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Resolved shared memory parameter problems and removed additional debug code.

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This commit is contained in:
jwilson
2016-02-16 20:01:27 -08:00
committed by Julian Oes
parent d84639f8c4
commit 4adfea7fa9
4 changed files with 29 additions and 42 deletions
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src/modules/systemlib/param/param_shmem.c
+25 -13
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@@ -33,6 +33,8 @@
*
****************************************************************************/
// TODO-JYW: TESTING-TESTING
#define DEBUG_BUILD 1
/**
* @file param.c
@@ -126,7 +128,7 @@ uint64_t sync_other_prev_time = 0, sync_other_current_time = 0;
extern void update_to_shmem(param_t param, union param_value_u value);
extern int update_from_shmem(param_t param, union param_value_u *value);
static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes);
static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved);
unsigned char set_called_from_get = 0;
static int param_import_done =
@@ -251,9 +253,12 @@ param_find_changed(param_t param)
}
static void
param_notify_changes(void)
param_notify_changes(bool is_saved)
{
struct parameter_update_s pup = { .timestamp = hrt_absolute_time() };
struct parameter_update_s pup = { .timestamp = hrt_absolute_time(), .saved = is_saved };
// TODO-JYW: TESTING-TESTING:
warnx("param_notify_changes: notifying of changes, timestamp: %lld, is_saved: %d", pup.timestamp, pup.saved);
/*
* If we don't have a handle to our topic, create one now; otherwise
@@ -507,7 +512,7 @@ param_get(param_t param, void *val)
if (update_from_shmem(param, &value)) {
set_called_from_get = 1;
param_set_internal(param, &value, true, false);
param_set_internal(param, &value, true, false, false);
set_called_from_get = 0;
}
@@ -541,7 +546,7 @@ param_get(param_t param, void *val)
}
static int
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes)
param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool is_saved)
{
int result = -1;
bool params_changed = false;
@@ -631,7 +636,7 @@ out:
if (!param_import_done) { notify_changes = 0; }
if (params_changed && notify_changes) {
param_notify_changes();
param_notify_changes(is_saved);
}
if (result == 0 && !set_called_from_get) {
@@ -660,13 +665,19 @@ out:
int
param_set(param_t param, const void *val)
{
return param_set_internal(param, val, false, true);
return param_set_internal(param, val, false, true, false);
}
int
param_set_no_autosave(param_t param, const void *val)
{
return param_set_internal(param, val, false, true, true);
}
int
param_set_no_notification(param_t param, const void *val)
{
return param_set_internal(param, val, false, false);
return param_set_internal(param, val, false, false, false);
}
bool
@@ -719,7 +730,7 @@ param_reset(param_t param)
param_unlock();
if (s != NULL) {
param_notify_changes();
param_notify_changes(false);
}
return (!param_found);
@@ -739,7 +750,7 @@ param_reset_all(void)
param_unlock();
param_notify_changes();
param_notify_changes(false);
}
void
@@ -771,7 +782,7 @@ param_reset_excludes(const char *excludes[], int num_excludes)
param_unlock();
param_notify_changes();
param_notify_changes(false);
}
#ifdef __PX4_QURT
@@ -823,7 +834,7 @@ param_save_default(void)
if (fd < 0) {
PX4_ERR("failed to open param file: %s", filename);
return ERROR;
goto exit;
}
res = param_export(fd, false);
@@ -834,6 +845,7 @@ param_save_default(void)
}
PARAM_CLOSE(fd);
fd = -1;
exit:
@@ -1095,7 +1107,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
goto out;
}
if (param_set_internal(param, v, state->mark_saved, true)) {
if (param_set_internal(param, v, state->mark_saved, true, false)) {
debug("error setting value for '%s'", node->name);
goto out;
}