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src/lib/parameters: Refactor common functions to an own file

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Put all functions which are commont to flat build and protected kernel and
userspace to an own source file

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2022-02-24 10:00:44 +02:00
committed by Beat Küng
parent 7ef38112d2
commit 41a7ae3db2
2 changed files with 140 additions and 97 deletions
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src/lib/parameters/parameters.cpp
+3 -97
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@@ -69,6 +69,9 @@ using namespace time_literals;
#include <uORB/topics/actuator_armed.h>
#include <uORB/Subscription.hpp>
/* Include functions common to user and kernel sides */
#include "parameters_common.cpp"
#if defined(FLASH_BASED_PARAMS)
#include "flashparams/flashparams.h"
#else
@@ -87,7 +90,6 @@ static struct work_s autosave_work {};
static px4::atomic_bool autosave_scheduled{false};
static bool autosave_disabled = false;
static constexpr uint16_t param_info_count = sizeof(px4::parameters) / sizeof(param_info_s);
static px4::AtomicBitset<param_info_count> params_active; // params found
static px4::AtomicBitset<param_info_count> params_changed; // params non-default
static px4::Bitset<param_info_count> params_custom_default; // params with runtime default value
@@ -192,14 +194,6 @@ param_init()
param_set_perf = perf_alloc(PC_ELAPSED, "param: set");
}
/**
* Test whether a param_t is value.
*
* @param param The parameter handle to test.
* @return True if the handle is valid.
*/
static constexpr bool handle_in_range(param_t param) { return (param < param_info_count); }
/**
* Compare two modified parameter structures to determine ordering.
*
@@ -312,25 +306,11 @@ param_t param_find_no_notification(const char *name)
return param_find_internal(name, false);
}
unsigned param_count()
{
return param_info_count;
}
unsigned param_count_used()
{
return params_active.count();
}
param_t param_for_index(unsigned index)
{
if (index < param_info_count) {
return (param_t)index;
}
return PARAM_INVALID;
}
param_t param_for_used_index(unsigned index)
{
// walk all params and count used params
@@ -353,15 +333,6 @@ param_t param_for_used_index(unsigned index)
return PARAM_INVALID;
}
int param_get_index(param_t param)
{
if (handle_in_range(param)) {
return (unsigned)param;
}
return -1;
}
int param_get_used_index(param_t param)
{
/* this tests for out of bounds and does a constant time lookup */
@@ -386,51 +357,12 @@ int param_get_used_index(param_t param)
return -1;
}
const char *param_name(param_t param)
{
return handle_in_range(param) ? px4::parameters[param].name : nullptr;
}
param_type_t param_type(param_t param)
{
return handle_in_range(param) ? px4::parameters_type[param] : PARAM_TYPE_UNKNOWN;
}
bool param_is_volatile(param_t param)
{
if (handle_in_range(param)) {
for (const auto &p : px4::parameters_volatile) {
if (static_cast<px4::params>(param) == p) {
return true;
}
}
}
return false;
}
bool
param_value_unsaved(param_t param)
{
return handle_in_range(param) ? params_unsaved[param] : false;
}
size_t param_size(param_t param)
{
if (handle_in_range(param)) {
switch (param_type(param)) {
case PARAM_TYPE_INT32:
case PARAM_TYPE_FLOAT:
return 4;
default:
return 0;
}
}
return 0;
}
/**
* Obtain a pointer to the storage allocated for a parameter.
*
@@ -641,32 +573,6 @@ bool param_value_is_default(param_t param)
return true;
}
int
param_get_system_default_value(param_t param, void *default_val)
{
if (!handle_in_range(param)) {
return PX4_ERROR;
}
int ret = PX4_OK;
switch (param_type(param)) {
case PARAM_TYPE_INT32:
memcpy(default_val, &px4::parameters[param].val.i, param_size(param));
break;
case PARAM_TYPE_FLOAT:
memcpy(default_val, &px4::parameters[param].val.f, param_size(param));
break;
default:
ret = PX4_ERROR;
break;
}
return ret;
}
/**
* worker callback method to save the parameters
* @param arg unused