param: Add also a kernel-side kparam module for protected build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

src/systemcmds/kparam/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE systemcmds__kparam
+	MAIN kparam
+	COMPILE_FLAGS
+		-Wno-array-bounds
+	SRCS
+		../param/param.cpp
+	DEPENDS
+	)

src/systemcmds/param/CMakeLists.txt

@@ -39,3 +39,7 @@ px4_add_module(
 		param.cpp
 	DEPENDS
 	)
+
+if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
+target_link_libraries(systemcmds__param PRIVATE systemcmds__launch_kmod)
+endif()

src/systemcmds/param/param.cpp

@@ -64,6 +64,11 @@ __BEGIN_DECLS
 __EXPORT int param_main(int argc, char *argv[]);
 __END_DECLS
 
+#if defined (__PX4_NUTTX) && !defined (CONFIG_BUILD_FLAT) && !defined(__KERNEL__)
+static const char kparam_main_fn[] = "kparam";
+extern "C" int launch_kmod_main(int argc, char *argv[]);
+#endif
+
 enum class COMPARE_OPERATOR {
 	EQUAL = 0,
 	GREATER = 1,
@@ -185,7 +190,7 @@ $ reboot
 	PRINT_MODULE_USAGE_ARG("<param>", "param name", false);
 }
 
-int
+extern "C" int
 param_main(int argc, char *argv[])
 {
 	if (argc >= 2) {
@@ -216,12 +221,21 @@ param_main(int argc, char *argv[])
 		}
 
 		if (!strcmp(argv[1], "import")) {
+			int ret;
 			if (argc >= 3) {
-				return do_import(argv[2]);
+				ret = do_import(argv[2]);
 
 			} else {
-				return do_import();
+				ret = do_import();
 			}
+
+#if defined (__PX4_NUTTX) && !defined (CONFIG_BUILD_FLAT) && !defined(__KERNEL__)
+			if (ret == 0) {
+				argv[0] = (char *)kparam_main_fn;
+				ret = launch_kmod_main(argc, argv);
+			}
+#endif
+			return ret;
 		}
 
 		if (!strcmp(argv[1], "select")) {
@@ -237,8 +251,12 @@ param_main(int argc, char *argv[])
 			if (default_file) {
 				PX4_INFO("selected parameter default file %s", default_file);
 			}
-
+#if defined (__PX4_NUTTX) && !defined (CONFIG_BUILD_FLAT) && !defined(__KERNEL__)
+			argv[0] = (char *)kparam_main_fn;
+			return launch_kmod_main(argc, argv);
+#else
 			return 0;
+#endif
 		}
 
 		if (!strcmp(argv[1], "show")) {
@@ -423,6 +441,14 @@ do_save(const char *param_file_name)
 	return 0;
 }
 
+#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
+extern "C" int
+kparam_main(int argc, char *argv[])
+{
+  return param_main(argc, argv);
+}
+#endif
+
 static int
 do_load(const char *param_file_name)
 {