/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* 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.c
* MAVLink parameter protocol implementation (BSD-relicensed).
*/
#include "mavlink_parameters.h"
#include <uORB/uORB.h>
#include "math.h" /* isinf / isnan checks */
#include <assert.h>
#include <stdio.h>
#include <fcntl.h>
#include <stdbool.h>
#include <string.h>
extern mavlink_system_t mavlink_system;
extern void mavlink_missionlib_send_message(mavlink_message_t *msg);
extern void mavlink_missionlib_send_gcs_string(const char *string);
/* send one parameter, assume lock on global_data_parameter_storage */
void mavlink_pm_send_one_parameter(uint16_t next_param)
{
if (next_param < global_data_parameter_storage->pm.size) {
static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
mavlink_message_t tx_msg;
strncpy((char *)name_buf, global_data_parameter_storage->pm.param_names[next_param], MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
&tx_msg,
name_buf,
global_data_parameter_storage->pm.param_values[next_param],
MAVLINK_TYPE_FLOAT,
global_data_parameter_storage->pm.size,
next_param);
mavlink_missionlib_send_message(&tx_msg);
// mavlink_msg_param_value_send(MAVLINK_COMM_0,
// name_buf,
// global_data_parameter_storage->pm.param_values[next_param],
// MAVLINK_TYPE_FLOAT,
// global_data_parameter_storage->pm.size,
// next_param);
}
}
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
/* Start sending parameters */
global_data_parameter_storage->pm.next_param = 0;
mavlink_missionlib_send_gcs_string("[pm] sending list");
} break;
case MAVLINK_MSG_ID_PARAM_SET: {
/* Handle parameter setting */
if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
mavlink_param_set_t mavlink_param_set;
mavlink_msg_param_set_decode(msg, &mavlink_param_set);
if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
uint16_t i; //parameters
uint16_t j; //chars
bool match;
for (i = 0; i < PARAM_MAX_COUNT; i++) {
match = true;
for (j = 0; j < MAX_PARAM_NAME_LEN; j++) {
/* Compare char by char */
if (global_data_parameter_storage->pm.param_names[i][j] != mavlink_param_set.param_id[j]) {
match = false;
}
/* End matching if null termination is reached */
if (global_data_parameter_storage->pm.param_names[i][j] == '\0') {
break;
}
}
/* Check if matched */
if (match) {
// XXX handle param type as well, assuming float here
global_data_parameter_storage->pm.param_values[i] = mavlink_param_set.param_value;
mavlink_pm_send_one_parameter(i);
}
}
}
}
} break;
case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
mavlink_param_request_read_t mavlink_param_request_read;
mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
/* when no index is given, loop through string ids and compare them */
if (mavlink_param_request_read.param_index == -1) {
uint16_t i; //parameters
uint16_t j; //chars
bool match;
for (i = 0; i < PARAM_MAX_COUNT; i++) {
match = true;
for (j = 0; j < MAX_PARAM_NAME_LEN; j++) {
/* Compare char by char */
if (global_data_parameter_storage->pm.param_names[i][j] != mavlink_param_request_read.param_id[j]) {
match = false;
}
/* End matching if null termination is reached */
if (global_data_parameter_storage->pm.param_names[i][j] == '\0') {
break;
}
}
/* Check if matched */
if (match) {
mavlink_pm_send_one_parameter(i);
}
}
} else {
/* when index is >= 0, send this parameter again */
mavlink_pm_send_one_parameter(mavlink_param_request_read.param_index);
}
}
} break;
}
}
/**
* Send low-priority messages at a maximum rate of xx Hertz.
*
* This function sends messages at a lower rate to not exceed the wireless
* bandwidth. It sends one message each time it is called until the buffer is empty.
* Call this function with xx Hertz to increase/decrease the bandwidth.
*/
void mavlink_pm_queued_send(void)
{
//send parameters one by one:
mavlink_pm_send_one_parameter(global_data_parameter_storage->pm.next_param);
global_data_parameter_storage->pm.next_param++;
}
