From 3b7669219e91cc9d19c5edcb12f0bcb17416e149 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 19 Mar 2015 00:19:40 +0300
Subject: [PATCH] Basic support for string parameters

---
 libuavcan/include/uavcan/protocol/param_server.hpp |  2 +-
 libuavcan/src/protocol/uc_param_server.cpp         |  7 +++++--
 libuavcan/test/protocol/param_server.cpp           | 10 +++++++++-
 libuavcan_drivers/linux/apps/uavcan_nodetool.cpp   |  5 +++++
 4 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/libuavcan/include/uavcan/protocol/param_server.hpp b/libuavcan/include/uavcan/protocol/param_server.hpp
index 847095f430..666db73b59 100644
--- a/libuavcan/include/uavcan/protocol/param_server.hpp
+++ b/libuavcan/include/uavcan/protocol/param_server.hpp
@@ -88,7 +88,7 @@ class UAVCAN_EXPORT ParamServer
     void handleGetSet(const protocol::param::GetSet::Request& request, protocol::param::GetSet::Response& response);
 
     void handleExecuteOpcode(const protocol::param::ExecuteOpcode::Request& request,
-                         protocol::param::ExecuteOpcode::Response& response);
+                             protocol::param::ExecuteOpcode::Response& response);
 
 public:
     explicit ParamServer(INode& node)
diff --git a/libuavcan/src/protocol/uc_param_server.cpp b/libuavcan/src/protocol/uc_param_server.cpp
index 164ac1316e..1062332d3b 100644
--- a/libuavcan/src/protocol/uc_param_server.cpp
+++ b/libuavcan/src/protocol/uc_param_server.cpp
@@ -12,7 +12,10 @@ namespace uavcan
 
 bool ParamServer::isValueNonEmpty(const protocol::param::Value& value)
 {
-    return !value.value_bool.empty() || !value.value_int.empty() || !value.value_float.empty();
+    return !value.value_bool.empty()  ||
+           !value.value_int.empty()   ||
+           !value.value_float.empty() ||
+           !value.value_string.empty();
 }
 
 void ParamServer::handleGetSet(const protocol::param::GetSet::Request& in, protocol::param::GetSet::Response& out)
@@ -50,7 +53,7 @@ void ParamServer::handleGetSet(const protocol::param::GetSet::Request& in, proto
 }
 
 void ParamServer::handleExecuteOpcode(const protocol::param::ExecuteOpcode::Request& in,
-                                  protocol::param::ExecuteOpcode::Response& out)
+                                      protocol::param::ExecuteOpcode::Response& out)
 {
     UAVCAN_ASSERT(manager_ != NULL);
 
diff --git a/libuavcan/test/protocol/param_server.cpp b/libuavcan/test/protocol/param_server.cpp
index c7a27a0f8e..861ca41cd3 100644
--- a/libuavcan/test/protocol/param_server.cpp
+++ b/libuavcan/test/protocol/param_server.cpp
@@ -43,6 +43,10 @@ struct ParamServerTestManager : public uavcan::IParamManager
             {
                 it->second = double(value.value_float[0]);
             }
+            else if (!value.value_string.empty())
+            {
+                it->second = std::atof(value.value_string[0].value.c_str());
+            }
             else
             {
                 assert(0);
@@ -151,7 +155,11 @@ TEST(ParamServer, Basic)
     // Set by index
     get_set_rq = uavcan::protocol::param::GetSet::Request();
     get_set_rq.index = 0;
-    get_set_rq.value.value_int.push_back(424242);
+    {
+        uavcan::protocol::param::ValueString str;
+        str.value = "424242";
+        get_set_rq.value.value_string.push_back(str);
+    }
     doCall(get_set_cln, get_set_rq, nodes);
     ASSERT_STREQ("foobar", get_set_cln.collector.result->response.name.c_str());
     ASSERT_FLOAT_EQ(424242, get_set_cln.collector.result->response.value.value_float[0]);
diff --git a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
index f580f39f6a..dd387591f2 100644
--- a/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
+++ b/libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
@@ -88,6 +88,10 @@ std::string paramValueToString(const uavcan::protocol::param::Value& value)
     {
         return std::to_string(value.value_float[0]);
     }
+    else if (!value.value_string.empty())
+    {
+        return std::string(value.value_string[0].value.c_str());
+    }
     else
     {
         return "?";
@@ -176,6 +180,7 @@ const std::map<std::string,
                 else
                 {
                     request.name = args.at(0).c_str();
+                    // TODO: add support for string parameters
                     request.value.value_float.push_back(std::stof(args.at(1)));
                     printGetSetResponse(call(*client, node_id, request));
                 }