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WIP: parameter server

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This commit is contained in:
Daniel Agar
2022-12-10 15:33:25 -05:00
parent 29ade6c472
commit 481addbcac
22 changed files with 2605 additions and 1811 deletions
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msg/CMakeLists.txt
+2 -2
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@@ -182,8 +182,8 @@ set(msg_files
TrajectoryWaypoint.msg
TransponderReport.msg
TuneControl.msg
UavcanParameterRequest.msg
UavcanParameterValue.msg
ParameterRequest.msg
ParameterValue.msg
UlogStream.msg
UlogStreamAck.msg
UwbDistance.msg
msg/ParameterRequest.msg
+30
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@@ -0,0 +1,30 @@
# parameter request type
uint64 timestamp # time since system start (microseconds)
uint8 MESSAGE_TYPE_INVALID = 0
uint8 MESSAGE_TYPE_PARAM_REQUEST_READ = 1
uint8 MESSAGE_TYPE_PARAM_REQUEST_LIST = 2
uint8 MESSAGE_TYPE_PARAM_SET = 3
uint8 message_type # message type
uint8 NODE_ID_ALL = 0 # MAV_COMP_ID_ALL
uint8 node_id # node ID
char[17] name # parameter name
int16 param_index # -1 if the param_id field should be used as identifier
uint8 TYPE_INVALID = 0
uint8 TYPE_BOOL = 1
uint8 TYPE_UINT8 = 2
uint8 TYPE_INT32 = 3
uint8 TYPE_INT64 = 4
uint8 TYPE_FLOAT32 = 5
uint8 TYPE_FLOAT64 = 6
uint8 type # parameter type
int64 int64_value # current value if param_type is int-like
float64 float64_value # current value if param_type is float-like
uint8 ORB_QUEUE_LENGTH = 4
# TOPICS parameter_request uavcan_parameter_request
msg/ParameterValue.msg
+17
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@@ -0,0 +1,17 @@
# parameter response type
uint64 timestamp # time since system start (microseconds)
uint8 node_id # requester node ID
char[17] param_name # parameter name
int16 param_index # parameter index, if known
uint16 param_count # number of parameters exposed by the node
uint8 type # parameter type
int64 int64_value # current value if param_type is int-like
float64 float64_value # current value if param_type is float-like
# TOPICS parameter_value uavcan_parameter_value
msg/UavcanParameterRequest.msg
-23
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@@ -1,23 +0,0 @@
# UAVCAN-MAVLink parameter bridge request type
uint64 timestamp # time since system start (microseconds)
uint8 MESSAGE_TYPE_PARAM_REQUEST_READ = 20 # MAVLINK_MSG_ID_PARAM_REQUEST_READ
uint8 MESSAGE_TYPE_PARAM_REQUEST_LIST = 21 # MAVLINK_MSG_ID_PARAM_REQUEST_LIST
uint8 MESSAGE_TYPE_PARAM_SET = 23 # MAVLINK_MSG_ID_PARAM_SET
uint8 message_type # MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET
uint8 NODE_ID_ALL = 0 # MAV_COMP_ID_ALL
uint8 node_id # UAVCAN node ID mapped from MAVLink component ID
char[17] param_id # MAVLink/UAVCAN parameter name
int16 param_index # -1 if the param_id field should be used as identifier
uint8 PARAM_TYPE_UINT8 = 1 # MAV_PARAM_TYPE_UINT8
uint8 PARAM_TYPE_INT64 = 8 # MAV_PARAM_TYPE_INT64
uint8 PARAM_TYPE_REAL32 = 9 # MAV_PARAM_TYPE_REAL32
uint8 param_type # MAVLink parameter type
int64 int_value # current value if param_type is int-like
float32 real_value # current value if param_type is float-like
uint8 ORB_QUEUE_LENGTH = 4
msg/UavcanParameterValue.msg
-9
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@@ -1,9 +0,0 @@
# UAVCAN-MAVLink parameter bridge response type
uint64 timestamp # time since system start (microseconds)
uint8 node_id # UAVCAN node ID mapped from MAVLink component ID
char[17] param_id # MAVLink/UAVCAN parameter name
int16 param_index # parameter index, if known
uint16 param_count # number of parameters exposed by the node
uint8 param_type # MAVLink parameter type
int64 int_value # current value if param_type is int-like
float32 real_value # current value if param_type is float-like