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Manually integrated Jim's changes from integrate2_jim branch

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Signed-off-by: Jim Wilson <jywilson99@hotmail.com>
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-02-03 11:38:57 -08:00
committed by Julian Oes
parent a1a615b907
commit caa94d58a6
14 changed files with 117 additions and 74 deletions
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src/modules/systemlib/param/param_shmem.c
+46 -21
View File
@@ -74,7 +74,12 @@
#define debug(fmt, args...) do { } while(0)
#ifdef __PX4_QURT
//Mode not supported by qurt
#define PARAM_OPEN(a, b, ...) open(a, b)
#else
#define PARAM_OPEN open
#endif
#define PARAM_CLOSE close
/**
@@ -85,7 +90,6 @@ extern struct param_info_s param_array[];
extern struct param_info_s *param_info_base;
extern struct param_info_s *param_info_limit;
#else
// TODO: start and end are reversed
static struct param_info_s *param_info_base = (struct param_info_s *) &px4_parameters;
#endif
@@ -517,11 +521,17 @@ param_get(param_t param, void *val)
#ifdef ENABLE_SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32) { PX4_INFO("param_get for %s : %d\n", param_name(param), *(int *)val); }
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("param_get for %s : %d\n", param_name(param), ((union param_value_u *)val)->i);
}
else if (param_type(param) == PARAM_TYPE_FLOAT) { PX4_INFO("param_get for %s : %f\n", param_name(param), *(double *)val); }
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("param_get for %s : %f\n", param_name(param), (double)((union param_value_u *)val)->f);
}
else { PX4_INFO("Unknown param type for %s\n", param_name(param)); }
else {
PX4_INFO("Unknown param type for %s\n", param_name(param));
}
#endif
@@ -536,6 +546,9 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
int result = -1;
bool params_changed = false;
PX4_DEBUG("param_set_internal params: param = %d, val = 0x%X, mark_saved: %d, notify_changes: %d",
param, val, (int)mark_saved, (int)notify_changes);
param_lock();
if (!handle_in_range(param)) {
@@ -627,11 +640,17 @@ out:
#ifdef ENABLE_SHMEM_DEBUG
if (param_type(param) == PARAM_TYPE_INT32) {PX4_INFO("param_set for %s : %d\n", param_name(param), *(int *)val);}
if (param_type(param) == PARAM_TYPE_INT32) {
PX4_INFO("param_set for %s : %d\n", param_name(param), ((union param_value_u *)val)->i);
}
else if (param_type(param) == PARAM_TYPE_FLOAT) {PX4_INFO("param_set for %s : %f\n", param_name(param), *(double *)val);}
else if (param_type(param) == PARAM_TYPE_FLOAT) {
PX4_INFO("param_set for %s : %f\n", param_name(param), (double)((union param_value_u *)val)->f);
}
else {PX4_INFO("Unknown param type for %s\n", param_name(param));}
else {
PX4_INFO("Unknown param type for %s\n", param_name(param));
}
#endif
@@ -786,34 +805,47 @@ param_get_default_file(void)
int
param_save_default(void)
{
int res;
int fd;
int res = OK;
int fd = -1;
bool is_locked = false;
const char *filename = param_get_default_file();
if (get_shmem_lock() != 0) {
PX4_ERR("Could not get shmem lock\n");
return 0;
res = ERROR;
goto exit;
}
is_locked = true;
fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
if (fd < 0) {
warn("failed to open param file: %s", filename);
PX4_ERR("failed to open param file: %s", filename);
return ERROR;
}
res = param_export(fd, false);
if (res != OK) {
warnx("failed to write parameters to file: %s", filename);
PX4_ERR("failed to write parameters to file: %s", filename);
goto exit;
}
PARAM_CLOSE(fd);
release_shmem_lock();
exit:
if (is_locked) {
release_shmem_lock();
}
PX4_INFO("saving params done\n");
if (fd >= 0) {
close(fd);
}
if (res == OK) {
PX4_INFO("saving params completed successfully\n");
}
return res;
}
@@ -855,11 +887,6 @@ param_load_default(void)
static int
param_load_default_no_notify(void)
{
if (get_shmem_lock() != 0) {
PX4_ERR("Could not get shmem lock\n");
return 0;
}
int fd_load = open(param_get_default_file(), O_RDONLY);
if (fd_load < 0) {
@@ -880,8 +907,6 @@ param_load_default_no_notify(void)
PX4_INFO("param loading done\n");
release_shmem_lock();
if (result != 0) {
warn("error reading parameters from '%s'", param_get_default_file());
return -2;