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

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* 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>
This commit is contained in:
Daniel Agar
2021-01-26 10:19:20 -08:00
committed by GitHub
co-authored by Kenneth Thompson
parent 525361cbc7
commit e656c9c13f
6 changed files with 198 additions and 1 deletions
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src/drivers/uavcannode/UavcanNodeParamManager.hpp
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/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include <uavcan/uavcan.hpp>
#include <uavcan/protocol/param_server.hpp>
class UavcanNodeParamManager : public uavcan::IParamManager
{
public:
UavcanNodeParamManager() = default;
void getParamNameByIndex(Index index, Name &out_name) const override;
void assignParamValue(const Name &name, const Value &value) override;
void readParamValue(const Name &name, Value &out_value) const override;
void readParamDefaultMaxMin(const Name &name, Value &out_default,
NumericValue &out_max, NumericValue &out_min) const override;
int saveAllParams() override;
int eraseAllParams() override;
private:
};