forked from Archive/PX4-Autopilot
Split the parameter load/save commands out of the 'eeprom' command, since that's not really the obvious place for them. Add parameter printing functionality (though, it's a mess due to %f being busted)
Update the script examples to use the new command.
This commit is contained in:
px4dev
parent
bd3f3b1031
commit
1e59a592a6
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@ -9,7 +9,7 @@ echo "[init] eeprom"
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eeprom start
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if [ -f /eeprom/parameters ]
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then
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eeprom load_param /eeprom/parameters
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param load
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fi
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echo "[init] sensors"
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@ -19,7 +19,7 @@ echo "[init] eeprom"
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eeprom start
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if [ -f /eeprom/parameters ]
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then
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eeprom load_param /eeprom/parameters
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param load
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fi
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#
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@ -10,6 +10,16 @@ echo "[init] doing standalone PX4FMU startup..."
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#
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uorb start
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#
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# Init the EEPROM
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#
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echo "[init] eeprom"
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eeprom start
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if [ -f /eeprom/parameters ]
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then
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param load
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fi
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#
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# Start the sensors.
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#
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@ -51,7 +51,6 @@
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#include <arch/board/board.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/param/param.h"
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#include "systemlib/err.h"
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__EXPORT int bl_update_main(int argc, char *argv[]);
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@ -193,6 +193,8 @@ eeprom_save(const char *name)
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if (!name)
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err(1, "missing argument for device name, try '/eeprom/parameters'");
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warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
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/* delete the file in case it exists */
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unlink(name);
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@ -222,6 +224,8 @@ eeprom_load(const char *name)
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if (!name)
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err(1, "missing argument for device name, try '/eeprom/parameters'");
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warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
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int fd = open(name, O_RDONLY);
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if (fd < 0)
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@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Build the parameters tool.
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#
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APPNAME = param
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 4096
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include $(APPDIR)/mk/app.mk
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@ -0,0 +1,185 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file param.c
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*
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* Parameter tool.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/stat.h>
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#include <arch/board/board.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/param/param.h"
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#include "systemlib/err.h"
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__EXPORT int param_main(int argc, char *argv[]);
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static void do_save(void);
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static void do_load(void);
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static void do_import(void);
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static void do_show(void);
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static void do_show_print(void *arg, param_t param);
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static const char *param_file_name = "/eeprom/parameters";
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int
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param_main(int argc, char *argv[])
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{
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if (argc >= 2) {
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if (!strcmp(argv[1], "save"))
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do_save();
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if (!strcmp(argv[1], "load"))
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do_load();
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if (!strcmp(argv[1], "import"))
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do_import();
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if (!strcmp(argv[1], "show"))
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do_show();
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}
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errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n");
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}
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static void
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do_save(void)
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{
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/* delete the parameter file in case it exists */
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unlink(param_file_name);
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/* create the file */
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int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
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if (fd < 0)
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err(1, "opening '%s' failed", param_file_name);
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int result = param_export(fd, false);
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close(fd);
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if (result < 0) {
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unlink(param_file_name);
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errx(1, "error exporting to '%s'", param_file_name);
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}
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exit(0);
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}
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static void
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do_load(void)
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{
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int fd = open(param_file_name, O_RDONLY);
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if (fd < 0)
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err(1, "open '%s'", param_file_name);
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int result = param_load(fd);
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close(fd);
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if (result < 0)
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errx(1, "error importing from '%s'", param_file_name);
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exit(0);
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}
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static void
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do_import(void)
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{
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int fd = open(param_file_name, O_RDONLY);
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if (fd < 0)
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err(1, "open '%s'", param_file_name);
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int result = param_import(fd);
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close(fd);
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if (result < 0)
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errx(1, "error importing from '%s'", param_file_name);
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exit(0);
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}
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static void
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do_show(void)
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{
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printf(" + = saved, * = unsaved (warning, floating-point values are often printed with the decimal point wrong)\n");
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param_foreach(do_show_print, NULL, false);
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exit(0);
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}
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static void
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do_show_print(void *arg, param_t param)
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{
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int32_t i;
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float f;
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printf("%c %s: ",
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param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
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param_name(param));
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/*
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* This case can be expanded to handle printing common structure types.
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*/
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switch (param_type(param)) {
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case PARAM_TYPE_INT32:
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if (!param_get(param, &i)) {
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printf("%d\n", i);
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return;
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}
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break;
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case PARAM_TYPE_FLOAT:
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if (!param_get(param, &f)) {
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printf("%4.4f\n", (double)f);
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return;
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}
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break;
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case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
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printf("<struct type %d size %u>\n", 0 + param_type(param), param_size(param));
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return;
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default:
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printf("<unknown type %d>\n", 0 + param_type(param));
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return;
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}
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printf("<error fetching parameter %d>\n", param);
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}
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@ -242,6 +242,25 @@ param_name(param_t param)
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return NULL;
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}
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bool
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param_value_is_default(param_t param)
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{
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return param_find_changed(param) ? false : true;
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}
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bool
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param_value_unsaved(param_t param)
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{
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static struct param_wbuf_s *s;
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s = param_find_changed(param);
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if (s && s->unsaved)
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return true;
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return false;
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}
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enum param_type_e
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param_type(param_t param)
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{
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@ -330,8 +349,8 @@ param_get(param_t param, void *val)
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return result;
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}
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int
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param_set(param_t param, const void *val)
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static int
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param_set_internal(param_t param, const void *val, bool mark_saved)
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{
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int result = -1;
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bool params_changed = false;
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@ -394,7 +413,7 @@ param_set(param_t param, const void *val)
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goto out;
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}
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s->unsaved = true;
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s->unsaved = !mark_saved;
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params_changed = true;
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result = 0;
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}
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@ -412,6 +431,12 @@ out:
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return result;
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}
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int
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param_set(param_t param, const void *val)
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{
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return param_set_internal(param, val, false);
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}
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void
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param_reset(param_t param)
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{
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@ -535,6 +560,11 @@ out:
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return result;
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}
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struct param_import_state
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{
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bool mark_saved;
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};
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static int
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param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
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{
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@ -542,13 +572,13 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
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int32_t i;
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void *v, *tmp = NULL;
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int result = -1;
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struct param_import_state *state = (struct param_import_state *)private;
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/*
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* EOO means the end of the parameter object. (Currently not supporting
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* nested BSON objects).
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*/
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if (node->type == BSON_EOO) {
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*(bool *)private = true;
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debug("end of parameters");
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return 0;
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}
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@ -621,7 +651,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
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goto out;
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}
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if (param_set(param, v)) {
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if (param_set_internal(param, v, state->mark_saved)) {
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debug("error setting value for '%s'", node->name);
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goto out;
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}
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@ -642,19 +672,19 @@ out:
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return result;
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}
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int
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param_import(int fd)
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static int
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param_import_internal(int fd, bool mark_saved)
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{
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bool done;
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struct bson_decoder_s decoder;
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int result = -1;
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struct param_import_state state;
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if (bson_decoder_init(&decoder, fd, param_import_callback, &done)) {
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if (bson_decoder_init(&decoder, fd, param_import_callback, &state)) {
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debug("decoder init failed");
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goto out;
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}
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done = false;
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state.mark_saved = mark_saved;
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do {
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result = bson_decoder_next(&decoder);
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@ -668,11 +698,17 @@ out:
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return result;
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}
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int
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param_import(int fd)
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{
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return param_import_internal(fd, false);
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}
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int
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param_load(int fd)
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{
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param_reset_all();
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return param_import(fd);
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return param_import_internal(fd, true);
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}
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void
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|
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@ -121,6 +121,20 @@ __EXPORT int param_get_index(param_t param);
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*/
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__EXPORT const char *param_name(param_t param);
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/**
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* Test whether a parameter's value has changed from the default.
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*
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* @return If true, the parameter's value has not been changed from the default.
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*/
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__EXPORT bool param_value_is_default(param_t param);
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/**
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* Test whether a parameter's value has been changed but not saved.
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*
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* @return If true, the parameter's value has not been saved.
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*/
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__EXPORT bool param_value_unsaved(param_t param);
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/**
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* Obtain the type of a parameter.
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*
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@ -160,7 +174,8 @@ __EXPORT int param_set(param_t param, const void *val);
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/**
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* Reset a parameter to its default value.
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*
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* This function frees any storage used by struct parameters, but scalar parameters
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* This function frees any storage used by struct parameters, and returns the parameter
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* to its default value.
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*
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* @param param A handle returned by param_find or passed by param_foreach.
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*/
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@ -53,6 +53,7 @@ CONFIGURED_APPS += systemcmds/boardinfo
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CONFIGURED_APPS += systemcmds/mixer
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CONFIGURED_APPS += systemcmds/eeprom
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CONFIGURED_APPS += systemcmds/led
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CONFIGURED_APPS += systemcmds/param
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CONFIGURED_APPS += systemcmds/bl_update
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#CONFIGURED_APPS += systemcmds/calibration
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