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New param hashing spec

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- When listing all params, lead with _HASH_CHECK value for cache load
 - When set value on _HASH_CHECK is rx'd, stop any ongoing listing req
This commit is contained in:
Nate Weibley 2016-02-15 18:07:37 -05:00 committed by Lorenz Meier
parent 854660bd36
commit 0419a99f00
3 changed files with 43 additions and 4 deletions
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40
src/modules/mavlink/mavlink_parameters.cpp
View File

@ -78,7 +78,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
if (req_list.target_system == mavlink_system.sysid &&
(req_list.target_component == mavlink_system.compid || req_list.target_component == MAV_COMP_ID_ALL)) {
_send_all_index = 0;
_send_all_index = PARAM_HASH;
}
if (req_list.target_system == mavlink_system.sysid && req_list.target_component < 127 &&
@ -111,6 +111,17 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
strncpy(name, set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
/* Whatever the value is, we're being told to stop sending */
if (strncmp(name, "_HASH_CHECK", sizeof(name)) == 0) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] hash load stopped param listing");
_mavlink->send_statustext_info(buf);
_send_all_index = -1;
/* No other action taken, return */
return;
}
/* attempt to find parameter, set and send it */
param_t param = param_find_no_notification(name);
@ -164,6 +175,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
/* when no index is given, loop through string ids and compare them */
if (req_read.param_index < 0) {
/* XXX: I left this in so older versions of QGC wouldn't break */
if (strncmp(req_read.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN) == 0) {
/* return hash check for cached params */
uint32_t hash = param_hash_check();
@ -185,7 +197,6 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
/* attempt to find parameter and send it */
send_param(param_find_no_notification(name));
}
} else {
/* when index is >= 0, send this parameter again */
int ret = send_param(param_for_used_index(req_read.param_index));
@ -301,6 +312,29 @@ MavlinkParametersManager::send(const hrt_abstime t)
return;
}
/* The first thing we send is a hash of all values for the ground
* station to try and quickly load a cached copy of our params
*/
if (_send_all_index == PARAM_HASH) {
/* return hash check for cached params */
uint32_t hash = param_hash_check();
/* build the one-off response message */
mavlink_param_value_t msg;
msg.param_count = param_count_used();
msg.param_index = -1;
strncpy(msg.param_id, HASH_PARAM, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
msg.param_type = MAV_PARAM_TYPE_UINT32;
memcpy(&msg.param_value, &hash, sizeof(hash));
_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
/* after this we should start sending all params */
_send_all_index = 0;
/* No further action, return now */
return;
}
/* look for the first parameter which is used */
param_t p;
do {
@ -316,7 +350,7 @@ MavlinkParametersManager::send(const hrt_abstime t)
if ((p == PARAM_INVALID) || (_send_all_index >= (int) param_count())) {
_send_all_index = -1;
}
} else if (_send_all_index == 0 && hrt_absolute_time() > 20 * 1000 * 1000) {
} else if (_send_all_index == PARAM_HASH && hrt_absolute_time() > 20 * 1000 * 1000) {
/* the boot did not seem to ever complete, warn user and set boot complete */
_mavlink->send_statustext_critical("WARNING: SYSTEM BOOT INCOMPLETE. CHECK CONFIG.");
_mavlink->set_boot_complete();

2
src/modules/systemlib/param/param.c
View File

@ -1121,7 +1121,7 @@ uint32_t param_hash_check(void)
const char *name = param_name(param);
const void *val = param_get_value_ptr(param);
param_hash = crc32part((const uint8_t *)name, strlen(name), param_hash);
param_hash = crc32part(val, sizeof(union param_value_u), param_hash);
param_hash = crc32part(val, param_size(param), param_hash);
}
param_unlock();

5
src/modules/systemlib/param/param.h
View File

@ -82,6 +82,11 @@ typedef uintptr_t param_t;
*/
#define PARAM_INVALID ((uintptr_t)0xffffffff)
/**
* Magic handle for hash check param
*/
#define PARAM_HASH ((uintptr_t)INT32_MAX)
/**
* Look up a parameter by name.
*