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Param server moved to header

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This commit is contained in:
Pavel Kirienko
2015-05-09 12:37:16 +03:00
parent 106cb94379
commit 15fa5ad163
2 changed files with 85 additions and 99 deletions
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libuavcan/include/uavcan/protocol/param_server.hpp
+85 -4
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@@ -5,10 +5,13 @@
#ifndef UAVCAN_PROTOCOL_PARAM_SERVER_HPP_INCLUDED
#define UAVCAN_PROTOCOL_PARAM_SERVER_HPP_INCLUDED
#include <uavcan/debug.hpp>
#include <uavcan/protocol/param/GetSet.hpp>
#include <uavcan/protocol/param/ExecuteOpcode.hpp>
#include <uavcan/node/service_server.hpp>
#include <uavcan/util/method_binder.hpp>
#include <cassert>
#include <cstdlib>
namespace uavcan
{
@@ -101,10 +104,65 @@ class UAVCAN_EXPORT ParamServer
ServiceServer<protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> save_erase_srv_;
IParamManager* manager_;
void handleGetSet(const protocol::param::GetSet::Request& request, protocol::param::GetSet::Response& response);
void handleGetSet(const protocol::param::GetSet::Request& in, protocol::param::GetSet::Response& out)
{
UAVCAN_ASSERT(manager_ != NULL);
void handleExecuteOpcode(const protocol::param::ExecuteOpcode::Request& request,
protocol::param::ExecuteOpcode::Response& response);
// Recover the name from index
if (in.name.empty())
{
manager_->getParamNameByIndex(in.index, out.name);
UAVCAN_TRACE("ParamServer", "GetSet: Index %i --> '%s'", int(in.index), out.name.c_str());
}
else
{
out.name = in.name;
}
if (out.name.empty())
{
UAVCAN_TRACE("ParamServer", "GetSet: Can't resolve parameter name, index=%i", int(in.index));
return;
}
// Assign if needed, read back
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::isValueEmpty(out.value))
{
manager_->readParamDefaultMaxMin(out.name, out.default_value, out.max_value, out.min_value);
}
else
{
UAVCAN_TRACE("ParamServer", "GetSet: Unknown param: index=%i name='%s'", int(in.index), out.name.c_str());
out.name.clear();
}
}
void handleExecuteOpcode(const protocol::param::ExecuteOpcode::Request& in,
protocol::param::ExecuteOpcode::Response& out)
{
UAVCAN_ASSERT(manager_ != NULL);
if (in.opcode == protocol::param::ExecuteOpcode::Request::OPCODE_SAVE)
{
out.ok = manager_->saveAllParams() >= 0;
}
else if (in.opcode == protocol::param::ExecuteOpcode::Request::OPCODE_ERASE)
{
out.ok = manager_->eraseAllParams() >= 0;
}
else
{
UAVCAN_TRACE("ParamServer", "ExecuteOpcode: invalid opcode %i", int(in.opcode));
out.ok = false;
}
}
public:
explicit ParamServer(INode& node)
@@ -117,8 +175,31 @@ public:
* Starts the parameter server with given param manager instance.
* Returns negative error code.
*/
int start(IParamManager* manager);
int start(IParamManager* manager)
{
if (manager == NULL)
{
return -ErrInvalidParam;
}
manager_ = manager;
int res = get_set_srv_.start(GetSetCallback(this, &ParamServer::handleGetSet));
if (res < 0)
{
return res;
}
res = save_erase_srv_.start(ExecuteOpcodeCallback(this, &ParamServer::handleExecuteOpcode));
if (res < 0)
{
get_set_srv_.stop();
}
return res;
}
/**
* @ref IParamManager
*/
IParamManager* getParamManager() const { return manager_; }
};
libuavcan/src/protocol/uc_param_server.cpp
-95
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@@ -1,95 +0,0 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <uavcan/protocol/param_server.hpp>
#include <uavcan/debug.hpp>
#include <cassert>
#include <cstdlib>
namespace uavcan
{
void ParamServer::handleGetSet(const protocol::param::GetSet::Request& in, protocol::param::GetSet::Response& out)
{
UAVCAN_ASSERT(manager_ != NULL);
// Recover the name from index
if (in.name.empty())
{
manager_->getParamNameByIndex(in.index, out.name);
UAVCAN_TRACE("ParamServer", "GetSet: Index %i --> '%s'", int(in.index), out.name.c_str());
}
else
{
out.name = in.name;
}
if (out.name.empty())
{
UAVCAN_TRACE("ParamServer", "GetSet: Can't resolve parameter name, index=%i", int(in.index));
return;
}
// Assign if needed, read back
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::isValueEmpty(out.value))
{
manager_->readParamDefaultMaxMin(out.name, out.default_value, out.max_value, out.min_value);
}
else
{
UAVCAN_TRACE("ParamServer", "GetSet: Unknown param: index=%i name='%s'", int(in.index), out.name.c_str());
out.name.clear();
}
}
void ParamServer::handleExecuteOpcode(const protocol::param::ExecuteOpcode::Request& in,
protocol::param::ExecuteOpcode::Response& out)
{
UAVCAN_ASSERT(manager_ != NULL);
if (in.opcode == protocol::param::ExecuteOpcode::Request::OPCODE_SAVE)
{
out.ok = manager_->saveAllParams() >= 0;
}
else if (in.opcode == protocol::param::ExecuteOpcode::Request::OPCODE_ERASE)
{
out.ok = manager_->eraseAllParams() >= 0;
}
else
{
UAVCAN_TRACE("ParamServer", "ExecuteOpcode: invalid opcode %i", int(in.opcode));
out.ok = false;
}
}
int ParamServer::start(IParamManager* manager)
{
if (manager == NULL)
{
return -ErrInvalidParam;
}
manager_ = manager;
int res = get_set_srv_.start(GetSetCallback(this, &ParamServer::handleGetSet));
if (res < 0)
{
return res;
}
res = save_erase_srv_.start(ExecuteOpcodeCallback(this, &ParamServer::handleExecuteOpcode));
if (res < 0)
{
get_set_srv_.stop();
}
return res;
}
}