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.

10 files changed, 307 insertions, 15 deletions

diff --git a/ROMFS/scripts/rc.FMU_quad_x b/ROMFS/scripts/rc.FMU_quad_x
index 94ed2be18..e9f07b4a2 100644
--- a/ROMFS/scripts/rc.FMU_quad_x
+++ b/ROMFS/scripts/rc.FMU_quad_x
@@ -9,7 +9,7 @@ echo "[init] eeprom"
 eeprom start
 if [ -f /eeprom/parameters ]
 then
-	eeprom load_param /eeprom/parameters
+	param load
 fi
 
 echo "[init] sensors"
diff --git a/ROMFS/scripts/rc.PX4IOAR b/ROMFS/scripts/rc.PX4IOAR
index 532dd6a25..382d8e25c 100644
--- a/ROMFS/scripts/rc.PX4IOAR
+++ b/ROMFS/scripts/rc.PX4IOAR
@@ -19,7 +19,7 @@ echo "[init] eeprom"
 eeprom start
 if [ -f /eeprom/parameters ]
 then
-	eeprom load_param /eeprom/parameters
+	param load
 fi
  
 #
diff --git a/ROMFS/scripts/rc.standalone b/ROMFS/scripts/rc.standalone
index 7dfd98a16..8ccdb577b 100644
--- a/ROMFS/scripts/rc.standalone
+++ b/ROMFS/scripts/rc.standalone
@@ -11,6 +11,16 @@ echo "[init] doing standalone PX4FMU startup..."
 uorb start
 
 #
+# Init the EEPROM
+#
+echo "[init] eeprom"
+eeprom start
+if [ -f /eeprom/parameters ]
+then
+	param load
+fi
+
+#
 # Start the sensors.
 #
 #sh /etc/init.d/rc.sensors
diff --git a/apps/systemcmds/bl_update/bl_update.c b/apps/systemcmds/bl_update/bl_update.c
index ac3e93be1..752c01986 100644
--- a/apps/systemcmds/bl_update/bl_update.c
+++ b/apps/systemcmds/bl_update/bl_update.c
@@ -51,7 +51,6 @@
 #include <arch/board/board.h>
 
 #include "systemlib/systemlib.h"
-#include "systemlib/param/param.h"
 #include "systemlib/err.h"
 
 __EXPORT int bl_update_main(int argc, char *argv[]);
diff --git a/apps/systemcmds/eeprom/eeprom.c b/apps/systemcmds/eeprom/eeprom.c
index a0b15f77b..fa88fa09e 100644
--- a/apps/systemcmds/eeprom/eeprom.c
+++ b/apps/systemcmds/eeprom/eeprom.c
@@ -193,6 +193,8 @@ eeprom_save(const char *name)
 	if (!name) 
 		err(1, "missing argument for device name, try '/eeprom/parameters'");
 
+	warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
+
 	/* delete the file in case it exists */
 	unlink(name);
 
@@ -222,6 +224,8 @@ eeprom_load(const char *name)
 	if (!name) 
 		err(1, "missing argument for device name, try '/eeprom/parameters'");
 	
+	warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
+
 	int fd = open(name, O_RDONLY);
 
 	if (fd < 0)
diff --git a/apps/systemcmds/param/Makefile b/apps/systemcmds/param/Makefile
new file mode 100644
index 000000000..603746a20
--- /dev/null
+++ b/apps/systemcmds/param/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# Build the parameters tool.
+#
+
+APPNAME		 = param
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 4096
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c
new file mode 100644
index 000000000..199bffed5
--- /dev/null
+++ b/apps/systemcmds/param/param.c
@@ -0,0 +1,185 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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 param.c
+ *
+ * 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(void);
+static void	do_load(void);
+static void	do_import(void);
+static void	do_show(void);
+static void	do_show_print(void *arg, param_t param);
+
+static const char *param_file_name = "/eeprom/parameters";
+
+int
+param_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "save"))
+			do_save();
+		if (!strcmp(argv[1], "load"))
+			do_load();
+		if (!strcmp(argv[1], "import"))
+			do_import();
+		if (!strcmp(argv[1], "show"))
+			do_show();
+	}
+
+	errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n");
+}
+
+static void
+do_save(void)
+{
+	/* delete the parameter file in case it exists */
+	unlink(param_file_name);
+
+	/* create the file */
+	int fd = open(param_file_name, O_WRONLY | O_CREAT | O_EXCL);
+
+	if (fd < 0)
+		err(1, "opening '%s' failed", param_file_name);
+
+	int result = param_export(fd, false);
+	close(fd);
+
+	if (result < 0) {
+		unlink(param_file_name);
+		errx(1, "error exporting to '%s'", param_file_name);
+	}
+
+	exit(0);
+}
+
+static void
+do_load(void)
+{
+	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(void)
+{
+	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(void)
+{
+	printf(" + = saved, * = unsaved  (warning, floating-point values are often printed with the decimal point wrong)\n");
+	param_foreach(do_show_print, NULL, false);
+
+	exit(0);
+}
+
+static void
+do_show_print(void *arg, param_t param)
+{
+	int32_t i;
+	float f;
+
+	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);
+}
diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c
index 0ab7c0ea3..9e886ea65 100644
--- a/apps/systemlib/param/param.c
+++ b/apps/systemlib/param/param.c
@@ -242,6 +242,25 @@ param_name(param_t param)
 	return NULL;
 }
 
+bool
+param_value_is_default(param_t param)
+{
+	return param_find_changed(param) ? false : true;
+}
+
+bool
+param_value_unsaved(param_t param)
+{
+	static struct param_wbuf_s *s;
+
+	s = param_find_changed(param);
+
+	if (s && s->unsaved)
+		return true;
+
+	return false;
+}
+
 enum param_type_e
 param_type(param_t param)
 {
@@ -330,8 +349,8 @@ param_get(param_t param, void *val)
 	return result;
 }
 
-int
-param_set(param_t param, const void *val)
+static int
+param_set_internal(param_t param, const void *val, bool mark_saved)
 {
 	int result = -1;
 	bool params_changed = false;
@@ -394,7 +413,7 @@ param_set(param_t param, const void *val)
 			goto out;
 		}
 
-		s->unsaved = true;
+		s->unsaved = !mark_saved;
 		params_changed = true;
 		result = 0;
 	}
@@ -412,6 +431,12 @@ out:
 	return result;
 }
 
+int
+param_set(param_t param, const void *val)
+{
+	return param_set_internal(param, val, false);
+}
+
 void
 param_reset(param_t param)
 {
@@ -535,6 +560,11 @@ out:
 	return result;
 }
 
+struct param_import_state
+{
+	bool mark_saved;
+};
+
 static int
 param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 {
@@ -542,13 +572,13 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 	int32_t i;
 	void *v, *tmp = NULL;
 	int result = -1;
+	struct param_import_state *state = (struct param_import_state *)private;
 
 	/*
 	 * EOO means the end of the parameter object. (Currently not supporting
 	 * nested BSON objects).
 	 */
 	if (node->type == BSON_EOO) {
-		*(bool *)private = true;
 		debug("end of parameters");
 		return 0;
 	}
@@ -621,7 +651,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 		goto out;
 	}
 
-	if (param_set(param, v)) {
+	if (param_set_internal(param, v, state->mark_saved)) {
 		debug("error setting value for '%s'", node->name);
 		goto out;
 	}
@@ -642,19 +672,19 @@ out:
 	return result;
 }
 
-int
-param_import(int fd)
+static int
+param_import_internal(int fd, bool mark_saved)
 {
-	bool done;
 	struct bson_decoder_s decoder;
 	int result = -1;
+	struct param_import_state state;
 
-	if (bson_decoder_init(&decoder, fd, param_import_callback, &done)) {
+	if (bson_decoder_init(&decoder, fd, param_import_callback, &state)) {
 		debug("decoder init failed");
 		goto out;
 	}
 
-	done = false;
+	state.mark_saved = mark_saved;
 
 	do {
 		result = bson_decoder_next(&decoder);
@@ -669,10 +699,16 @@ out:
 }
 
 int
+param_import(int fd)
+{
+	return param_import_internal(fd, false);
+}
+
+int
 param_load(int fd)
 {
 	param_reset_all();
-	return param_import(fd);
+	return param_import_internal(fd, true);
 }
 
 void
diff --git a/apps/systemlib/param/param.h b/apps/systemlib/param/param.h
index ffce07a4e..41e268db0 100644
--- a/apps/systemlib/param/param.h
+++ b/apps/systemlib/param/param.h
@@ -122,6 +122,20 @@ __EXPORT int		param_get_index(param_t param);
 __EXPORT const char	*param_name(param_t param);
 
 /**
+ * Test whether a parameter's value has changed from the default.
+ *
+ * @return		If true, the parameter's value has not been changed from the default.
+ */
+__EXPORT bool		param_value_is_default(param_t param);
+
+/**
+ * Test whether a parameter's value has been changed but not saved.
+ *
+ * @return		If true, the parameter's value has not been saved.
+ */
+__EXPORT bool		param_value_unsaved(param_t param);
+
+/**
  * Obtain the type of a parameter.
  *
  * @param param		A handle returned by param_find or passed by param_foreach.
@@ -160,7 +174,8 @@ __EXPORT int		param_set(param_t param, const void *val);
 /**
  * Reset a parameter to its default value.
  *
- * This function frees any storage used by struct parameters, but scalar parameters 
+ * This function frees any storage used by struct parameters, and returns the parameter
+ * to its default value.
  *
  * @param param		A handle returned by param_find or passed by param_foreach.
  */
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index e76c4cf48..be0a3d1d7 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -53,6 +53,7 @@ CONFIGURED_APPS += systemcmds/boardinfo
 CONFIGURED_APPS += systemcmds/mixer
 CONFIGURED_APPS += systemcmds/eeprom
 CONFIGURED_APPS += systemcmds/led
+CONFIGURED_APPS += systemcmds/param
 CONFIGURED_APPS += systemcmds/bl_update
 #CONFIGURED_APPS += systemcmds/calibration