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

src/systemcmds/bsondump/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 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
+# 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.
+#
+############################################################################
+px4_add_module(
+	MODULE systemcmds__bsondump
+	MAIN bsondump
+	STACK_MAIN 4096
+	COMPILE_FLAGS
+	SRCS
+		bsondump.cpp
+	DEPENDS
+		tinybson
+)

src/systemcmds/bsondump/Kconfig

@@ -0,0 +1,12 @@
+menuconfig SYSTEMCMDS_BSONDUMP
+	bool "bsondump"
+	default n
+	---help---
+		Enable bsondump
+
+menuconfig USER_BSONDUMP
+	bool "bsondump running as userspace module"
+	default n
+	depends on BOARD_PROTECTED && SYSTEMCMDS_BSONDUMP
+	---help---
+		Put bsondump in userspace memory

src/systemcmds/bsondump/bsondump.cpp

@@ -0,0 +1,140 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * 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 <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+
+#include <lib/tinybson/tinybson.h>
+
+#include <fcntl.h>
+
+static void print_usage(const char *reason = nullptr)
+{
+	if (reason) {
+		PX4_ERR("%s", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION("read BSON from a file and print in human form");
+
+	PRINT_MODULE_USAGE_NAME_SIMPLE("bsondump", "command");
+	PRINT_MODULE_USAGE_ARG("<file>", "File name", false);
+}
+
+static int bson_print_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;
+}
+
+extern "C" __EXPORT int bsondump_main(int argc, char *argv[])
+{
+	if (argc != 2) {
+		print_usage();
+
+	} else {
+		char *file_name = argv[1];
+
+		if (file_name) {
+			int fd = open(file_name, O_RDONLY);
+
+			if (fd < 0) {
+				PX4_ERR("open '%s' failed (%i)", file_name, errno);
+				return 1;
+
+			} else {
+				PX4_INFO_RAW("[bsondump] reading from %s\n", file_name);
+
+				bson_decoder_s decoder{};
+
+				if (bson_decoder_init_file(&decoder, fd, bson_print_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);
+
+					close(fd);
+
+					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("no data");
+						return -1;
+
+					} else {
+						PX4_ERR("failed (%d)", result);
+						return -1;
+					}
+				}
+			}
+		}
+	}
+
+	return -1;
+}

src/systemcmds/param/param.cpp

@@ -83,7 +83,6 @@ enum class COMPARE_ERROR_LEVEL {
 
 static int 	do_save(const char *param_file_name);
 static int	do_save_default();
-static int 	do_dump(const char *param_file_name);
 static int 	do_load(const char *param_file_name);
 static int	do_import(const char *param_file_name = nullptr);
 static int	do_show(const char *search_string, bool only_changed);
@@ -136,8 +135,6 @@ $ reboot
 	PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("save", "Save params to a file");
 	PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("dump", "Dump params from a file");
-	PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("select", "Select default file");
 	PRINT_MODULE_USAGE_ARG("<file>", "File name", true);
@@ -212,15 +209,6 @@ param_main(int argc, char *argv[])
 			}
 		}
 
-		if (!strcmp(argv[1], "dump")) {
-			if (argc >= 3) {
-				return do_dump(argv[2]);
-
-			} else {
-				return do_dump(param_get_default_file());
-			}
-		}
-
 		if (!strcmp(argv[1], "load")) {
 			if (argc >= 3) {
 				return do_load(argv[2]);
@@ -443,42 +431,6 @@ do_save(const char *param_file_name)
 	return 0;
 }
 
-static int
-do_dump(const char *param_file_name)
-{
-	int fd = -1;
-
-	if (param_file_name) { // passing NULL means to select the flash storage
-
-		fd = open(param_file_name, O_RDONLY);
-
-		if (fd < 0) {
-			PX4_ERR("open '%s' failed (%i)", param_file_name, errno);
-			return 1;
-		} else {
-			PX4_INFO_RAW("[param] reading from %s\n\n", param_file_name);
-		}
-	}
-
-	int result = param_dump(fd);
-
-	if (fd >= 0) {
-		close(fd);
-	}
-
-	if (result < 0) {
-		if (param_file_name) {
-			PX4_ERR("reading from '%s' failed (%i)", param_file_name, result);
-
-		} else {
-			PX4_ERR("reading failed (%i)", result);
-		}
-
-		return 1;
-	}
-
-	return 0;
-}
 
 static int
 do_load(const char *param_file_name)

src/systemcmds/tests/test_bson.cpp

@@ -45,7 +45,7 @@
 #include <math.h>
 
 #include <systemlib/err.h>
-#include <parameters/tinybson/tinybson.h>
+#include <lib/tinybson/tinybson.h>
 
 #include "tests_main.h"