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#include "paramhandler.h"
#define ERROR -1
#define OK 0
cParamHandler::cParamHandler(void) :
m_orb_set_param(-1),
m_orb_get_param(-1),
//TODO? Make target_* modifiable?
target_system(1),
target_component(50),
is_requested(false),
request_time(0),
load_request_fail_count(0),
max_load_request_fail_count(0),
load_update_timeout(100),
load_update_fail_count(0),
max_load_update_fail_count(0),
loaded_count(0),
upload_requred(false)
{
get_param_s.param_index = -1;
get_param_s.target_system = target_system;
get_param_s.target_component = target_component;
set_param_s.target_system = target_system;
set_param_s.target_component = target_component;
}
cParamHandler::~cParamHandler(void) {
if(m_orb_get_param >= 0)
orb_unsubscribe(m_orb_get_param);
if(m_orb_set_param >= 0)
orb_unsubscribe(m_orb_set_param);
}
bool cParamHandler::init(void) {
passed_param_sub = orb_subscribe(ORB_ID(pass_drone_parameter));
return passed_param_sub != ERROR;
}
void cParamHandler::setupSave(orb_advert_t *orb_cmd, int32_t system_id, int32_t component_id) {
m_orb_cmd = orb_cmd;
memset(&save_cmd, 0, sizeof(save_cmd));
save_cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
save_cmd.param1 = 1;
save_cmd.confirmation = false;
save_cmd.source_system = system_id;
save_cmd.source_component = component_id;
save_cmd.target_system = target_system;
save_cmd.target_component = target_component;
}
void cParamHandler::loadCycle(void) {
if(is_requested) {
int res;
bool updated;
res = orb_check(passed_param_sub, &updated);
if(res == -1) {
//orb_check failed
} else if(updated) {
ad_param_t *pparam;
struct pass_drone_param_s param;
orb_copy(ORB_ID(pass_drone_parameter), passed_param_sub, ¶m);
pparam = ¶mTable[loaded_count];
if(!strncmp(param.param_id, pparam->name, sizeof(param.param_id))) {
pparam->type = (enum param_type)param.param_type;
switch(pparam->type) {
case PTYPE_INT:
pparam->value = *(int*)¶m.param_value;
break;
case PTYPE_FLOAT:
pparam->value = param.param_value;
break;
}
pparam->value *= pparam->mul;
pparam->editing_value = pparam->value;
loaded_count++;
} else {
//Must not happen ?
}
is_requested = false;
} else if((hrt_absolute_time() - request_time) / 10000.0f > load_update_timeout) {
load_update_fail_count++;
if(load_update_fail_count >= max_load_update_fail_count) {
//TODO: Do something?
}
is_requested = false;
}
} else if(loaded_count < getParamCount()) {
if(!request((enum param_id)loaded_count)) {
load_request_fail_count++;
if(load_request_fail_count >= max_load_request_fail_count) {
//TODO: Do something?
}
}
}
}
float cParamHandler::get(int id) {
return paramTable[id].value;
}
bool cParamHandler::request(enum param_id id) {
strncpy(get_param_s.param_id, paramTable[id].name, sizeof(get_param_s.param_id));
if (m_orb_get_param < 0) {
m_orb_get_param = orb_advertise(ORB_ID(get_drone_parameter), &get_param_s);
is_requested = m_orb_get_param != ERROR;
} else {
is_requested = orb_publish(ORB_ID(get_drone_parameter), m_orb_get_param, &get_param_s) == OK;
}
if(is_requested) {
request_time = hrt_absolute_time();
}
return is_requested;
}
bool cParamHandler::send(ad_param_t *param, bool upload) {
bool result;
strncpy(set_param_s.param_id, param->name, sizeof(set_param_s.param_id));
set_param_s.param_type = param->type;
set_param_s.param_value = convertValue(param->editing_value / param->mul, param->type);
if(m_orb_set_param < 0) {
m_orb_set_param = orb_advertise(ORB_ID(set_drone_parameter), &set_param_s);
result = m_orb_set_param != ERROR;
} else {
result = orb_publish(ORB_ID(set_drone_parameter), m_orb_set_param, &set_param_s) == OK;
}
if(result) {
param->value = param->editing_value;
upload_requred = true;
} else {
param->editing_value = param->value;
return false;
}
if(upload) {
return uploadAllParams();
}
return true;
}
bool cParamHandler::send(enum param_id id, float new_value, bool upload) {
ad_param_t *param = ¶mTable[id];
param->editing_value = new_value;
return send(param, upload);
}
bool cParamHandler::sendCustomParam(const char *name, enum param_type type, float new_value, bool upload) {
bool result;
strncpy(set_param_s.param_id, name, sizeof(set_param_s.param_id));
set_param_s.param_type = type;
set_param_s.param_value = convertValue(new_value, type);
if(m_orb_set_param < 0) {
m_orb_set_param = orb_advertise(ORB_ID(set_drone_parameter), &set_param_s);
result = m_orb_set_param != ERROR;
} else {
result = orb_publish(ORB_ID(set_drone_parameter), m_orb_set_param, &set_param_s) == OK;
}
if(result) {
upload_requred = true;
if(upload)
uploadAllParams();
}
return result;
}
void cParamHandler::incParam(int param_id) {
ad_param_t *param = ¶mTable[param_id];
param->editing_value += param->step;
if(param->editing_value > param->max)
param->editing_value = param->min;
}
void cParamHandler::decParam(int param_id) {
ad_param_t *param = ¶mTable[param_id];
param->editing_value -= param->step;
if(param->editing_value < param->min)
param->editing_value = param->max;
}
bool cParamHandler::setParam(int param_id) {
ad_param_t *param = ¶mTable[param_id];
if(param->value == param->editing_value)
return true;
if(!send(param))
return false;
return true;
}
void cParamHandler::resetParam(int param_id) {
ad_param_t *param = ¶mTable[param_id];
param->editing_value = param->value;
}
bool cParamHandler::uploadAllParams(void) {
if(!upload_requred)
return true;
if(m_orb_cmd) {
bool result;
if(*m_orb_cmd < 0) {
*m_orb_cmd = orb_advertise(ORB_ID(vehicle_command), &save_cmd);
result = *m_orb_cmd != ERROR;
} else {
result = orb_publish(ORB_ID(vehicle_command), *m_orb_cmd, &save_cmd) == OK;
}
upload_requred = !result;
return result;
} else {
return false;
}
}
float cParamHandler::convertValue(float value, enum param_type type) {
switch(type) {
case PTYPE_INT: {
int int_value = (int)value;
return *(float*)&int_value;
break;
}
case PTYPE_FLOAT:
default:
return value;
break;
}
}
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