Moved all system commands to the new world

2 files changed, 341 insertions, 0 deletions

diff --git a/src/systemcmds/param/module.mk b/src/systemcmds/param/module.mk
new file mode 100644
index 000000000..63f15ad28
--- /dev/null
+++ b/src/systemcmds/param/module.mk
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 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.
+#
+
+MODULE_COMMAND	 = param
+SRCS		 = param.c
+
+MODULE_STACKSIZE = 4096
+
+MAXOPTIMIZATION	 = -Os
+
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
new file mode 100644
index 000000000..56f5317e3
--- /dev/null
+++ b/src/systemcmds/param/param.c
@@ -0,0 +1,297 @@
+/****************************************************************************
+ *
+ *   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(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);
+
+int
+param_main(int argc, char *argv[])
+{
+	if (argc >= 2) {
+		if (!strcmp(argv[1], "save")) {
+			if (argc >= 3) {
+				do_save(argv[2]);
+			} else {
+				do_save(param_get_default_file());
+			}
+		}
+
+		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'");
+			}
+		}
+	}
+	
+	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
+}
+
+static void
+do_save(const char* param_file_name)
+{
+	/* 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(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;
+
+	/* print nothing if search string is invalid and not matching */
+	if (!(arg == NULL || (!strcmp(search_string, param_name(param))))) {
+		/* param not found */
+		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("old: %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("float values are not yet supported.");
+			// printf("old: %4.4f", (double)f);
+
+			// /* convert string */
+			// char* end;
+			// f = strtof(val,&end);
+			// param_set(param, &f);
+			// printf(" -> new: %4.4f\n", f);
+
+		}
+
+		break;
+
+	default:
+		errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
+	}
+
+	exit(0);
+}