save_dummy), &AP_Param::save_io_handler, void));
}
while (ofs < _storage.size()) {
_storage.read_block(&phdr, ofs, sizeof(phdr));
// note that this is an || not an && for robustness
// against power off while adding a variable
if (is_sentinal(phdr)) {
// we've reached the sentinal
return true;
}
const struct AP_Param::Info *info;
void *ptr;
info = find_by_header(phdr, &ptr);
if (info != nullptr) {
_storage.read_block(ptr, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
}
ofs += type_size((enum ap_var_type)phdr.type) + sizeof(phdr);
}
// we didn't find the sentinal
Debug("no sentinal in load_all");
return false;
}
/*
* reload from hal.util defaults file or embedded param region
* @last_pass: if this is the last pass on defaults - unknown parameters are
* ignored but if this is set a warning will be emitted
*/
void AP_Param::reload_defaults_file(bool last_pass)
{
if (param_defaults_data.length != 0) {
load_embedded_param_defaults(last_pass);
return;
}
#if HAL_OS_POSIX_IO == 1
/*
if the HAL specifies a defaults parameter file then override
defaults using that file
*/
const char *default_file = hal.util->get_custom_defaults_file();
if (default_file) {
if (load_defaults_file(default_file, last_pass)) {
printf("Loaded defaults from %s\n", default_file);
} else {
printf("Failed to load defaults from %s\n", default_file);
}
}
#endif
}
/*
Load all variables from EEPROM for a particular object. This is
required for dynamically loaded objects
*/
void AP_Param::load_object_from_eeprom(const void *object_pointer, const struct GroupInfo *group_info)
{
struct Param_header phdr;
uint16_t key;
// reset cached param counter as we may be loading a dynamic var_info
_parameter_count = 0;
if (!find_key_by_pointer(object_pointer, key)) {
hal.console->printf("ERROR: Unable to find param pointer\n");
return;
}
for (uint8_t i=0; group_info[i].type != AP_PARAM_NONE; i++) {
if (group_info[i].type == AP_PARAM_GROUP) {
ptrdiff_t new_offset = 0;
if (!adjust_group_offset(key, group_info[i], new_offset)) {
continue;
}
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo != nullptr) {
load_object_from_eeprom((void *)(((ptrdiff_t)object_pointer)+new_offset), ginfo);
}
}
uint16_t ofs = sizeof(AP_Param::EEPROM_header);
while (ofs < _storage.size()) {
_storage.read_block(&phdr, ofs, sizeof(phdr));
// note that this is an || not an && for robustness
// against power off while adding a variable
if (is_sentinal(phdr)) {
// we've reached the sentinal
break;
}
if (get_key(phdr) == key) {
const struct AP_Param::Info *info;
void *ptr;
info = find_by_header(phdr, &ptr);
if (info != nullptr) {
if ((ptrdiff_t)ptr == ((ptrdiff_t)object_pointer)+group_info[i].offset) {
_storage.read_block(ptr, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
break;
}
}
}
ofs += type_size((enum ap_var_type)phdr.type) + sizeof(phdr);
}
}
}
// return the first variable in _var_info
AP_Param *AP_Param::first(ParamToken *token, enum ap_var_type *ptype)
{
token->key = 0;
token->group_element = 0;
token->idx = 0;
if (_num_vars == 0) {
return nullptr;
}
if (ptype != nullptr) {
*ptype = (enum ap_var_type)_var_info[0].type;
}
ptrdiff_t base;
if (!get_base(_var_info[0], base)) {
// should be impossible, first var needs to be non-pointer
return nullptr;
}
return (AP_Param *)base;
}
/// Returns the next variable in a group, recursing into groups
/// as needed
AP_Param *AP_Param::next_group(uint16_t vindex, const struct GroupInfo *group_info,
bool *found_current,
uint32_t group_base,
uint8_t group_shift,
ptrdiff_t group_offset,
ParamToken *token,
enum ap_var_type *ptype)
{
enum ap_var_type type;
for (uint8_t i=0;
(type=(enum ap_var_type)group_info[i].type) != AP_PARAM_NONE;
i++) {
if (!check_frame_type(group_info[i].flags)) {
continue;
}
if (type == AP_PARAM_GROUP) {
// a nested group
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
AP_Param *ap;
ptrdiff_t new_offset = group_offset;
if (!adjust_group_offset(vindex, group_info[i], new_offset)) {
continue;
}
ap = next_group(vindex, ginfo, found_current, group_id(group_info, group_base, i, group_shift),
group_shift + _group_level_shift, new_offset, token, ptype);
if (ap != nullptr) {
return ap;
}
} else {
if (*found_current) {
// got a new one
token->key = vindex;
token->group_element = group_id(group_info, group_base, i, group_shift);
token->idx = 0;
if (ptype != nullptr) {
*ptype = type;
}
ptrdiff_t base;
if (!get_base(_var_info[vindex], base)) {
continue;
}
return (AP_Param*)(base + group_info[i].offset + group_offset);
}
if (group_id(group_info, group_base, i, group_shift) == token->group_element) {
*found_current = true;
if (type == AP_PARAM_VECTOR3F && token->idx < 3) {
// return the next element of the vector as a
// float
token->idx++;
if (ptype != nullptr) {
*ptype = AP_PARAM_FLOAT;
}
ptrdiff_t base;
if (!get_base(_var_info[vindex], base)) {
continue;
}
ptrdiff_t ofs = base + group_info[i].offset + group_offset;
ofs += sizeof(float)*(token->idx - 1u);
return (AP_Param *)ofs;
}
}
}
}
return nullptr;
}
/// Returns the next variable in _var_info, recursing into groups
/// as needed
AP_Param *AP_Param::next(ParamToken *token, enum ap_var_type *ptype)
{
uint16_t i = token->key;
bool found_current = false;
if (i >= _num_vars) {
// illegal token
return nullptr;
}
enum ap_var_type type = (enum ap_var_type)_var_info[i].type;
// allow Vector3f to be seen as 3 variables. First as a vector,
// then as 3 separate floats
if (type == AP_PARAM_VECTOR3F && token->idx < 3) {
token->idx++;
if (ptype != nullptr) {
*ptype = AP_PARAM_FLOAT;
}
return (AP_Param *)(((token->idx - 1u)*sizeof(float))+(ptrdiff_t)_var_info[i].ptr);
}
if (type != AP_PARAM_GROUP) {
i++;
found_current = true;
}
for (; i<_num_vars; i++) {
if (!check_frame_type(_var_info[i].flags)) {
continue;
}
type = (enum ap_var_type)_var_info[i].type;
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
AP_Param *ap = next_group(i, group_info, &found_current, 0, 0, 0, token, ptype);
if (ap != nullptr) {
return ap;
}
} else {
// found the next one
token->key = i;
token->group_element = 0;
token->idx = 0;
if (ptype != nullptr) {
*ptype = type;
}
return (AP_Param *)(_var_info[i].ptr);
}
}
return nullptr;
}
/// Returns the next scalar in _var_info, recursing into groups
/// as needed
AP_Param *AP_Param::next_scalar(ParamToken *token, enum ap_var_type *ptype)
{
AP_Param *ap;
enum ap_var_type type;
while ((ap = next(token, &type)) != nullptr && type > AP_PARAM_FLOAT) ;
if (ap != nullptr && type == AP_PARAM_INT8) {
/*
check if this is an enable variable. To do that we need to
find the info structures for the variable
*/
uint32_t group_element;
const struct GroupInfo *ginfo;
struct GroupNesting group_nesting {};
uint8_t idx;
const struct AP_Param::Info *info = ap->find_var_info_token(*token, &group_element,
ginfo, group_nesting, &idx);
if (info && ginfo &&
(ginfo->flags & AP_PARAM_FLAG_ENABLE) &&
!(ginfo->flags & AP_PARAM_FLAG_IGNORE_ENABLE) &&
((AP_Int8 *)ap)->get() == 0 &&
_hide_disabled_groups) {
/*
this is a disabled parameter tree, include this
parameter but not others below it. We need to keep
looking until we go past the parameters in this object
*/
ParamToken token2 = *token;
enum ap_var_type type2;
AP_Param *ap2;
while ((ap2 = next(&token2, &type2)) != nullptr) {
if (token2.key != token->key) {
break;
}
if (group_nesting.level != 0 && (token->group_element & 0x3F) != (token2.group_element & 0x3F)) {
break;
}
// update the returned token so the next() call goes from this point
*token = token2;
}
}
}
if (ap != nullptr && ptype != nullptr) {
*ptype = type;
}
return ap;
}
/// cast a variable to a float given its type
float AP_Param::cast_to_float(enum ap_var_type type) const
{
switch (type) {
case AP_PARAM_INT8:
return ((AP_Int8 *)this)->cast_to_float();
case AP_PARAM_INT16:
return ((AP_Int16 *)this)->cast_to_float();
case AP_PARAM_INT32:
return ((AP_Int32 *)this)->cast_to_float();
case AP_PARAM_FLOAT:
return ((AP_Float *)this)->cast_to_float();
default:
return NAN;
}
}
/*
find an old parameter and return it.
*/
bool AP_Param::find_old_parameter(const struct ConversionInfo *info, AP_Param *value)
{
// find the old value in EEPROM.
uint16_t pofs;
AP_Param::Param_header header;
header.type = info->type;
set_key(header, info->old_key);
header.group_element = info->old_group_element;
if (!scan(&header, &pofs)) {
// the old parameter isn't saved in the EEPROM.
return false;
}
// load the old value from EEPROM
_storage.read_block(value, pofs+sizeof(header), type_size((enum ap_var_type)header.type));
return true;
}
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wformat"
// convert one old vehicle parameter to new object parameter
void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float scaler, uint8_t flags)
{
uint8_t old_value[type_size(info->type)];
AP_Param *ap = (AP_Param *)&old_value[0];
if (!find_old_parameter(info, ap)) {
// the old parameter isn't saved in the EEPROM. It was
// probably still set to the default value, which isn't stored
// no need to convert
return;
}
// find the new variable in the variable structures
enum ap_var_type ptype;
AP_Param *ap2;
ap2 = find(&info->new_name[0], &ptype);
if (ap2 == nullptr) {
hal.console->printf("Unknown conversion '%s'\n", info->new_name);
return;
}
// see if we can load it from EEPROM
if (!(flags & CONVERT_FLAG_FORCE) && ap2->configured_in_storage()) {
// the new parameter already has a value set by the user, or
// has already been converted
return;
}
// see if they are the same type and no scaling applied
if (ptype == info->type && is_equal(scaler, 1.0f) && flags == 0) {
// copy the value over only if the new parameter does not already
// have the old value (via a default).
if (memcmp(ap2, ap, sizeof(old_value)) != 0) {
memcpy(ap2, ap, sizeof(old_value));
// and save
ap2->save();
}
} else if (ptype <= AP_PARAM_FLOAT && info->type <= AP_PARAM_FLOAT) {
// perform scalar->scalar conversion
float v = ap->cast_to_float(info->type);
if (flags & CONVERT_FLAG_REVERSE) {
// convert a _REV parameter to a _REVERSED parameter
v = is_equal(v, -1.0f)?1:0;
}
if (!is_equal(v,ap2->cast_to_float(ptype))) {
// the value needs to change
set_value(ptype, ap2, v * scaler);
ap2->save();
}
} else {
// can't do vector<->scalar conversion, or different vector types
hal.console->printf("Bad conversion type '%s'\n", info->new_name);
}
}
#pragma GCC diagnostic pop
// convert old vehicle parameters to new object parametersv
void AP_Param::convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size, uint8_t flags)
{
for (uint8_t i=0; i<table_size; i++) {
convert_old_parameter(&conversion_table[i], 1.0f, flags);
}
}
/*
move old class variables for a class that was sub-classed to one that isn't
For example, used when the AP_MotorsTri class changed from having its own parameter table
plus a subgroup for AP_MotorsMulticopter to just inheriting the AP_MotorsMulticopter var_info
This does not handle nesting beyond the single level shift
*/
void AP_Param::convert_parent_class(uint8_t param_key, void *object_pointer,
const struct AP_Param::GroupInfo *group_info)
{
for (uint8_t i=0; group_info[i].type != AP_PARAM_NONE; i++) {
struct ConversionInfo info;
info.old_key = param_key;
info.type = (ap_var_type)group_info[i].type;
info.new_name = nullptr;
info.old_group_element = uint16_t(group_info[i].idx)<<6;
uint8_t old_value[type_size(info.type)];
AP_Param *ap = (AP_Param *)&old_value[0];
if (!AP_Param::find_old_parameter(&info, ap)) {
// the parameter wasn't set in the old eeprom
continue;
}
uint8_t *new_value = group_info[i].offset + (uint8_t *)object_pointer;
memcpy(new_value, old_value, sizeof(old_value));
}
}
/*
set a parameter to a float value
*/
void AP_Param::set_float(float value, enum ap_var_type var_type)
{
if (isnan(value) || isinf(value)) {
return;
}
// add a small amount before casting parameter values
// from float to integer to avoid truncating to the
// next lower integer value.
float rounding_addition = 0.01f;
// handle variables with standard type IDs
if (var_type == AP_PARAM_FLOAT) {
((AP_Float *)this)->set(value);
} else if (var_type == AP_PARAM_INT32) {
if (value < 0) rounding_addition = -rounding_addition;
float v = value+rounding_addition;
v = constrain_float(v, -2147483648.0, 2147483647.0);
((AP_Int32 *)this)->set(v);
} else if (var_type == AP_PARAM_INT16) {
if (value < 0) rounding_addition = -rounding_addition;
float v = value+rounding_addition;
v = constrain_float(v, -32768, 32767);
((AP_Int16 *)this)->set(v);
} else if (var_type == AP_PARAM_INT8) {
if (value < 0) rounding_addition = -rounding_addition;
float v = value+rounding_addition;
v = constrain_float(v, -128, 127);
((AP_Int8 *)this)->set(v);
}
}
/*
parse a parameter file line
*/
bool AP_Param::parse_param_line(char *line, char **vname, float &value)
{
if (line[0] == '#') {
return false;
}
char *saveptr = nullptr;
char *pname = strtok_r(line, ", =\t", &saveptr);
if (pname == nullptr) {
return false;
}
if (strlen(pname) > AP_MAX_NAME_SIZE) {
return false;
}
const char *value_s = strtok_r(nullptr, ", =\t", &saveptr);
if (value_s == nullptr) {
return false;
}
value = atof(value_s);
*vname = pname;
return true;
}
#if HAL_OS_POSIX_IO == 1
#include <stdio.h>
// increments num_defaults for each default found in filename
bool AP_Param::count_defaults_in_file(const char *filename, uint16_t &num_defaults)
{
FILE *f = fopen(filename, "r");
if (f == nullptr) {
return false;
}
char line[100];
/*
work out how many parameter default structures to allocate
*/
while (fgets(line, sizeof(line)-1, f)) {
char *pname;
float value;
if (!parse_param_line(line, &pname, value)) {
continue;
}
enum ap_var_type var_type;
if (!find(pname, &var_type)) {
continue;
}
num_defaults++;
}
fclose(f);
return true;
}
bool AP_Param::read_param_defaults_file(const char *filename, bool last_pass)
{
FILE *f = fopen(filename, "r");
if (f == nullptr) {
AP_HAL::panic("AP_Param: Failed to re-open defaults file");
return false;
}
uint16_t idx = 0;
char line[100];
while (fgets(line, sizeof(line)-1, f)) {
char *pname;
float value;
if (!parse_param_line(line, &pname, value)) {
continue;
}
enum ap_var_type var_type;
AP_Param *vp = find(pname, &var_type);
if (!vp) {
if (last_pass) {
::printf("Ignored unknown param %s in defaults file %s\n",
pname, filename);
hal.console->printf(
"Ignored unknown param %s in defaults file %s\n",
pname, filename);
}
continue;
}
param_overrides[idx].object_ptr = vp;
param_overrides[idx].value = value;
idx++;
if (!vp->configured_in_storage()) {
vp->set_float(value, var_type);
}
}
fclose(f);
return true;
}
/*
load a default set of parameters from a file
*/
bool AP_Param::load_defaults_file(const char *filename, bool last_pass)
{
if (filename == nullptr) {
return false;
}
char *mutable_filename = strdup(filename);
if (mutable_filename == nullptr) {
AP_HAL::panic("AP_Param: Failed to allocate mutable string");
}
uint16_t num_defaults = 0;
char *saveptr = nullptr;
for (char *pname = strtok_r(mutable_filename, ",", &saveptr);
pname != nullptr;
pname = strtok_r(nullptr, ",", &saveptr)) {
if (!count_defaults_in_file(pname, num_defaults)) {
free(mutable_filename);
return false;
}
}
free(mutable_filename);
if (param_overrides != nullptr) {
free(param_overrides);
}
num_param_overrides = 0;
param_overrides = (struct param_override *)malloc(sizeof(struct param_override)*num_defaults);
if (param_overrides == nullptr) {
AP_HAL::panic("AP_Param: Failed to allocate overrides");
return false;
}
saveptr = nullptr;
mutable_filename = strdup(filename);
if (mutable_filename == nullptr) {
AP_HAL::panic("AP_Param: Failed to allocate mutable string");
}
for (char *pname = strtok_r(mutable_filename, ",", &saveptr);
pname != nullptr;
pname = strtok_r(nullptr, ",", &saveptr)) {
if (!read_param_defaults_file(pname, last_pass)) {
free(mutable_filename);
return false;
}
}
free(mutable_filename);
num_param_overrides = num_defaults;
return true;
}
#endif // HAL_OS_POSIX_IO
/*
count the number of embedded parameter defaults
*/
bool AP_Param::count_embedded_param_defaults(uint16_t &count)
{
const volatile char *ptr = param_defaults_data.data;
uint16_t length = param_defaults_data.length;
count = 0;
while (length) {
char line[100];
char *pname;
float value;
uint16_t i;
uint16_t n = MIN(length, sizeof(line)-1);
for (i=0;i<n;i++) {
if (ptr[i] == '\n') {
break;
}
}
if (i == n) {
// no newline
break;
}
memcpy(line, (void *)ptr, i);
line[i] = 0;
length -= i+1;
ptr += i+1;
if (line[0] == '#' || line[0] == 0) {
continue;
}
if (!parse_param_line(line, &pname, value)) {
continue;
}
enum ap_var_type var_type;
if (!find(pname, &var_type)) {
continue;
}
count++;
}
return true;
}
/*
* load a default set of parameters from a embedded parameter region
* @last_pass: if this is the last pass on defaults - unknown parameters are
* ignored but if this is set a warning will be emitted
*/
void AP_Param::load_embedded_param_defaults(bool last_pass)
{
if (param_overrides != nullptr) {
free(param_overrides);
param_overrides = nullptr;
}
num_param_overrides = 0;
uint16_t num_defaults = 0;
if (!count_embedded_param_defaults(num_defaults)) {
return;
}
param_overrides = (struct param_override *)malloc(sizeof(struct param_override)*num_defaults);
if (param_overrides == nullptr) {
AP_HAL::panic("AP_Param: Failed to allocate overrides");
return;
}
const volatile char *ptr = param_defaults_data.data;
uint16_t length = param_defaults_data.length;
uint16_t idx = 0;
while (length) {
char line[100];
char *pname;
float value;
uint16_t i;
uint16_t n = MIN(length, sizeof(line)-1);
for (i=0;i<n;i++) {
if (ptr[i] == '\n') {
break;
}
}
if (i == n) {
// no newline
break;
}
memcpy(line, (void*)ptr, i);
line[i] = 0;
length -= i+1;
ptr += i+1;
if (line[0] == '#' || line[0] == 0) {
continue;
}
if (!parse_param_line(line, &pname, value)) {
continue;
}
enum ap_var_type var_type;
AP_Param *vp = find(pname, &var_type);
if (!vp) {
if (last_pass) {
::printf("Ignored unknown param %s from embedded region (offset=%u)\n",
pname, unsigned(ptr - param_defaults_data.data));
hal.console->printf(
"Ignored unknown param %s from embedded region (offset=%u)\n",
pname, unsigned(ptr - param_defaults_data.data));
}
continue;
}
param_overrides[idx].object_ptr = vp;
param_overrides[idx].value = value;
idx++;
if (!vp->configured_in_storage()) {
vp->set_float(value, var_type);
}
}
num_param_overrides = num_defaults;
}
/*
find a default value given a pointer to a default value in flash
*/
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 (vp == param_overrides[i].object_ptr) {
return param_overrides[i].value;
}
}
return *def_value_ptr;
}
void AP_Param::send_parameter(const char *name, enum ap_var_type var_type, uint8_t idx) const
{
if (idx != 0 && var_type == AP_PARAM_VECTOR3F) {
var_type = AP_PARAM_FLOAT;
}
if (var_type > AP_PARAM_VECTOR3F) {
// invalid
return;
}
if (var_type != AP_PARAM_VECTOR3F) {
// nice and simple for scalar types
gcs().send_parameter_value(name, var_type, cast_to_float(var_type));
return;
}
// for vectors we need to send 3 messages. Note that we also come here for the case
// of a set of the first element of a AP_Vector3f. This happens as the ap->save() call can't
// distinguish between a vector and scalar save. It means that setting first element of a vector
// via MAVLink results in sending all 3 elements to the GCS
const Vector3f &v = ((AP_Vector3f *)this)->get();
char name2[AP_MAX_NAME_SIZE+1];
strncpy(name2, name, AP_MAX_NAME_SIZE);
name2[AP_MAX_NAME_SIZE] = 0;
char &name_axis = name2[strlen(name)-1];
name_axis = 'X';
gcs().send_parameter_value(name2, AP_PARAM_FLOAT, v.x);
name_axis = 'Y';
gcs().send_parameter_value(name2, AP_PARAM_FLOAT, v.y);
name_axis = 'Z';
gcs().send_parameter_value(name2, AP_PARAM_FLOAT, v.z);
}
/*
return count of all scalar parameters.
Note that this function may be called from the IO thread, so needs
to be thread safe
*/
uint16_t AP_Param::count_parameters(void)
{
// if we haven't cached the parameter count yet...
uint16_t ret = _parameter_count;
if (0 == ret) {
AP_Param *vp;
AP_Param::ParamToken token;
for (vp = AP_Param::first(&token, nullptr);
vp != nullptr;
vp = AP_Param::next_scalar(&token, nullptr)) {
ret++;
}
_parameter_count = ret;
}
return ret;
}
/*
set a default value by name
*/
bool AP_Param::set_default_by_name(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_default(value);
return true;
case AP_PARAM_INT16:
((AP_Int16 *)vp)->set_default(value);
return true;
case AP_PARAM_INT32:
((AP_Int32 *)vp)->set_default(value);
return true;
case AP_PARAM_FLOAT:
((AP_Float *)vp)->set_default(value);
return true;
default:
break;
}
// not a supported type
return false;
}
/*
set parameter defaults from a defaults_struct table
sends GCS message and panics (in SITL only) if parameter is not found
*/
void AP_Param::set_defaults_from_table(const struct defaults_table_struct *table, uint8_t count)
{
for (uint8_t i=0; i<count; i++) {
if (!AP_Param::set_default_by_name(table[i].name, table[i].value)) {
char *buf = nullptr;
if (asprintf(&buf, "param deflt fail:%s", table[i].name) > 0) {
AP_BoardConfig::sensor_config_error(buf);
}
}
}
}
/*
set a value by name
*/
bool AP_Param::set_by_name(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(value);
return true;
case AP_PARAM_INT16:
((AP_Int16 *)vp)->set(value);
return true;
case AP_PARAM_INT32:
((AP_Int32 *)vp)->set(value);
return true;
case AP_PARAM_FLOAT:
((AP_Float *)vp)->set(value);
return true;
default:
break;
}
// not a supported type
return false;
}
/*
set and save a value by name
*/
bool AP_Param::set_and_save_by_name(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(value);
return true;
case AP_PARAM_INT16:
((AP_Int16 *)vp)->set_and_save(value);
return true;
case AP_PARAM_INT32:
((AP_Int32 *)vp)->set_and_save(value);
return true;
case AP_PARAM_FLOAT:
((AP_Float *)vp)->set_and_save(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
and creating conversion tables
*/
// print the value of all variables
void AP_Param::show(const AP_Param *ap, const char *s,
enum ap_var_type type, AP_HAL::BetterStream *port)
{
switch (type) {
case AP_PARAM_INT8:
port->printf("%s: %d\n", s, (int)((AP_Int8 *)ap)->get());
break;
case AP_PARAM_INT16:
port->printf("%s: %d\n", s, (int)((AP_Int16 *)ap)->get());
break;
case AP_PARAM_INT32:
port->printf("%s: %ld\n", s, (long)((AP_Int32 *)ap)->get());
break;
case AP_PARAM_FLOAT:
port->printf("%s: %f\n", s, (double)((AP_Float *)ap)->get());
break;
default:
break;
}
}
// print the value of all variables
void AP_Param::show(const AP_Param *ap, const ParamToken &token,
enum ap_var_type type, AP_HAL::BetterStream *port)
{
char s[AP_MAX_NAME_SIZE+1];
ap->copy_name_token(token, s, sizeof(s), true);
s[AP_MAX_NAME_SIZE] = 0;
show(ap, s, type, port);
}
// print the value of all variables
void AP_Param::show_all(AP_HAL::BetterStream *port, bool showKeyValues)
{
ParamToken token;
AP_Param *ap;
enum ap_var_type type;
for (ap=AP_Param::first(&token, &type);
ap;
ap=AP_Param::next_scalar(&token, &type)) {
if (showKeyValues) {
port->printf("Key %i: Index %i: GroupElement %i : ", token.key, token.idx, token.group_element);
}
show(ap, token, type, port);
}
}
#endif // AP_PARAM_KEY_DUMP
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