src/lib/paramters: Add a new interface library for protected build user side

Implement an interface for protected build to access parameters.

The implementation only does IOCTL calls to the kernel, where the parameters
live.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

src/lib/parameters/usr_parameters_if.cpp

@@ -0,0 +1,220 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usr_parameters_if.cpp
+ *
+ * Protected build user space interface to global parameter store.
+ */
+#define PARAM_IMPLEMENTATION
+#include "param.h"
+#include "parameters_ioctl.h"
+#include <parameters/px4_parameters.hpp>
+#include <sys/boardctl.h>
+#include <px4_platform_common/defines.h>
+
+#include "parameters_common.cpp"
+
+void
+param_notify_changes()
+{
+	boardctl(PARAMIOCNOTIFY, NULL);
+}
+
+param_t param_find(const char *name)
+{
+	paramiocfind_t data = {name, true, PARAM_INVALID};
+	boardctl(PARAMIOCFIND, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+param_t param_find_no_notification(const char *name)
+{
+	paramiocfind_t data = {name, false, PARAM_INVALID};
+	boardctl(PARAMIOCFIND, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+unsigned param_count_used()
+{
+	paramioccountused_t data = {0};
+	boardctl(PARAMIOCCOUNTUSED, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+param_t param_for_used_index(unsigned index)
+{
+	paramiocforusedindex_t data = {index, 0};
+	boardctl(PARAMIOCFORUSEDINDEX, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int param_get_used_index(param_t param)
+{
+	paramiocgetusedindex_t data = {param, 0};
+	boardctl(PARAMIOCGETUSEDINDEX, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+bool
+param_value_unsaved(param_t param)
+{
+	paramiocunsaved_t data = {param, false};
+	boardctl(PARAMIOCUNSAVED, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int
+param_get(param_t param, void *val)
+{
+	paramiocget_t data = {param, false, val, PX4_ERROR};
+	boardctl(PARAMIOCGET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int
+param_get_default_value(param_t param, void *default_val)
+{
+	paramiocget_t data = {param, true, default_val, PX4_ERROR};
+	boardctl(PARAMIOCGET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+void
+param_control_autosave(bool enable)
+{
+	paramiocautosave_t data = {enable};
+	boardctl(PARAMIOCAUTOSAVE, reinterpret_cast<unsigned long>(&data));
+}
+
+int param_set(param_t param, const void *val)
+{
+	paramiocset_t data = {param, true, val, PX4_ERROR};
+	boardctl(PARAMIOCSET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int param_set_no_notification(param_t param, const void *val)
+{
+	paramiocset_t data = {param, false, val, PX4_ERROR};
+	boardctl(PARAMIOCSET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+bool param_used(param_t param)
+{
+	paramiocused_t data = {param, false};
+	boardctl(PARAMIOCUSED, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+void param_set_used(param_t param)
+{
+	paramiocsetused_t data = {param};
+	boardctl(PARAMIOCSETUSED, reinterpret_cast<unsigned long>(&data));
+}
+
+int param_set_default_value(param_t param, const void *val)
+{
+	paramiocsetdefault_t data = {param, val, PX4_ERROR};
+	boardctl(PARAMIOCSETDEFAULT, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int param_reset(param_t param)
+{
+	paramiocreset_t data = {param, true, PX4_ERROR};
+	boardctl(PARAMIOCRESET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int param_reset_no_notification(param_t param)
+{
+	paramiocreset_t data = {param, false, PX4_ERROR};
+	boardctl(PARAMIOCRESET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+void
+param_reset_all()
+{
+	paramiocresetgroup_t data = {PARAM_RESET_ALL, nullptr, 0};
+	boardctl(PARAMIOCRESETGROUP, reinterpret_cast<unsigned long>(&data));
+}
+
+void
+param_reset_excludes(const char *excludes[], int num_excludes)
+{
+	paramiocresetgroup_t data = {PARAM_RESET_EXCLUDES, excludes, num_excludes};
+	boardctl(PARAMIOCRESETGROUP, reinterpret_cast<unsigned long>(&data));
+}
+
+void
+param_reset_specific(const char *resets[], int num_resets)
+{
+	paramiocresetgroup_t data = {PARAM_RESET_SPECIFIC, resets, num_resets};
+	boardctl(PARAMIOCRESETGROUP, reinterpret_cast<unsigned long>(&data));
+}
+
+int param_save_default()
+{
+	paramiocsavedefault_t data = {PX4_ERROR};
+	boardctl(PARAMIOCSAVEDEFAULT, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int
+param_load_default()
+{
+	paramiocloaddefault_t data = {PX4_ERROR};
+	boardctl(PARAMIOCLOADDEFAULT, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int
+param_export(const char *filename, param_filter_func filter)
+{
+	paramiocexport_t data = {filename, PX4_ERROR};
+
+	if (filter) { PX4_ERR("ERROR: filter not supported in userside blob"); }
+
+	boardctl(PARAMIOCEXPORT, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+uint32_t param_hash_check()
+{
+	paramiochash_t data = {0};
+	boardctl(PARAMIOCHASH, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}