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/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_parameters.cpp
* Mavlink parameters manager implementation.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <stdio.h>
#include "mavlink_parameters.h"
#include "mavlink_main.h"
MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
_send_all_index(-1),
_rc_param_map_pub(-1),
_rc_param_map()
{
}
unsigned
MavlinkParametersManager::get_size()
{
if (_send_all_index >= 0) {
return MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
} else {
return 0;
}
}
void
MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
/* request all parameters */
mavlink_param_request_list_t req_list;
mavlink_msg_param_request_list_decode(msg, &req_list);
if (req_list.target_system == mavlink_system.sysid &&
(req_list.target_component == mavlink_system.compid || req_list.target_component == MAV_COMP_ID_ALL)) {
_send_all_index = 0;
}
break;
}
case MAVLINK_MSG_ID_PARAM_SET: {
/* set parameter */
if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
mavlink_param_set_t set;
mavlink_msg_param_set_decode(msg, &set);
if (set.target_system == mavlink_system.sysid &&
(set.target_component == mavlink_system.compid || set.target_component == MAV_COMP_ID_ALL)) {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
strncpy(name, set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter, set and send it */
param_t param = param_find_no_notification(name);
if (param == PARAM_INVALID) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] unknown param: %s", name);
_mavlink->send_statustext_info(buf);
} else {
/* set and send parameter */
param_set(param, &(set.param_value));
send_param(param);
}
}
}
break;
}
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
/* request one parameter */
mavlink_param_request_read_t req_read;
mavlink_msg_param_request_read_decode(msg, &req_read);
if (req_read.target_system == mavlink_system.sysid &&
(req_read.target_component == mavlink_system.compid || req_read.target_component == MAV_COMP_ID_ALL)) {
/* when no index is given, loop through string ids and compare them */
if (req_read.param_index < 0) {
/* local name buffer to enforce null-terminated string */
char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
strncpy(name, req_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* attempt to find parameter and send it */
send_param(param_find_no_notification(name));
} else {
/* when index is >= 0, send this parameter again */
send_param(param_for_used_index(req_read.param_index));
}
}
break;
}
case MAVLINK_MSG_ID_PARAM_MAP_RC: {
/* map a rc channel to a parameter */
mavlink_param_map_rc_t map_rc;
mavlink_msg_param_map_rc_decode(msg, &map_rc);
if (map_rc.target_system == mavlink_system.sysid &&
(map_rc.target_component == mavlink_system.compid ||
map_rc.target_component == MAV_COMP_ID_ALL)) {
/* Copy values from msg to uorb using the parameter_rc_channel_index as index */
size_t i = map_rc.parameter_rc_channel_index;
_rc_param_map.param_index[i] = map_rc.param_index;
strncpy(&(_rc_param_map.param_id[i][0]), map_rc.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
_rc_param_map.param_id[i][MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = '\0';
_rc_param_map.scale[i] = map_rc.scale;
_rc_param_map.value0[i] = map_rc.param_value0;
_rc_param_map.value_min[i] = map_rc.param_value_min;
_rc_param_map.value_max[i] = map_rc.param_value_max;
if (map_rc.param_index == -2) { // -2 means unset map
_rc_param_map.valid[i] = false;
} else {
_rc_param_map.valid[i] = true;
}
_rc_param_map.timestamp = hrt_absolute_time();
if (_rc_param_map_pub < 0) {
_rc_param_map_pub = orb_advertise(ORB_ID(rc_parameter_map), &_rc_param_map);
} else {
orb_publish(ORB_ID(rc_parameter_map), _rc_param_map_pub, &_rc_param_map);
}
}
break;
}
default:
break;
}
}
void
MavlinkParametersManager::send(const hrt_abstime t)
{
/* send all parameters if requested */
if (_send_all_index >= 0) {
/* skip if no space is available */
if (_mavlink->get_free_tx_buf() < get_size()) {
return;
}
/* look for the first parameter which is used */
param_t p;
do {
/* walk through all parameters, including unused ones */
p = param_for_index(_send_all_index);
_send_all_index++;
} while (p != PARAM_INVALID && !param_used(p));
if (p != PARAM_INVALID) {
send_param(p);
}
if (_send_all_index >= (int) param_count()) {
_send_all_index = -1;
}
}
}
void
MavlinkParametersManager::send_param(param_t param)
{
if (param == PARAM_INVALID) {
return;
}
mavlink_param_value_t msg;
/*
* get param value, since MAVLink encodes float and int params in the same
* space during transmission, copy param onto float val_buf
*/
if (param_get(param, &msg.param_value) != OK) {
return;
}
msg.param_count = param_count_used();
msg.param_index = param_get_used_index(param);
/* copy parameter name */
strncpy(msg.param_id, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* query parameter type */
param_type_t type = param_type(param);
/*
* Map onboard parameter type to MAVLink type,
* endianess matches (both little endian)
*/
if (type == PARAM_TYPE_INT32) {
msg.param_type = MAVLINK_TYPE_INT32_T;
} else if (type == PARAM_TYPE_FLOAT) {
msg.param_type = MAVLINK_TYPE_FLOAT;
} else {
msg.param_type = MAVLINK_TYPE_FLOAT;
}
_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
}
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