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Add support for setting and exporting parameters.

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This commit is contained in:
px4dev
2012-08-19 01:30:55 -07:00
parent a9dc84231e
commit d903311dce
4 changed files with 322 additions and 34 deletions
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263
apps/systemlib/param/param.c
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@@ -6,10 +6,13 @@
#include <string.h>
#include <stdbool.h>
#include <fcntl.h>
#include <unistd.h>
#include <err.h>
#include "param.h"
#include "systemlib/param/param.h"
#include "systemlib/uthash/utarray.h"
#include "systemlib/bson/bson.h"
/**
* Array of static parameter info.
@@ -19,12 +22,78 @@ static const struct param_info_s *param_info_base = (struct param_info_s *)&__pa
static const struct param_info_s *param_info_limit = (struct param_info_s *)&__param_end;
#define param_info_count ((unsigned)(param_info_limit - param_info_base))
/**
* Storage for modified parameters.
*/
struct param_wbuf_s
{
param_t param;
union param_value_u val;
bool unsaved;
};
UT_icd param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
UT_array *param_values;
static void
param_lock(void)
{
/* XXX */
}
static void
param_unlock(void)
{
/* XXX */
}
static void
param_assert_locked(void)
{
/* XXX */
}
static bool
handle_in_range(param_t handle)
{
return (handle < param_info_count);
}
static int
param_compare_values(const void *a, const void *b)
{
struct param_wbuf_s *pa = (struct param_wbuf_s *)a;
struct param_wbuf_s *pb = (struct param_wbuf_s *)b;
if (pa->param < pb->param)
return -1;
if (pa->param > pb->param)
return 1;
return 0;
}
static struct param_wbuf_s *
param_find_changed(param_t param)
{
struct param_wbuf_s *s = NULL;
param_assert_locked();
if (param_values != NULL) {
#if 0 /* utarray_find requires bsearch, not available */
struct param_wbuf_s key;
key.param = param;
s = utarray_find(param_values, &key, param_compare_values);
#else
while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
if (s->param == param)
break;
}
#endif
}
return s;
}
param_t
param_find(const char *name)
{
@@ -39,8 +108,17 @@ param_find(const char *name)
return PARAM_INVALID;
}
enum
param_type_e param_type(param_t param)
const char *
param_name(param_t param)
{
if (handle_in_range(param))
return param_info_base[param].name;
return NULL;
}
enum param_type_e
param_type(param_t param)
{
if (handle_in_range(param))
return param_info_base[param].type;
@@ -51,7 +129,6 @@ param_type_e param_type(param_t param)
size_t
param_size(param_t param)
{
if (handle_in_range(param)) {
switch (param_info_base[param].type) {
case PARAM_TYPE_INT32:
@@ -72,39 +149,193 @@ param_size(param_t param)
int
param_get(param_t param, void *val)
{
int result = -1;
param_lock();
if (handle_in_range(param)) {
struct param_wbuf_s *s = param_find_changed(param);
const union param_value_u *v;
/* work out whether we're fetching the default or a written value */
if (s != NULL) {
v = &s->val;
} else {
v = &param_info_base[param].val;
}
/* XXX look for updated value stored elsewhere */
switch (param_info_base[param].type) {
case PARAM_TYPE_INT32:
*(int32_t *)val = param_info_base[param].i;
return 0;
*(int32_t *)val = v->i;
result = 0;
break;
case PARAM_TYPE_FLOAT:
*(float *)val = param_info_base[param].f;
return 0;
*(float *)val = v->f;
result = 0;
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
memcpy(val, param_info_base[param].p, param_size(param));
return 0;
*(void **)val = v->p;
result = 0;
break;
default:
return -1;
break;
}
}
return -1;
param_unlock();
return result;
}
int
param_set(param_t param, void *val)
{
int result = -1;
param_lock();
if (param_values == NULL)
utarray_new(param_values, &param_icd);
if (param_values == NULL)
goto out;
if (handle_in_range(param)) {
/* XXX maintain list of changed values */
struct param_wbuf_s *s = param_find_changed(param);
if (s == NULL) {
/* construct a new parameter */
struct param_wbuf_s buf = { .param = param };
/* add it to the array and sort */
utarray_push_back(param_values, &buf);
utarray_sort(param_values, param_compare_values);
/* find it after sorting */
s = param_find_changed(param);
}
/* update the changed value */
switch (param_info_base[param].type) {
case PARAM_TYPE_INT32:
s->val.i = *(int32_t *)val;
break;
case PARAM_TYPE_FLOAT:
s->val.f = *(float *)val;
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
s->val.p = *(void **)val;
break;
default:
goto out;
}
s->unsaved = true;
result = 0;
}
return -1;
out:
param_unlock();
return result;
}
int
param_export(const char *filename, bool only_unsaved)
{
struct param_wbuf_s *s;
bson b[1];
int result = -1;
param_lock();
bson_init(b);
while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
const struct param_info_s *is = &param_info_base[s->param];
/*
* if we are only saving values changed since last save, and this
* one hasn't, then skip it
*/
if (only_unsaved & !s->unsaved)
continue;
s->unsaved = false;
switch (is->type) {
case PARAM_TYPE_INT32:
if (bson_append_int(b, is->name, s->val.i) != BSON_OK)
goto out;
break;
case PARAM_TYPE_FLOAT:
if (bson_append_double(b, is->name, s->val.f) != BSON_OK)
goto out;
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
if (bson_append_binary(b,
is->name,
is->type,
is->val.p,
is->type - PARAM_TYPE_STRUCT) != BSON_OK)
goto out;
break;
default:
goto out;
}
}
result = 0;
out:
param_unlock();
if (result == 0) {
bson_finish(b);
bson_print(b);
warnx("object is %d bytes", bson_buffer_size(b));
if (filename != NULL) {
int fd = open(filename, O_CREAT | O_WRONLY | O_TRUNC, 0666);
int siz = bson_buffer_size(b);
int len = write(fd, bson_data(b), siz);
close(fd);
if (len != siz)
result = -1;
}
}
bson_destroy(b);
return result;
}
int
param_import(const char *filename)
{
return -1;
}
void
param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed)
{
param_t param;
for (param = 0; handle_in_range(param); param++) {
/* if requested, skip unchanged values */
if (only_changed && (param_find_changed(param) == NULL))
continue;
func(arg, param);
}
}