forked from Archive/PX4-Autopilot
298 lines
6.8 KiB
C
298 lines
6.8 KiB
C
/****************************************************************************
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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(const char* param_file_name);
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static void do_load(const char* param_file_name);
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static void do_import(const char* param_file_name);
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static void do_show(const char* search_string);
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static void do_show_print(void *arg, param_t param);
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static void do_set(const char* name, const char* val);
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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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if (argc >= 3) {
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do_save(argv[2]);
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} else {
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do_save(param_get_default_file());
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}
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}
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if (!strcmp(argv[1], "load")) {
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if (argc >= 3) {
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do_load(argv[2]);
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} else {
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do_load(param_get_default_file());
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}
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}
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if (!strcmp(argv[1], "import")) {
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if (argc >= 3) {
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do_import(argv[2]);
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} else {
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do_import(param_get_default_file());
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}
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}
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if (!strcmp(argv[1], "select")) {
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if (argc >= 3) {
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param_set_default_file(argv[2]);
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} else {
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param_set_default_file(NULL);
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}
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warnx("selected parameter default file %s", param_get_default_file());
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exit(0);
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}
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if (!strcmp(argv[1], "show")) {
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if (argc >= 3) {
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do_show(argv[2]);
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} else {
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do_show(NULL);
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}
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}
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if (!strcmp(argv[1], "set")) {
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if (argc >= 4) {
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do_set(argv[2], argv[3]);
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} else {
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errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
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}
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}
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}
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errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
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}
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static void
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do_save(const char* param_file_name)
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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(const char* param_file_name)
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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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}
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exit(0);
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}
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static void
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do_import(const char* param_file_name)
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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(const char* search_string)
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{
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printf(" + = saved, * = unsaved\n");
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param_foreach(do_show_print, search_string, 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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const char *search_string = (const char*)arg;
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/* print nothing if search string is invalid and not matching */
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if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) {
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/* param not found */
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return;
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}
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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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static void
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do_set(const char* name, const char* val)
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{
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int32_t i;
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float f;
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param_t param = param_find(name);
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/* set nothing if parameter cannot be found */
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if (param == PARAM_INVALID) {
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/* param not found */
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errx(1, "Error: Parameter %s not found.", name);
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}
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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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* Set parameter if type is known and conversion from string to value turns out fine
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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("old: %d", i);
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/* convert string */
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char* end;
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i = strtol(val,&end,10);
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param_set(param, &i);
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printf(" -> new: %d\n", i);
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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("float values are not yet supported.");
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// printf("old: %4.4f", (double)f);
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// /* convert string */
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// char* end;
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// f = strtof(val,&end);
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// param_set(param, &f);
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// printf(" -> new: %4.4f\n", f);
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}
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break;
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default:
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errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
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}
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exit(0);
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}
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