drivers/uavcannode: Add a simple parameter server (simpler version for merging) (#16649)

* drivers/uavcannode: Add a simple parameter server Added a simple parameter server using the libuavcan ParamServer class. The parameter server exposes a selection of PX4 parameters via UAVCAN. Also, Increased the stack size of the uavcan work queue in order to prevent a stack overflow. * uavcannode: fetch all active PX4 parameters Co-authored-by: Kenneth Thompson <ken@flyvoly.com>
2026-07-18 15:30:35 +08:00 · 2021-01-26 13:19:20 -05:00
parent 525361cbc7
commit e656c9c13f
6 changed files with 198 additions and 1 deletions
@@ -0,0 +1,132 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. 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.
+ *
+ ****************************************************************************/
+
+#include "UavcanNodeParamManager.hpp"
+
+#include <px4_platform_common/defines.h>
+#include <lib/parameters/param.h>
+
+void UavcanNodeParamManager::getParamNameByIndex(Index index, Name &out_name) const
+{
+	if (index < param_count_used()) {
+		out_name = param_name(param_for_used_index(index));
+	}
+}
+
+void UavcanNodeParamManager::assignParamValue(const Name &name, const Value &value)
+{
+	param_t param_handle = param_find(name.c_str());
+
+	if (param_handle == PARAM_INVALID) {
+		// Invalid parameter name
+		return;
+	}
+
+	// Assign input value to parameter if types match
+	param_type_t value_type = param_type(param_handle);
+
+	if (value.is(uavcan::protocol::param::Value::Tag::integer_value) && (value_type == PARAM_TYPE_INT32)) {
+		auto val = *value.as<uavcan::protocol::param::Value::Tag::integer_value>();
+
+		if ((val <= INT32_MAX) || (val >= INT32_MIN)) {
+			int32_t in_param = val;
+			param_set(param_handle, &in_param);
+		}
+
+	} else if (value.is(uavcan::protocol::param::Value::Tag::real_value) && (value_type == PARAM_TYPE_FLOAT)) {
+		// TODO: min/max value checking for float
+		float in_param = *value.as<uavcan::protocol::param::Value::Tag::real_value>();
+		param_set(param_handle, &in_param);
+	}
+}
+
+void UavcanNodeParamManager::readParamValue(const Name &name, Value &out_value) const
+{
+	param_t param_handle = param_find(name.c_str());
+
+	if (param_handle == PARAM_INVALID) {
+		// Invalid parameter name
+		return;
+	}
+
+	// Copy current parameter value to out_value
+	param_type_t value_type = param_type(param_handle);
+
+	if (value_type == PARAM_TYPE_INT32) {
+		int32_t current_value;
+		param_get(param_handle, &current_value);
+		out_value.to<uavcan::protocol::param::Value::Tag::integer_value>() = current_value;
+
+	} else if (value_type == PARAM_TYPE_FLOAT) {
+		float current_value;
+		param_get(param_handle, &current_value);
+		out_value.to<uavcan::protocol::param::Value::Tag::real_value>() = current_value;
+	}
+}
+
+void UavcanNodeParamManager::readParamDefaultMaxMin(const Name &name, Value &out_default,
+		NumericValue &out_max, NumericValue &out_min) const
+{
+	// TODO: get actual default value (will require a new function in param.h)
+	param_t param_handle = param_find(name.c_str());
+
+	if (param_handle == PARAM_INVALID) {
+		// Invalid parameter name
+		return;
+	}
+
+	param_type_t value_type = param_type(param_handle);
+
+	if (value_type == PARAM_TYPE_INT32) {
+		out_max.to<uavcan::protocol::param::NumericValue::Tag::integer_value>() = INT32_MAX;
+		out_min.to<uavcan::protocol::param::NumericValue::Tag::integer_value>() = INT32_MIN;
+		out_default.to<uavcan::protocol::param::Value::Tag::integer_value>() = 0;
+
+	} else if (value_type == PARAM_TYPE_FLOAT) {
+		out_max.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = FLT_MAX;
+		out_min.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = -FLT_MAX;
+		out_default.to<uavcan::protocol::param::Value::Tag::real_value>() = 0.0;
+	}
+}
+
+int UavcanNodeParamManager::saveAllParams()
+{
+	// Nothing to do here assuming autosave is turned on
+	return 0;
+}
+
+int UavcanNodeParamManager::eraseAllParams()
+{
+	param_reset_all();
+	return 0;
+}