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-rw-r--r--src/modules/systemlib/param/param.c9
-rw-r--r--src/modules/systemlib/param/param.h5
-rw-r--r--src/systemcmds/param/param.c105
3 files changed, 79 insertions, 40 deletions
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 6b8d0e634..7f5caf18f 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012-2015 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
@@ -441,10 +441,11 @@ param_set(param_t param, const void *val)
return param_set_internal(param, val, false);
}
-void
+int
param_reset(param_t param)
{
struct param_wbuf_s *s = NULL;
+ bool param_found = false;
param_lock();
@@ -458,12 +459,16 @@ param_reset(param_t param)
int pos = utarray_eltidx(param_values, s);
utarray_erase(param_values, pos, 1);
}
+
+ param_found = true;
}
param_unlock();
if (s != NULL)
param_notify_changes();
+
+ return (!param_found);
}
void
diff --git a/src/modules/systemlib/param/param.h b/src/modules/systemlib/param/param.h
index dc73b37e9..e003572d9 100644
--- a/src/modules/systemlib/param/param.h
+++ b/src/modules/systemlib/param/param.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012-2015 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
@@ -178,8 +178,9 @@ __EXPORT int param_set(param_t param, const void *val);
* to its default value.
*
* @param param A handle returned by param_find or passed by param_foreach.
+ * @return Zero on success, nonzero on failure
*/
-__EXPORT void param_reset(param_t param);
+__EXPORT int param_reset(param_t param);
/**
* Reset all parameters to their default values.
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 80ee204e8..0b6d3b8d3 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -57,13 +57,13 @@
__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_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, bool fail_on_not_found);
-static void do_compare(const char* name, char* vals[], unsigned comparisons);
+static void do_set(const char *name, const char *val, bool fail_on_not_found);
+static void do_compare(const char *name, char *vals[], unsigned comparisons);
static void do_reset(void);
static void do_reset_nostart(void);
@@ -74,10 +74,12 @@ param_main(int argc, char *argv[])
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);
}
@@ -87,6 +89,7 @@ param_main(int argc, char *argv[])
if (!strcmp(argv[1], "load")) {
if (argc >= 3) {
do_load(argv[2]);
+
} else {
do_load(param_get_default_file());
}
@@ -95,6 +98,7 @@ param_main(int argc, char *argv[])
if (!strcmp(argv[1], "import")) {
if (argc >= 3) {
do_import(argv[2]);
+
} else {
do_import(param_get_default_file());
}
@@ -103,9 +107,11 @@ param_main(int argc, char *argv[])
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);
}
@@ -113,6 +119,7 @@ param_main(int argc, char *argv[])
if (!strcmp(argv[1], "show")) {
if (argc >= 3) {
do_show(argv[2]);
+
} else {
do_show(NULL);
}
@@ -128,6 +135,7 @@ param_main(int argc, char *argv[])
} else if (argc >= 4) {
do_set(argv[2], argv[3], false);
+
} else {
errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'");
}
@@ -136,6 +144,7 @@ param_main(int argc, char *argv[])
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'");
}
@@ -149,18 +158,19 @@ param_main(int argc, char *argv[])
do_reset_nostart();
}
}
-
+
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
}
static void
-do_save(const char* param_file_name)
+do_save(const char *param_file_name)
{
/* create the file */
int fd = open(param_file_name, O_WRONLY | O_CREAT);
- if (fd < 0)
+ if (fd < 0) {
err(1, "opening '%s' failed", param_file_name);
+ }
int result = param_export(fd, false);
close(fd);
@@ -174,12 +184,13 @@ do_save(const char* param_file_name)
}
static void
-do_load(const char* param_file_name)
+do_load(const char *param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
- if (fd < 0)
+ if (fd < 0) {
err(1, "open '%s'", param_file_name);
+ }
int result = param_load(fd);
close(fd);
@@ -192,24 +203,26 @@ do_load(const char* param_file_name)
}
static void
-do_import(const char* param_file_name)
+do_import(const char *param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
- if (fd < 0)
+ if (fd < 0) {
err(1, "open '%s'", param_file_name);
+ }
int result = param_import(fd);
close(fd);
- if (result < 0)
+ if (result < 0) {
errx(1, "error importing from '%s'", param_file_name);
+ }
exit(0);
}
static void
-do_show(const char* search_string)
+do_show(const char *search_string)
{
printf(" + = saved, * = unsaved\n");
param_foreach(do_show_print, (char *)search_string, false);
@@ -222,8 +235,8 @@ 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);
+ 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)) {
@@ -238,6 +251,7 @@ do_show_print(void *arg, param_t param)
if (*ss == *pp) {
ss++;
pp++;
+
} else if (*ss == '*') {
if (*(ss + 1) != '\0') {
warnx("* symbol only allowed at end of search string.");
@@ -245,6 +259,7 @@ do_show_print(void *arg, param_t param)
}
pp++;
+
} else {
/* param not found */
return;
@@ -252,8 +267,9 @@ do_show_print(void *arg, param_t param)
}
/* the search string must have been consumed */
- if (!(*ss == '\0' || *ss == '*'))
+ if (!(*ss == '\0' || *ss == '*')) {
return;
+ }
}
printf("%c %s: ",
@@ -294,7 +310,7 @@ do_show_print(void *arg, param_t param)
}
static void
-do_set(const char* name, const char* val, bool fail_on_not_found)
+do_set(const char *name, const char *val, bool fail_on_not_found)
{
int32_t i;
float f;
@@ -317,27 +333,41 @@ do_set(const char* name, const char* val, bool fail_on_not_found)
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);
+ char *end;
+ int32_t newval = strtol(val, &end, 10);
+
+ if (i == newval) {
+ printf("unchanged\n");
+ } else {
+ printf("curr: %d", i);
+ param_set(param, &newval);
+ printf(" -> new: %d\n", newval);
+ }
}
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);
+ char *end;
+ float newval = strtod(val, &end);
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+
+ if (f == newval) {
+#pragma GCC diagnostic pop
+ printf("unchanged\n");
+
+ } else {
+ printf("curr: %4.4f", (double)f);
+ param_set(param, &newval);
+ printf(" -> new: %4.4f\n", (double)newval);
+ }
}
@@ -351,7 +381,7 @@ do_set(const char* name, const char* val, bool fail_on_not_found)
}
static void
-do_compare(const char* name, char* vals[], unsigned comparisons)
+do_compare(const char *name, char *vals[], unsigned comparisons)
{
int32_t i;
float f;
@@ -374,11 +404,11 @@ do_compare(const char* name, char* vals[], unsigned comparisons)
if (!param_get(param, &i)) {
/* convert string */
- char* end;
+ char *end;
for (unsigned k = 0; k < comparisons; k++) {
- int j = strtol(vals[k],&end,10);
+ int j = strtol(vals[k], &end, 10);
if (i == j) {
printf(" %d: ", i);
@@ -393,14 +423,15 @@ do_compare(const char* name, char* vals[], unsigned comparisons)
if (!param_get(param, &f)) {
/* convert string */
- char* end;
+ 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;
+ ret = 0;
}
}
}
@@ -413,8 +444,8 @@ do_compare(const char* name, char* vals[], unsigned comparisons)
if (ret == 0) {
printf("%c %s: match\n",
- param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
- param_name(param));
+ param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+ param_name(param));
}
exit(ret);
@@ -428,6 +459,7 @@ do_reset(void)
if (param_save_default()) {
warnx("Param export failed.");
exit(1);
+
} else {
exit(0);
}
@@ -451,6 +483,7 @@ do_reset_nostart(void)
if (param_save_default()) {
warnx("Param export failed.");
exit(1);
+
} else {
exit(0);
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-02 23:34:29 +0000