Parameter server

2026-10-17 15:53:33 +08:00 · 2014-03-25 19:16:56 +04:00
parent 7ff5630eaa
commit 0da3a93ec9
6 changed files with 399 additions and 0 deletions
@@ -0,0 +1,97 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/protocol/param/GetSet.hpp>
+#include <uavcan/protocol/param/SaveErase.hpp>
+#include <uavcan/node/service_server.hpp>
+#include <uavcan/util/method_binder.hpp>
+
+namespace uavcan
+{
+
+class 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;
+
+    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;
+
+    /**
+     * Assign by name if exists.
+     */
+    virtual void assignParamValue(const ParamName& name, const ParamValue& value) = 0;
+
+    /**
+     * Read by name if exists, otherwise do nothing.
+     */
+    virtual void readParamValue(const ParamName& name, ParamValue& out_value) const = 0;
+
+    /**
+     * Read param's default/max/min if available.
+     * Implementation is optional.
+     */
+    virtual void readParamDefaultMaxMin(const ParamName& name, ParamValue& out_default,
+                                        ParamValue& out_max, ParamValue& out_min) const
+    {
+        (void)name;
+        (void)out_default;
+        (void)out_max;
+        (void)out_min;
+    }
+
+    /**
+     * Save all params to non-volatile storage.
+     * @return Negative if failed.
+     */
+    virtual int saveAllParams() = 0;
+
+    /**
+     * Clear the non-volatile storage.
+     * @return Negative if failed.
+     */
+    virtual int eraseAllParams() = 0;
+};
+
+
+class ParamServer
+{
+    typedef MethodBinder<ParamServer*, void (ParamServer::*)(const protocol::param::GetSet::Request&,
+                                                             protocol::param::GetSet::Response&)> GetSetCallback;
+
+    typedef MethodBinder<ParamServer*, void (ParamServer::*)(const protocol::param::SaveErase::Request&,
+                                                             protocol::param::SaveErase::Response&)> SaveEraseCallback;
+
+    ServiceServer<protocol::param::GetSet, GetSetCallback> get_set_srv_;
+    ServiceServer<protocol::param::SaveErase, SaveEraseCallback> save_erase_srv_;
+    IParamManager* manager_;
+
+    static bool isValueNonEmpty(const protocol::param::Value& value);
+
+    void handleGetSet(const protocol::param::GetSet::Request& request, protocol::param::GetSet::Response& response);
+
+    void handleSaveErase(const protocol::param::SaveErase::Request& request,
+                         protocol::param::SaveErase::Response& response);
+
+public:
+    ParamServer(INode& node)
+        : get_set_srv_(node)
+        , save_erase_srv_(node)
+        , manager_(NULL)
+    { }
+
+    int start(IParamManager* manager);
+
+    IParamManager* getParamManager() const { return manager_; }
+};
+
+}