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param subsystem: Only send the instantiated parameters via telemetry

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Lorenz Meier
2015-03-21 22:01:28 +01:00
parent 23655675d3
commit fe12bffefa
4 changed files with 75 additions and 9 deletions
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64
src/modules/systemlib/param/param.c
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@@ -91,6 +91,9 @@ struct param_wbuf_s {
bool unsaved;
};
// XXX this should be param_info_count, but need to work out linking
uint8_t param_changed_storage[(600 / sizeof(uint8_t)) + 1] = {};
/** flexible array holding modified parameter values */
UT_array *param_values;
@@ -103,6 +106,12 @@ ORB_DEFINE(parameter_update, struct parameter_update_s);
/** parameter update topic handle */
static orb_advert_t param_topic = -1;
static bool param_used_internal(param_t param);
static void param_set_used_internal(param_t param);
static param_t param_find_internal(const char *name, bool notification);
/** lock the parameter store */
static void
param_lock(void)
@@ -205,20 +214,36 @@ param_notify_changes(void)
}
param_t
param_find(const char *name)
param_find_internal(const char *name, bool notification)
{
param_t param;
/* perform a linear search of the known parameters */
for (param = 0; handle_in_range(param); param++) {
if (!strcmp(param_info_base[param].name, name))
if (!strcmp(param_info_base[param].name, name)) {
if (notification) {
param_set_used_internal(param);
}
return param;
}
}
/* not found */
return PARAM_INVALID;
}
param_t
param_find(const char *name)
{
return param_find_internal(name, true);
}
param_t
param_find_no_notification(const char *name)
{
return param_find_internal(name, false);
}
unsigned
param_count(void)
{
@@ -430,6 +455,8 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
}
out:
param_set_used_internal(param);
param_unlock();
/*
@@ -454,6 +481,28 @@ param_set_no_notification(param_t param, const void *val)
return param_set_internal(param, val, false, false);
}
bool param_used_internal(param_t param)
{
int param_index = param_get_index(param);
if (param_index < 0) {
return false;
}
unsigned bitindex = param_index - (param_index / sizeof(param_changed_storage[0]));
return param_changed_storage[param_index / sizeof(param_changed_storage[0])] & (1 << bitindex);
}
void param_set_used_internal(param_t param)
{
int param_index = param_get_index(param);
if (param_index < 0) {
return;
}
unsigned bitindex = param_index - (param_index / sizeof(param_changed_storage[0]));
param_changed_storage[param_index / sizeof(param_changed_storage[0])] |= (1 << bitindex);
}
int
param_reset(param_t param)
{
@@ -717,7 +766,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
* Find the parameter this node represents. If we don't know it,
* ignore the node.
*/
param_t param = param_find(node->name);
param_t param = param_find_no_notification(node->name);
if (param == PARAM_INVALID) {
debug("ignoring unrecognised parameter '%s'", node->name);
@@ -843,15 +892,20 @@ param_load(int fd)
}
void
param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed)
param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed, bool only_used)
{
param_t param;
for (param = 0; handle_in_range(param); param++) {
/* if requested, skip unchanged values */
if (only_changed && (param_find_changed(param) == NULL))
if (only_changed && (param_find_changed(param) == NULL)) {
continue;
}
if (only_used && !param_used_internal(param)) {
continue;
}
func(arg, param);
}