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#ifndef PARAMHANDLER_H
#define PARAMHANDLER_H
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <uORB/uORB.h>
#include <uORB/topics/set_drone_parameter.h>
#include <uORB/topics/get_drone_parameter.h>
#include <uORB/topics/pass_drone_parameter.h>
#include <uORB/topics/vehicle_command.h>
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>
#include "common.h"
#include "paramlist.h"
#define PARAM_REQUEST_DELAY 100
enum param_type {
PTYPE_INT = 6,
PTYPE_FLOAT = 9,
};
typedef struct {
const char *name;
float value;
float editing_value;
float mul;
enum param_type type;
float min;
float max;
float step;
const char *display_name;
} ad_param_t;
class cParamHandler
{
public:
cParamHandler(void);
~cParamHandler(void);
bool init(void);
void setupSave(orb_advert_t *orb_cmd, int32_t system_id, int32_t component_id);
void loadCycle(void);
float get(int id);
bool request(enum param_id id);
bool send(ad_param_t *param, bool upload = false);
bool send(enum param_id id, float new_value, bool upload = false);
bool sendCustomParam(const char *name, enum param_type type, float new_value, bool upload);
//Menu controls
inline bool allParamsAreLoaded(void) { return loaded_count == PARAM_COUNT; }
inline int getParamCount(void) { return PARAM_COUNT; }
void incParam(int param_id);
void decParam(int param_id);
bool setParam(int param_id);
void resetParam(int param_id);
inline const char *getDisplaySymbols(int param_id) { return paramTable[param_id].display_name; }
inline float getEditingValue(int param_id) { return paramTable[param_id].editing_value; }
inline enum param_type getEditingType(int param_id) { return paramTable[param_id].type; }
bool uploadAllParams(void);
private:
float convertValue(float value, enum param_type type);
struct get_drone_param_s get_param_s;
struct set_drone_param_s set_param_s;
struct vehicle_command_s save_cmd;
orb_advert_t *m_orb_cmd;
orb_advert_t m_orb_set_param;
orb_advert_t m_orb_get_param;
int passed_param_sub;
const int target_system;
const int target_component;
bool is_requested;
uint64_t request_time;
int load_request_fail_count;
int max_load_request_fail_count;
float load_update_timeout;
int load_update_fail_count;
int max_load_update_fail_count;
int loaded_count;
bool upload_requred;
#define X(n, id, cv, ev, mul, type, min, max, step, dsym) { #id, cv, ev, mul, type, min, max, step, dsym },
ad_param_t paramTable[PARAM_COUNT] = { PARAM_LIST };
#undef X
};
#undef PARAM_LIST //after paramlist.h
#endif // PARAMHANDLER_H
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