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enable silent compare of parameter (#12850) 

Remove false errors after comparing parameters that doesn't exists.
as described in #12832
This commit is contained in:
BazookaJoe1900 2019-10-07 10:50:12 +03:00 committed by Julian Oes
parent 05446c0875
commit 02e861b16e
6 changed files with 51 additions and 35 deletions
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4
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -213,12 +213,12 @@ commander start
navigator start
if ! param compare MNT_MODE_IN -1
if ! param compare -s MNT_MODE_IN -1
then
vmount start
fi
if param greater TRIG_MODE 0
if param greater -s TRIG_MODE 0
then
camera_trigger start
camera_feedback start

4
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -17,9 +17,9 @@ set OUTPUT_DEV none
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
# mixer to mount (override the airframe-specific MIXER_AUX setting).
#
if ! param compare MNT_MODE_IN -1
if ! param compare -s MNT_MODE_IN -1
then
if param compare MNT_MODE_OUT 0
if param compare -s MNT_MODE_OUT 0
then
set MIXER_AUX mount
fi

2
ROMFS/px4fmu_common/init.d/rc.logging
View File

@ -4,7 +4,7 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
if param greater UAVCAN_ENABLE 1
if param greater -s UAVCAN_ENABLE 1
then
# Reduce logger buffer to free up some RAM for UAVCAN servers.
set LOGGER_BUF 6

20
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -47,13 +47,13 @@ then
fi
fi
if param compare SENS_EN_BATT 1
if param compare -s SENS_EN_BATT 1
then
batt_smbus start -X
fi
# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
if param compare -s SENS_EN_LL40LS 1
then
if pwm_input start
then
@ -62,49 +62,49 @@ then
fi
# Lidar-Lite on I2C
if param compare SENS_EN_LL40LS 2
if param compare -s SENS_EN_LL40LS 2
then
ll40ls start i2c -a
fi
# mappydot lidar sensor
if param compare SENS_EN_MPDT 1
if param compare -s SENS_EN_MPDT 1
then
mappydot start -a
fi
# mb12xx sonar sensor
if param greater SENS_EN_MB12XX 0
if param greater -s SENS_EN_MB12XX 0
then
mb12xx start -a
fi
# pga460 sonar sensor
if param greater SENS_EN_PGA460 0
if param greater -s SENS_EN_PGA460 0
then
pga460 start
fi
# Lightware i2c lidar sensor
if param greater SENS_EN_SF1XX 0
if param greater -s SENS_EN_SF1XX 0
then
sf1xx start -a
fi
# Heater driver for temperature regulated IMUs.
if param compare SENS_EN_THERMAL 1
if param compare -s SENS_EN_THERMAL 1
then
heater start
fi
# Teraranger one tof sensor
if param greater SENS_EN_TRANGER 0
if param greater -s SENS_EN_TRANGER 0
then
teraranger start -a
fi
# Possible pmw3901 optical flow sensor
if param greater SENS_EN_PMW3901 0
if param greater -s SENS_EN_PMW3901 0
then
pmw3901 start
fi

8
ROMFS/px4fmu_common/init.d/rcS
View File

@ -299,7 +299,7 @@ else
#
# Set USE_IO flag.
#
if param compare SYS_USE_IO 1
if param compare -s SYS_USE_IO 1
then
set USE_IO yes
fi
@ -347,7 +347,7 @@ else
fi
# Sensors on the PWM interface bank.
if param compare SENS_EN_LL40LS 1
if param compare -s SENS_EN_LL40LS 1
then
# Clear pins 5 and 6.
set FMU_MODE pwm4
@ -374,7 +374,7 @@ else
#
# Check if UAVCAN is enabled, default to it for ESCs.
#
if param greater UAVCAN_ENABLE 0
if param greater -s UAVCAN_ENABLE 0
then
# Start core UAVCAN module.
if uavcan start
@ -426,7 +426,7 @@ else
sh /etc/init.d/rc.vehicle_setup
# Camera capture driver
if param greater CAM_CAP_FBACK 0
if param greater -s CAM_CAP_FBACK 0
then
if camera_capture start
then

48
src/systemcmds/param/param.cpp
View File

@ -65,11 +65,17 @@ __BEGIN_DECLS
__EXPORT int param_main(int argc, char *argv[]);
__END_DECLS
enum COMPARE_OPERATOR {
COMPARE_OPERATOR_EQUAL = 0,
COMPARE_OPERATOR_GREATER = 1,
enum class COMPARE_OPERATOR {
EQUAL = 0,
GREATER = 1,
};
enum class COMPARE_ERROR_LEVEL {
DO_ERROR = 0,
SILENT = 1,
};
#ifdef __PX4_QURT
#define PARAM_PRINT PX4_INFO
#else
@ -86,7 +92,8 @@ static int do_show_quiet(const char *param_name);
static int do_show_index(const char *index, bool used_index);
static void do_show_print(void *arg, param_t param);
static int do_set(const char *name, const char *val, bool fail_on_not_found);
static int do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OPERATOR cmd_op);
static int do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OPERATOR cmd_op,
enum COMPARE_ERROR_LEVEL err_level);
static int do_reset(const char *excludes[], int num_excludes);
static int do_touch(const char *params[], int num_params);
static int do_reset_nostart(const char *excludes[], int num_excludes);
@ -143,10 +150,14 @@ $ reboot
PRINT_MODULE_USAGE_ARG("fail", "If provided, let the command fail if param is not found", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("compare", "Compare a param with a value. Command will succeed if equal");
PRINT_MODULE_USAGE_PARAM_FLAG('s', "If provided, silent errors if parameter doesn't exists", true);
PRINT_MODULE_USAGE_ARG("<param_name> <value>", "Parameter name and value to compare", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("greater",
"Compare a param with a value. Command will succeed if param is greater than the value");
PRINT_MODULE_USAGE_PARAM_FLAG('s', "If provided, silent errors if parameter doesn't exists", true);
PRINT_MODULE_USAGE_ARG("<param_name> <value>", "Parameter name and value to compare", false);
PRINT_MODULE_USAGE_ARG("<param_name> <value>", "Parameter name and value to compare", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("touch", "Mark a parameter as used");
@ -270,9 +281,10 @@ param_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "compare")) {
if (argc >= 4) {
return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR_EQUAL);
if(argc >= 5 && !strcmp(argv[2], "-s")) {
return do_compare(argv[3], &argv[4], argc - 4, COMPARE_OPERATOR::EQUAL, COMPARE_ERROR_LEVEL::SILENT);
} else if (argc >= 4) {
return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR::EQUAL, COMPARE_ERROR_LEVEL::DO_ERROR);
} else {
PX4_ERR("not enough arguments.\nTry 'param compare PARAM_NAME 3'");
return 1;
@ -280,9 +292,10 @@ param_main(int argc, char *argv[])
}
if (!strcmp(argv[1], "greater")) {
if (argc >= 4) {
return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR_GREATER);
if(argc >= 5 && !strcmp(argv[2], "-s")) {
return do_compare(argv[3], &argv[4], argc - 4, COMPARE_OPERATOR::GREATER, COMPARE_ERROR_LEVEL::SILENT);
} else if (argc >= 4) {
return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR::GREATER, COMPARE_ERROR_LEVEL::DO_ERROR);
} else {
PX4_ERR("not enough arguments.\nTry 'param greater PARAM_NAME 3'");
return 1;
@ -708,7 +721,7 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
}
static int
do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OPERATOR cmp_op)
do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OPERATOR cmp_op, enum COMPARE_ERROR_LEVEL err_level)
{
int32_t i;
float f;
@ -717,7 +730,10 @@ do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OP
/* set nothing if parameter cannot be found */
if (param == PARAM_INVALID) {
/* param not found */
PX4_DEBUG("Parameter %s not found", name);
if(err_level == COMPARE_ERROR_LEVEL::DO_ERROR)
{
PX4_ERR("Parameter %s not found", name);
}
return 1;
}
@ -738,8 +754,8 @@ do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OP
int j = strtol(vals[k], &end, 10);
if (((cmp_op == COMPARE_OPERATOR_EQUAL) && (i == j)) ||
((cmp_op == COMPARE_OPERATOR_GREATER) && (i > j))) {
if (((cmp_op == COMPARE_OPERATOR::EQUAL) && (i == j)) ||
((cmp_op == COMPARE_OPERATOR::GREATER) && (i > j))) {
PX4_DEBUG(" %ld: ", (long)i);
ret = 0;
}
@ -758,8 +774,8 @@ do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OP
float g = strtod(vals[k], &end);
if (((cmp_op == COMPARE_OPERATOR_EQUAL) && (fabsf(f - g) < 1e-7f)) ||
((cmp_op == COMPARE_OPERATOR_GREATER) && (f > g))) {
if (((cmp_op == COMPARE_OPERATOR::EQUAL) && (fabsf(f - g) < 1e-7f)) ||
((cmp_op == COMPARE_OPERATOR::GREATER) && (f > g))) {
PX4_DEBUG(" %4.4f: ", (double)f);
ret = 0;
}