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Make the distinction between "parameter import" which merges parameters, and "parameter load" which blows away any current changes.

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This commit is contained in:
px4dev
2012-08-28 22:15:25 -07:00
parent f0286d1a10
commit 1a781c6c4a
3 changed files with 97 additions and 17 deletions
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apps/systemlib/param/param.c
+64 -14
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@@ -178,6 +178,22 @@ param_find_changed(param_t param) {
return s;
}
static void
param_notify_changes(void)
{
struct parameter_update_s pup = { .timestamp = hrt_absolute_time() };
/*
* If we don't have a handle to our topic, create one now; otherwise
* just publish.
*/
if (param_topic == -1) {
param_topic = orb_advertise(ORB_ID(parameter_update), &pup);
} else {
orb_publish(ORB_ID(parameter_update), param_topic, &pup);
}
}
param_t
param_find(const char *name)
{
@@ -390,24 +406,50 @@ out:
* If we set something, now that we have unlocked, go ahead and advertise that
* a thing has been set.
*/
if (params_changed) {
struct parameter_update_s pup = { .timestamp = hrt_absolute_time() };
/*
* If we don't have a handle to our topic, create one now; otherwise
* just publish.
*/
if (param_topic == -1) {
param_topic = orb_advertise(ORB_ID(parameter_update), &pup);
} else {
orb_publish(ORB_ID(parameter_update), param_topic, &pup);
}
}
if (params_changed)
param_notify_changes();
return result;
}
void
param_reset(param_t param)
{
struct param_wbuf_s *s = NULL;
param_lock();
if (handle_in_range(param)) {
/* look for a saved value */
s = param_find_changed(param);
/* if we found one, erase it */
if (s != NULL) {
int pos = utarry_eltidx(param_values, s);
utarray_erase(param_values, pos, 1);
}
}
param_unlock();
if (s != NULL)
param_notify_changes();
}
void
param_reset_all(void)
{
param_lock();
if (param_values != NULL) {
utarray_free(param_values);
}
param_unlock();
param_notify_changes();
}
int
param_export(int fd, bool only_unsaved)
{
@@ -619,9 +661,17 @@ param_import(int fd)
out:
if (result < 0)
debug("BSON error decoding parameters");
return result;
}
int
param_load(int fd)
{
param_reset_all();
return param_import(fd);
}
void
param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed)
{