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*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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* 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.
*
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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****************************************************************************/
/**
* @file param.c
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Parameter tool.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/param/param.h"
#include "systemlib/err.h"
__EXPORT int param_main(int argc, char *argv[]);
static void do_save(const char* param_file_name);
static void do_load(const char* param_file_name);
static void do_import(const char* param_file_name);
static void do_show(const char* search_string);
static void do_show_print(void *arg, param_t param);
static void do_set(const char* name, const char* val);
static void do_compare(const char* name, const char* vals[], unsigned comparisons);
int
param_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "save")) {
if (argc >= 3) {
do_save(argv[2]);
} else {
if (param_save_default()) {
warnx("Param export failed.");
exit(1);
} else {
exit(0);
}
}
}
if (!strcmp(argv[1], "load")) {
if (argc >= 3) {
do_load(argv[2]);
} else {
do_load(param_get_default_file());
}
}
if (!strcmp(argv[1], "import")) {
if (argc >= 3) {
do_import(argv[2]);
} else {
do_import(param_get_default_file());
}
}
if (!strcmp(argv[1], "select")) {
if (argc >= 3) {
param_set_default_file(argv[2]);
} else {
param_set_default_file(NULL);
}
warnx("selected parameter default file %s", param_get_default_file());
exit(0);
}
if (!strcmp(argv[1], "show")) {
if (argc >= 3) {
do_show(argv[2]);
} else {
do_show(NULL);
}
}
if (!strcmp(argv[1], "set")) {
if (argc >= 4) {
do_set(argv[2], argv[3]);
} else {
errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
}
}
if (!strcmp(argv[1], "compare")) {
if (argc >= 4) {
do_compare(argv[2], &argv[3], argc - 3);
} else {
errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
}
}
}
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
}
static void
do_save(const char* param_file_name)
{
/* create the file */
int fd = open(param_file_name, O_WRONLY | O_CREAT);
if (fd < 0)
err(1, "opening '%s' failed", param_file_name);
int result = param_export(fd, false);
close(fd);
if (result < 0) {
(void)unlink(param_file_name);
errx(1, "error exporting to '%s'", param_file_name);
}
exit(0);
}
static void
do_load(const char* param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
if (fd < 0)
err(1, "open '%s'", param_file_name);
int result = param_load(fd);
close(fd);
if (result < 0) {
errx(1, "error importing from '%s'", param_file_name);
}
exit(0);
}
static void
do_import(const char* param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
if (fd < 0)
err(1, "open '%s'", param_file_name);
int result = param_import(fd);
close(fd);
if (result < 0)
errx(1, "error importing from '%s'", param_file_name);
exit(0);
}
static void
do_show(const char* search_string)
{
printf(" + = saved, * = unsaved\n");
param_foreach(do_show_print, search_string, false);
exit(0);
}
static void
do_show_print(void *arg, param_t param)
{
int32_t i;
float f;
const char *search_string = (const char*)arg;
const char *p_name = (const char*)param_name(param);
/* print nothing if search string is invalid and not matching */
if (!(arg == NULL)) {
/* start search */
char *ss = search_string;
char *pp = p_name;
bool mismatch = false;
/* XXX this comparison is only ok for trailing wildcards */
while (*ss != '\0' && *pp != '\0') {
if (*ss == *pp) {
ss++;
pp++;
} else if (*ss == '*') {
if (*(ss + 1) != '\0') {
warnx("* symbol only allowed at end of search string.");
exit(1);
}
pp++;
} else {
/* param not found */
return;
}
}
/* the search string must have been consumed */
if (!(*ss == '\0' || *ss == '*'))
return;
}
printf("%c %s: ",
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
/*
* This case can be expanded to handle printing common structure types.
*/
switch (param_type(param)) {
case PARAM_TYPE_INT32:
if (!param_get(param, &i)) {
printf("%d\n", i);
return;
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &f)) {
printf("%4.4f\n", (double)f);
return;
}
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
printf("<struct type %d size %u>\n", 0 + param_type(param), param_size(param));
return;
default:
printf("<unknown type %d>\n", 0 + param_type(param));
return;
}
printf("<error fetching parameter %d>\n", param);
}
static void
do_set(const char* name, const char* val)
{
int32_t i;
float f;
param_t param = param_find(name);
/* set nothing if parameter cannot be found */
if (param == PARAM_INVALID) {
/* param not found */
errx(1, "Error: Parameter %s not found.", name);
}
printf("%c %s: ",
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
/*
* Set parameter if type is known and conversion from string to value turns out fine
*/
switch (param_type(param)) {
case PARAM_TYPE_INT32:
if (!param_get(param, &i)) {
printf("curr: %d", i);
/* convert string */
char* end;
i = strtol(val,&end,10);
param_set(param, &i);
printf(" -> new: %d\n", i);
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &f)) {
printf("curr: %4.4f", (double)f);
/* convert string */
char* end;
f = strtod(val,&end);
param_set(param, &f);
printf(" -> new: %4.4f\n", (double)f);
}
break;
default:
errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
}
exit(0);
}
static void
do_compare(const char* name, const char* vals[], unsigned comparisons)
{
int32_t i;
float f;
param_t param = param_find(name);
/* set nothing if parameter cannot be found */
if (param == PARAM_INVALID) {
/* param not found */
errx(1, "Error: Parameter %s not found.", name);
}
/*
* Set parameter if type is known and conversion from string to value turns out fine
*/
int ret = 1;
switch (param_type(param)) {
case PARAM_TYPE_INT32:
if (!param_get(param, &i)) {
/* convert string */
char* end;
for (unsigned k = 0; k < comparisons; k++) {
int j = strtol(vals[k],&end,10);
if (i == j) {
printf(" %d: ", i);
ret = 0;
}
}
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &f)) {
/* convert string */
char* end;
for (unsigned k = 0; k < comparisons; k++) {
float g = strtod(vals[k], &end);
if (fabsf(f - g) < 1e-7f) {
printf(" %4.4f: ", (double)f);
ret = 0;
}
}
}
break;
default:
errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
}
if (ret == 0) {
printf("%c %s: match\n",
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
}
exit(ret);
}