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Diffstat (limited to 'src/modules/mavlink/mavlink_parameters.c')
| -rw-r--r-- | src/modules/mavlink/mavlink_parameters.c | 230 |
1 files changed, 0 insertions, 230 deletions
diff --git a/src/modules/mavlink/mavlink_parameters.c b/src/modules/mavlink/mavlink_parameters.c deleted file mode 100644 index 18ca7a854..000000000 --- a/src/modules/mavlink/mavlink_parameters.c +++ /dev/null @@ -1,230 +0,0 @@ -/**************************************************************************** - * - * 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 mavlink_parameters.c - * MAVLink parameter protocol implementation (BSD-relicensed). - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -#include "mavlink_bridge_header.h" -#include "mavlink_parameters.h" -#include <uORB/uORB.h> -#include "math.h" /* isinf / isnan checks */ -#include <assert.h> -#include <stdio.h> -#include <fcntl.h> -#include <unistd.h> -#include <stdbool.h> -#include <string.h> -#include <errno.h> -#include <systemlib/param/param.h> -#include <systemlib/err.h> -#include <sys/stat.h> - -extern mavlink_system_t mavlink_system; - -extern int mavlink_missionlib_send_message(mavlink_message_t *msg); -extern int mavlink_missionlib_send_gcs_string(const char *string); - -/** - * If the queue index is not at 0, the queue sending - * logic will send parameters from the current index - * to len - 1, the end of the param list. - */ -static unsigned int mavlink_param_queue_index = 0; - -/** - * Callback for param interface. - */ -void mavlink_pm_callback(void *arg, param_t param); - -void mavlink_pm_callback(void *arg, param_t param) -{ - mavlink_pm_send_param(param); - usleep(*(unsigned int *)arg); -} - -void mavlink_pm_send_all_params(unsigned int delay) -{ - unsigned int dbuf = delay; - param_foreach(&mavlink_pm_callback, &dbuf, false); -} - -int mavlink_pm_queued_send() -{ - if (mavlink_param_queue_index < param_count()) { - mavlink_pm_send_param(param_for_index(mavlink_param_queue_index)); - mavlink_param_queue_index++; - return 0; - - } else { - return 1; - } -} - -void mavlink_pm_start_queued_send() -{ - mavlink_param_queue_index = 0; -} - -int mavlink_pm_send_param_for_index(uint16_t index) -{ - return mavlink_pm_send_param(param_for_index(index)); -} - -int mavlink_pm_send_param_for_name(const char *name) -{ - return mavlink_pm_send_param(param_find(name)); -} - -int mavlink_pm_send_param(param_t param) -{ - if (param == PARAM_INVALID) return 1; - - /* buffers for param transmission */ - static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; - float val_buf; - static mavlink_message_t tx_msg; - - /* query parameter type */ - param_type_t type = param_type(param); - /* copy parameter name */ - strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - - /* - * Map onboard parameter type to MAVLink type, - * endianess matches (both little endian) - */ - uint8_t mavlink_type; - - if (type == PARAM_TYPE_INT32) { - mavlink_type = MAVLINK_TYPE_INT32_T; - - } else if (type == PARAM_TYPE_FLOAT) { - mavlink_type = MAVLINK_TYPE_FLOAT; - - } else { - mavlink_type = MAVLINK_TYPE_FLOAT; - } - - /* - * get param value, since MAVLink encodes float and int params in the same - * space during transmission, copy param onto float val_buf - */ - - int ret; - - if ((ret = param_get(param, &val_buf)) != OK) { - return ret; - } - - mavlink_msg_param_value_pack_chan(mavlink_system.sysid, - mavlink_system.compid, - MAVLINK_COMM_0, - &tx_msg, - name_buf, - val_buf, - mavlink_type, - param_count(), - param_get_index(param)); - ret = mavlink_missionlib_send_message(&tx_msg); - return ret; -} - -void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) -{ - switch (msg->msgid) { - case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { - /* Start sending parameters */ - mavlink_pm_start_queued_send(); - mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); - } break; - - case MAVLINK_MSG_ID_PARAM_SET: { - - /* Handle parameter setting */ - - if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { - mavlink_param_set_t mavlink_param_set; - mavlink_msg_param_set_decode(msg, &mavlink_param_set); - - if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter, set and send it */ - param_t param = param_find(name); - - if (param == PARAM_INVALID) { - char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; - sprintf(buf, "[mavlink pm] unknown: %s", name); - mavlink_missionlib_send_gcs_string(buf); - - } else { - /* set and send parameter */ - param_set(param, &(mavlink_param_set.param_value)); - mavlink_pm_send_param(param); - } - } - } - } break; - - case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { - mavlink_param_request_read_t mavlink_param_request_read; - mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); - - if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { - /* when no index is given, loop through string ids and compare them */ - if (mavlink_param_request_read.param_index == -1) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter and send it */ - mavlink_pm_send_param_for_name(name); - - } else { - /* when index is >= 0, send this parameter again */ - mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); - } - } - - } break; - } -} |