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author | px4dev <px4@purgatory.org> | 2012-08-19 22:15:29 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-19 22:15:29 -0700 |
commit | f8efb60b593be66534a4fdca554d03913a1b5651 (patch) | |
tree | 8fd8af38c7d645a7a7b9c1353f3aa7bc83dd94d5 /apps/systemlib/param/param.h | |
parent | c729bf98fee00b3decbc178cbd5a3f9b96a064a1 (diff) | |
download | px4-firmware-f8efb60b593be66534a4fdca554d03913a1b5651.tar.gz px4-firmware-f8efb60b593be66534a4fdca554d03913a1b5651.tar.bz2 px4-firmware-f8efb60b593be66534a4fdca554d03913a1b5651.zip |
Major cleanup of the param code; more layering, more comments. Parameter import.
Diffstat (limited to 'apps/systemlib/param/param.h')
-rw-r--r-- | apps/systemlib/param/param.h | 107 |
1 files changed, 80 insertions, 27 deletions
diff --git a/apps/systemlib/param/param.h b/apps/systemlib/param/param.h index 0d94ce6e3..29857b46b 100644 --- a/apps/systemlib/param/param.h +++ b/apps/systemlib/param/param.h @@ -1,7 +1,45 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + /** * @file param.h * * Global parameter store. + * + * Note that a number of API members are marked const or pure; these + * assume that the set of parameters cannot change, or that a parameter + * cannot change type or size over its lifetime. If any of these assumptions + * are invalidated, the attributes should be re-evaluated. */ #ifndef _SYSTEMLIB_PARAM_PARAM_H @@ -10,16 +48,18 @@ #include <stdint.h> #include <stdbool.h> +/** Maximum size of the parameter backing file */ +#define PARAM_FILE_MAXSIZE 4096 + /** * Parameter types. */ -typedef enum param_type_e -{ +typedef enum param_type_e { /* globally-known parameter types */ PARAM_TYPE_INT32 = 0, PARAM_TYPE_FLOAT, - /* structure parameters; these are expected to be identified by name */ + /* structure parameters; size is encoded in the type value */ PARAM_TYPE_STRUCT = 100, PARAM_TYPE_STRUCT_MAX = 16384 + PARAM_TYPE_STRUCT, @@ -45,7 +85,22 @@ typedef uintptr_t param_t; * @param name The canonical name of the parameter being looked up. * @return A handle to the parameter, or PARAM_INVALID if the parameter does not exist. */ -__EXPORT param_t param_find(const char *name); +__EXPORT param_t param_find(const char *name) __attribute__((const)); + +/** + * Return the total number of parameters. + * + * @return The number of parameters. + */ +__EXPORT unsigned param_count(void) __attribute__((const)); + +/** + * Look up a parameter by index. + * + * @param index An index from 0 to n, where n is param_count()-1. + * @return A handle to the parameter, or PARAM_INVALID if the index is out of range. + */ +__EXPORT param_t param_for_index(unsigned index) __attribute__((const)); /** * Obtain the name of a parameter. @@ -53,7 +108,7 @@ __EXPORT param_t param_find(const char *name); * @param param A handle returned by param_find or passed by param_foreach. * @return The name assigned to the parameter, or NULL if the handle is invalid. */ -__EXPORT const char *param_name(param_t param); +__EXPORT const char *param_name(param_t param) __attribute__((const)); /** * Obtain the type of a parameter. @@ -61,7 +116,7 @@ __EXPORT const char *param_name(param_t param); * @param param A handle returned by param_find or passed by param_foreach. * @return The type assigned to the parameter. */ -__EXPORT param_type_t param_type(param_t param); +__EXPORT param_type_t param_type(param_t param) __attribute__((const)); /** * Determine the size of a parameter. @@ -69,15 +124,15 @@ __EXPORT param_type_t param_type(param_t param); * @param param A handle returned by param_find or passed by param_foreach. * @return The size of the parameter's value. */ -__EXPORT size_t param_size(param_t param); +__EXPORT size_t param_size(param_t param) __attribute__((const)); /** - * Obtain the scalar value of a parameter. + * Copy the value of a parameter. * * @param param A handle returned by param_find or passed by param_foreach. * @param val Where to return the value, assumed to point to suitable storage for the parameter type. - * For structures, a pointer to the structure is returned. - * @return Zero if the parameter's value could be returned as a scalar, nonzero otherwise. + * For structures, a bitwise copy of the structure is performed to this address. + * @return Zero if the parameter's value could be returned, nonzero otherwise. */ __EXPORT int param_get(param_t param, void *val); @@ -89,25 +144,25 @@ __EXPORT int param_get(param_t param, void *val); * For structures, the pointer is assumed to point to a copy of the structure. * @return Zero if the parameter's value could be set from a scalar, nonzero otherwise. */ -__EXPORT int param_set(param_t param, void *val); +__EXPORT int param_set(param_t param, const void *val); /** * Export changed parameters to a file. * - * @param filename The name of the file to export to. If it exists, it will be overwritten. + * @param fd File descriptor to export to. * @param only_unsaved Only export changed parameters that have not yet been exported. * @return Zero on success, nonzero on failure. */ -__EXPORT int param_export(const char *filename, bool only_unsaved); +__EXPORT int param_export(int fd, bool only_unsaved); /** * Import parameters from a file, discarding any unrecognised parameters. * - * @param filename The name of the file to import from. + * @param fd File descriptor to import from. (Currently expected to be a file.) * @return Zero on success, nonzero if an error occurred during import. * Note that in the failure case, parameters may be inconsistent. */ -__EXPORT int param_import(const char *filename); +__EXPORT int param_import(int fd); /** * Apply a function to each parameter. @@ -124,7 +179,7 @@ __EXPORT void param_foreach(void (*func)(void *arg, param_t param), void *arg, /* * Macros creating static parameter definitions. * - * Note that these structures are not known by name; they are + * Note that these structures are not known by name; they are * collected into a section that is iterated by the parameter * code. */ @@ -135,8 +190,8 @@ __EXPORT void param_foreach(void (*func)(void *arg, param_t param), void *arg, __attribute__((used, section("__param"))) \ struct param_info_s __param__##_name = { \ .name = #_name, \ - .type = PARAM_TYPE_INT32, \ - .val.i = _default \ + .type = PARAM_TYPE_INT32, \ + .val.i = _default \ } /** define a float parameter */ @@ -145,8 +200,8 @@ __EXPORT void param_foreach(void (*func)(void *arg, param_t param), void *arg, __attribute__((used, section("__param"))) \ struct param_info_s __param__##_name = { \ .name = #_name, \ - .type = PARAM_TYPE_FLOAT, \ - .val.f = _default \ + .type = PARAM_TYPE_FLOAT, \ + .val.f = _default \ } /** define a parameter that points to a structure */ @@ -155,18 +210,17 @@ __EXPORT void param_foreach(void (*func)(void *arg, param_t param), void *arg, __attribute__((used, section("__param"))) \ struct param_info_s __param__##_name = { \ .name = #_name, \ - .type = PARAM_TYPE_STRUCT + sizeof(_default), \ - .val.p = &_default; \ + .type = PARAM_TYPE_STRUCT + sizeof(_default), \ + .val.p = &_default; \ } /** * Parameter value union. */ -union param_value_u -{ +union param_value_u { void *p; int32_t i; - float f; + float f; }; /** @@ -175,8 +229,7 @@ union param_value_u * This is normally not used by user code; see the PARAM_DEFINE macros * instead. */ -struct param_info_s -{ +struct param_info_s { const char *name; param_type_t type; union param_value_u val; |