protocol.param.GetSet update - min/max only for numeric types, longer string value

dsdl/uavcan/protocol/param/599.GetSet.uavcan

@@ -25,9 +25,10 @@ uint8[<=92] name
 # Empty value indicates that there is no such parameter.
 Value value
 
-Value default_value  # Optional
-Value max_value      # Optional
-Value min_value      # Optional
+Value default_value    # Optional
+
+NumericValue max_value # Optional, not applicable for bool/string
+NumericValue min_value # Optional, not applicable for bool/string
 
 # Empty name in response indicates that there is no such parameter
 uint8[<=92] name

dsdl/uavcan/protocol/param/NumericValue.uavcan

@@ -0,0 +1,8 @@
+#
+# Numeric-only value.
+# The actual type should be inferred from the available values, as described below.
+# If none of the values below are present, the value is considered empty.
+#
+
+int64[<=1] value_int            # Preferred over float if ambiguous
+float32[<=1] value_float        # Only if int is empty

dsdl/uavcan/protocol/param/String.uavcan

@@ -2,4 +2,4 @@
 # This type is nested in Value.
 #
 
-uint8[<64] value
+uint8[<=127] value

dsdl/uavcan/protocol/param/Value.uavcan

@@ -7,4 +7,4 @@
 bool[<=1] value_bool            # Preferred over int, float and string if ambiguous
 int64[<=1] value_int            # Preferred over float and string if ambiguous
 float32[<=1] value_float        # Preferred over string if ambiguous
-ValueString[<=1] value_string   # This one will be used only if all above are empty
+String[<=1] value_string        # This one will be used only if all above are empty

libuavcan/include/uavcan/protocol/param_server.hpp

@@ -19,33 +19,35 @@ namespace uavcan
 class UAVCAN_EXPORT IParamManager
 {
 public:
-    typedef typename StorageType<typename protocol::param::GetSet::Response::FieldTypes::name>::Type ParamName;
-    typedef typename StorageType<typename protocol::param::GetSet::Request::FieldTypes::index>::Type ParamIndex;
-    typedef protocol::param::Value ParamValue;
+    typedef typename StorageType<typename protocol::param::GetSet::Response::FieldTypes::name>::Type Name;
+    typedef typename StorageType<typename protocol::param::GetSet::Request::FieldTypes::index>::Type Index;
+    typedef protocol::param::Value Value;
+    typedef protocol::param::NumericValue NumericValue;
 
     virtual ~IParamManager() { }
 
     /**
      * Copy the parameter name to @ref out_name if it exists, otherwise do nothing.
      */
-    virtual void getParamNameByIndex(ParamIndex index, ParamName& out_name) const = 0;
+    virtual void getParamNameByIndex(Index index, Name& out_name) const = 0;
 
     /**
      * Assign by name if exists.
      */
-    virtual void assignParamValue(const ParamName& name, const ParamValue& value) = 0;
+    virtual void assignParamValue(const Name& name, const Value& value) = 0;
 
     /**
      * Read by name if exists, otherwise do nothing.
      */
-    virtual void readParamValue(const ParamName& name, ParamValue& out_value) const = 0;
+    virtual void readParamValue(const Name& name, Value& out_value) const = 0;
 
     /**
      * Read param's default/max/min if available.
+     * Note that min/max are only applicable to numeric params.
      * Implementation is optional.
      */
-    virtual void readParamDefaultMaxMin(const ParamName& name, ParamValue& out_default,
-                                        ParamValue& out_max, ParamValue& out_min) const
+    virtual void readParamDefaultMaxMin(const Name& name, Value& out_default,
+                                        NumericValue& out_max, NumericValue& out_min) const
     {
         (void)name;
         (void)out_default;
@@ -66,15 +68,20 @@ public:
     virtual int eraseAllParams() = 0;
 
     /**
-     * Convenience method that can be used to check if a param value is empty.
+     * Convenience methods that can be used to check if a param value is empty.
      */
-    static bool isParamValueEmpty(const ParamValue& val)
+    static bool isValueEmpty(const Value& val)
     {
         return val.value_bool.empty() &&
                val.value_int.empty() &&
                val.value_float.empty() &&
                val.value_string.empty();
     }
+    static bool isValueEmpty(const NumericValue& val)
+    {
+        return val.value_int.empty() &&
+               val.value_float.empty();
+    }
 };
 
 /**

libuavcan/src/protocol/uc_param_server.cpp

@@ -32,14 +32,14 @@ void ParamServer::handleGetSet(const protocol::param::GetSet::Request& in, proto
     }
 
     // Assign if needed, read back
-    if (!IParamManager::isParamValueEmpty(in.value))
+    if (!IParamManager::isValueEmpty(in.value))
     {
         manager_->assignParamValue(out.name, in.value);
     }
     manager_->readParamValue(out.name, out.value);
 
     // Check if the value is OK, otherwise reset the name to indicate that we have no idea what is it all about
-    if (!IParamManager::isParamValueEmpty(out.value))
+    if (!IParamManager::isValueEmpty(out.value))
     {
         manager_->readParamDefaultMaxMin(out.name, out.default_value, out.max_value, out.min_value);
     }

libuavcan/test/protocol/param_server.cpp

@@ -12,9 +12,9 @@ struct ParamServerTestManager : public uavcan::IParamManager
     typedef std::map<std::string, double> KeyValue;
     KeyValue kv;
 
-    virtual void getParamNameByIndex(ParamIndex index, ParamName& out_name) const
+    virtual void getParamNameByIndex(Index index, Name& out_name) const
     {
-        ParamIndex current_idx = 0;
+        Index current_idx = 0;
         for (KeyValue::const_iterator it = kv.begin(); it != kv.end(); ++it, ++current_idx)
         {
             if (current_idx == index)
@@ -25,7 +25,7 @@ struct ParamServerTestManager : public uavcan::IParamManager
         }
     }
 
-    virtual void assignParamValue(const ParamName& name, const ParamValue& value)
+    virtual void assignParamValue(const Name& name, const Value& value)
     {
         assert(!name.empty());
         std::cout << "ASSIGN [" << name.c_str() << "]\n" << value << "\n---" << std::endl;
@@ -55,7 +55,7 @@ struct ParamServerTestManager : public uavcan::IParamManager
         }
     }
 
-    virtual void readParamValue(const ParamName& name, ParamValue& out_value) const
+    virtual void readParamValue(const Name& name, Value& out_value) const
     {
         assert(!name.empty());
         KeyValue::const_iterator it = kv.find(name.c_str());
@@ -158,7 +158,7 @@ TEST(ParamServer, Basic)
     get_set_rq = uavcan::protocol::param::GetSet::Request();
     get_set_rq.index = 0;
     {
-        uavcan::protocol::param::ValueString str;
+        uavcan::protocol::param::String str;
         str.value = "424242";
         get_set_rq.value.value_string.push_back(str);
     }

libuavcan_drivers/linux/apps/uavcan_nodetool.cpp

@@ -90,11 +90,27 @@ std::string paramValueToString(const uavcan::protocol::param::Value& value)
     }
     else if (!value.value_string.empty())
     {
-        return std::string(value.value_string[0].value.c_str());
+        return std::string(value.value_string[0].value.c_str()) + " ";
     }
     else
     {
-        return "?";
+        return "";
+    }
+}
+
+std::string paramValueToString(const uavcan::protocol::param::NumericValue& value)
+{
+    if (!value.value_int.empty())
+    {
+        return std::to_string(value.value_int[0]);
+    }
+    else if (!value.value_float.empty())
+    {
+        return std::to_string(value.value_float[0]);
+    }
+    else
+    {
+        return "";
     }
 }