systemcmds/bsondump: new command line utility (extracted from parameters)

src/lib/CMakeLists.txt

@@ -68,6 +68,7 @@ add_subdirectory(system_identification EXCLUDE_FROM_ALL)
 add_subdirectory(tecs EXCLUDE_FROM_ALL)
 add_subdirectory(terrain_estimation EXCLUDE_FROM_ALL)
 add_subdirectory(timesync EXCLUDE_FROM_ALL)
+add_subdirectory(tinybson EXCLUDE_FROM_ALL)
 add_subdirectory(tunes EXCLUDE_FROM_ALL)
 add_subdirectory(version EXCLUDE_FROM_ALL)
 add_subdirectory(weather_vane EXCLUDE_FROM_ALL)

src/lib/parameters/CMakeLists.txt

@@ -33,8 +33,6 @@
 
 add_compile_options(${MAX_CUSTOM_OPT_LEVEL})
 
-add_subdirectory(tinybson)
-
 if (NOT PARAM_DEFAULT_OVERRIDES)
 	set(PARAM_DEFAULT_OVERRIDES "{}")
 endif()

src/lib/parameters/flashparams/flashparams.cpp

@@ -55,7 +55,7 @@
 #include <parameters/param.h>
 
 #include "../uthash/utarray.h"
-#include <parameters/tinybson/tinybson.h>
+#include <lib/tinybson/tinybson.h>
 #include "flashparams.h"
 #include "flashfs.h"
 #include "../param_translation.h"

src/lib/parameters/param.h

@@ -347,17 +347,6 @@ __EXPORT int		param_import(int fd);
  */
 __EXPORT int		param_load(int fd);
 
-/**
- * Read saved parameters from file and dump to console.
- *
- * This function reads the file and dumps all contents to console
- * values from a file.
- *
- * @param fd		File descriptor to read from.
- * @return		Zero on success, nonzero if an error occurred during import.
- */
-__EXPORT int		param_dump(int fd);
-
 /**
  * Apply a function to each parameter.
  *

src/lib/parameters/parameters.cpp

@@ -45,7 +45,7 @@
 #include "param.h"
 #include "param_translation.h"
 #include <parameters/px4_parameters.hpp>
-#include "tinybson/tinybson.h"
+#include <lib/tinybson/tinybson.h>
 
 #include <crc32.h>
 #include <float.h>
@@ -1521,38 +1521,6 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)
 	return 1;
 }
 
-static int
-param_dump_callback(bson_decoder_t decoder, bson_node_t node)
-{
-	switch (node->type) {
-	case BSON_EOO:
-		PX4_INFO_RAW("BSON_EOO\n");
-		return 0;
-
-	case BSON_DOUBLE:
-		PX4_INFO_RAW("BSON_DOUBLE: %s = %.6f\n", node->name, node->d);
-		return 1;
-
-	case BSON_BOOL:
-		PX4_INFO_RAW("BSON_BOOL:   %s = %d\n", node->name, node->b);
-		return 1;
-
-	case BSON_INT32:
-		PX4_INFO_RAW("BSON_INT32:  %s = %" PRIi32 "\n", node->name, node->i32);
-		return 1;
-
-	case BSON_INT64:
-		PX4_INFO_RAW("BSON_INT64:  %s = %" PRIi64 "\n", node->name, node->i64);
-		return 1;
-
-	default:
-		PX4_INFO_RAW("ERROR %s unhandled bson type %d\n", node->name, node->type);
-		return 1; // just skip this entry
-	}
-
-	return -1;
-}
-
 static int
 param_import_internal(int fd)
 {
@@ -1630,42 +1598,6 @@ param_load(int fd)
 	return param_import_internal(fd);
 }
 
-int
-param_dump(int fd)
-{
-	bson_decoder_s decoder{};
-
-	if (bson_decoder_init_file(&decoder, fd, param_dump_callback) == 0) {
-		PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size);
-
-		int result = -1;
-
-		do {
-			result = bson_decoder_next(&decoder);
-
-		} while (result > 0);
-
-		if (result == 0) {
-			PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16
-				     ", int32:%" PRIu16 ", int64:%" PRIu16 ")\n",
-				     decoder.total_decoded_size,
-				     decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool,
-				     decoder.count_node_int32, decoder.count_node_int64);
-
-			return 0;
-
-		} else if (result == -ENODATA) {
-			PX4_WARN("BSON: no data");
-			return 0;
-
-		} else {
-			PX4_ERR("param dump failed (%d)", result);
-		}
-	}
-
-	return -1;
-}
-
 void
 param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed, bool only_used)
 {

src/lib/tinybson/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2022 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
@@ -31,7 +31,15 @@
 #
 ############################################################################
 
-add_library(tinybson tinybson.cpp)
+add_library(tinybson
+	tinybson.cpp
+	tinybson.h
+)
 target_compile_definitions(tinybson PRIVATE -DMODULE_NAME="tinybson")
-target_compile_options(tinybson PRIVATE -Wno-sign-compare) # TODO: fix this
+target_compile_options(tinybson
+	PRIVATE
+		-Wno-sign-compare # TODO: fix this
+		${MAX_CUSTOM_OPT_LEVEL}
+)
+
 add_dependencies(tinybson prebuild_targets)