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refactor param: reduce flash usage

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Reduces usage by ~1.5KB
This commit is contained in:
Beat Küng
2023-03-14 11:51:04 +01:00
parent 1bfca24fa9
commit db18a94382
1 changed files with 51 additions and 49 deletions
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src/lib/parameters/parameters.cpp
+51 -49
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@@ -338,13 +338,16 @@ bool param_value_is_default(param_t param)
} else {
// compare with default value
const param_value_u user_config_value = user_config.get(param);
const param_value_u runtime_default_value = runtime_defaults.get(param);
switch (param_type(param)) {
case PARAM_TYPE_INT32: {
return user_config.get(param).i == runtime_defaults.get(param).i;
return user_config_value.i == runtime_default_value.i;
}
case PARAM_TYPE_FLOAT: {
return user_config.get(param).f - runtime_defaults.get(param).f < FLT_EPSILON;
return user_config_value.f - runtime_default_value.f < FLT_EPSILON;
}
}
}
@@ -383,29 +386,21 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
int result = -1;
bool param_changed = false;
bool param_store_success = false;
perf_begin(param_set_perf);
const param_value_u user_config_value = user_config.get(param);
param_value_u new_value{};
switch (param_type(param)) {
case PARAM_TYPE_INT32: {
if (user_config.get(param).i != *(int32_t *)val) {
param_changed = true;
}
case PARAM_TYPE_INT32:
param_changed = user_config_value.i != *(int32_t *)val;
new_value.i = *(int32_t *)val;
break;
param_store_success = user_config.store(param, param_value_u{.i = *(int32_t *)val});
params_unsaved.set(param, !mark_saved);
break;
}
case PARAM_TYPE_FLOAT: {
if (fabsf(user_config.get(param).f - * (float *) val) > FLT_EPSILON) {
param_changed = true;
}
param_store_success = user_config.store(param, param_value_u{.f = *(float *) val});
params_unsaved.set(param, !mark_saved);
break;
}
case PARAM_TYPE_FLOAT:
param_changed = fabsf(user_config_value.f - * (float *) val) > FLT_EPSILON;
new_value.f = *(float *) val;
break;
default: {
PX4_ERR("param_set invalid param type for %s", param_name(param));
@@ -413,12 +408,13 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
}
}
if (!param_store_success) {
PX4_ERR("param_set failed to store param %s", param_name(param));
result = PX4_ERROR;
if (user_config.store(param, new_value)) {
params_unsaved.set(param, !mark_saved);
result = PX4_OK;
} else {
result = PX4_OK;
PX4_ERR("param_set failed to store param %s", param_name(param));
result = PX4_ERROR;
}
if ((result == PX4_OK) && param_changed && !mark_saved) { // this is false when importing parameters
@@ -493,14 +489,15 @@ int param_set_default_value(param_t param, const void *val)
// check if param being set to default value
bool setting_to_static_default = false;
const param_value_u firmware_default_value = firmware_defaults.get(param);
switch (param_type(param)) {
case PARAM_TYPE_INT32:
setting_to_static_default = (firmware_defaults.get(param).i == *(int32_t *)val);
setting_to_static_default = (firmware_default_value.i == *(int32_t *)val);
break;
case PARAM_TYPE_FLOAT:
setting_to_static_default = (fabsf(firmware_defaults.get(param).f - * (float *)val) <= FLT_EPSILON);
setting_to_static_default = (fabsf(firmware_default_value.f - * (float *)val) <= FLT_EPSILON);
break;
}
@@ -510,24 +507,30 @@ int param_set_default_value(param_t param, const void *val)
result = PX4_OK;
} else {
param_value_u new_value{};
switch (param_type(param)) {
case PARAM_TYPE_INT32: {
const bool store_ok = runtime_defaults.store(param, param_value_u{.i = *(int32_t *) val});
user_config.refresh(param);
result = store_ok ? PX4_OK : PX4_ERROR;
new_value.i = *(int32_t *) val;
break;
}
case PARAM_TYPE_FLOAT: {
const bool store_ok = runtime_defaults.store(param, param_value_u{.f = *(float *) val});
user_config.refresh(param);
result = store_ok ? PX4_OK : PX4_ERROR;
new_value.f = *(float *) val;
break;
}
default:
break;
}
if (runtime_defaults.store(param, new_value)) {
user_config.refresh(param);
result = PX4_OK;
} else {
result = PX4_ERROR;
}
}
@@ -990,26 +993,25 @@ static int param_export_internal(int fd, param_filter_func filter)
continue;
}
const param_value_u runtime_default_value = runtime_defaults.get(param);
const param_value_u user_config_value = user_config.get(param);
// don't export default values
switch (param_type(param)) {
case PARAM_TYPE_INT32: {
int32_t default_value = runtime_defaults.get(param).i;
if (user_config.get(param).i == default_value) {
PX4_DEBUG("skipping %s %" PRIi32 " export", param_name(param), default_value);
continue;
}
case PARAM_TYPE_INT32:
if (user_config_value.i == runtime_default_value.i) {
PX4_DEBUG("skipping %s %" PRIi32 " export", param_name(param), runtime_default_value.i);
continue;
}
break;
case PARAM_TYPE_FLOAT: {
float default_value = runtime_defaults.get(param).f;
if (fabsf(user_config.get(param).f - default_value) <= FLT_EPSILON) {
PX4_DEBUG("skipping %s %.3f export", param_name(param), (double)default_value);
continue;
}
case PARAM_TYPE_FLOAT:
if (fabsf(user_config_value.f - runtime_default_value.f) <= FLT_EPSILON) {
PX4_DEBUG("skipping %s %.3f export", param_name(param), (double)runtime_default_value.f);
continue;
}
break;
}
@@ -1019,7 +1021,7 @@ static int param_export_internal(int fd, param_filter_func filter)
/* append the appropriate BSON type object */
switch (param_type(param)) {
case PARAM_TYPE_INT32: {
const int32_t i = user_config.get(param).i;
const int32_t i = user_config_value.i;
PX4_DEBUG("exporting: %s (%d) size: %lu val: %" PRIi32, name, param, (long unsigned int)size, i);
if (bson_encoder_append_int32(&encoder, name, i) != 0) {
@@ -1030,7 +1032,7 @@ static int param_export_internal(int fd, param_filter_func filter)
break;
case PARAM_TYPE_FLOAT: {
const double f = (double)user_config.get(param).f;
const double f = (double)user_config_value.f;
PX4_DEBUG("exporting: %s (%d) size: %lu val: %.3f", name, param, (long unsigned int)size, (double)f);
if (bson_encoder_append_double(&encoder, name, f) != 0) {