fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Param interface: Allow to check return value of param_reset. Reset test param prior to running test

Browse Source
This commit is contained in:
Lorenz Meier 2015-02-08 16:39:37 +01:00
parent 775e35ceaf
commit f7b79bfaf2
3 changed files with 79 additions and 40 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/modules/systemlib/param/param.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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
@ -441,10 +441,11 @@ param_set(param_t param, const void *val)
return param_set_internal(param, val, false);
}
void
int
param_reset(param_t param)
{
struct param_wbuf_s *s = NULL;
bool param_found = false;
param_lock();
@ -458,12 +459,16 @@ param_reset(param_t param)
int pos = utarray_eltidx(param_values, s);
utarray_erase(param_values, pos, 1);
}
param_found = true;
}
param_unlock();
if (s != NULL)
param_notify_changes();
return (!param_found);
}
void

5
src/modules/systemlib/param/param.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 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
@ -178,8 +178,9 @@ __EXPORT int param_set(param_t param, const void *val);
* to its default value.
*
* @param param A handle returned by param_find or passed by param_foreach.
* @return Zero on success, nonzero on failure
*/
__EXPORT void param_reset(param_t param);
__EXPORT int param_reset(param_t param);
/**
* Reset all parameters to their default values.

105
src/systemcmds/param/param.c
View File

@ -57,13 +57,13 @@
__EXPORT int param_main(int argc, char *argv[]);
static void do_save(const char* param_file_name);
static void do_load(const char* param_file_name);
static void do_import(const char* param_file_name);
static void do_show(const char* search_string);
static void do_save(const char *param_file_name);
static void do_load(const char *param_file_name);
static void do_import(const char *param_file_name);
static void do_show(const char *search_string);
static void do_show_print(void *arg, param_t param);
static void do_set(const char* name, const char* val, bool fail_on_not_found);
static void do_compare(const char* name, char* vals[], unsigned comparisons);
static void do_set(const char *name, const char *val, bool fail_on_not_found);
static void do_compare(const char *name, char *vals[], unsigned comparisons);
static void do_reset(void);
static void do_reset_nostart(void);
@ -74,10 +74,12 @@ param_main(int argc, char *argv[])
if (!strcmp(argv[1], "save")) {
if (argc >= 3) {
do_save(argv[2]);
} else {
if (param_save_default()) {
warnx("Param export failed.");
exit(1);
} else {
exit(0);
}
@ -87,6 +89,7 @@ param_main(int argc, char *argv[])
if (!strcmp(argv[1], "load")) {
if (argc >= 3) {
do_load(argv[2]);
} else {
do_load(param_get_default_file());
}
@ -95,6 +98,7 @@ param_main(int argc, char *argv[])
if (!strcmp(argv[1], "import")) {
if (argc >= 3) {
do_import(argv[2]);
} else {
do_import(param_get_default_file());
}
@ -103,9 +107,11 @@ param_main(int argc, char *argv[])
if (!strcmp(argv[1], "select")) {
if (argc >= 3) {
param_set_default_file(argv[2]);
} else {
param_set_default_file(NULL);
}
warnx("selected parameter default file %s", param_get_default_file());
exit(0);
}
@ -113,6 +119,7 @@ param_main(int argc, char *argv[])
if (!strcmp(argv[1], "show")) {
if (argc >= 3) {
do_show(argv[2]);
} else {
do_show(NULL);
}
@ -128,6 +135,7 @@ param_main(int argc, char *argv[])
} else if (argc >= 4) {
do_set(argv[2], argv[3], false);
} else {
errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'");
}
@ -136,6 +144,7 @@ param_main(int argc, char *argv[])
if (!strcmp(argv[1], "compare")) {
if (argc >= 4) {
do_compare(argv[2], &argv[3], argc - 3);
} else {
errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
}
@ -149,18 +158,19 @@ param_main(int argc, char *argv[])
do_reset_nostart();
}
}
errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
}
static void
do_save(const char* param_file_name)
do_save(const char *param_file_name)
{
/* create the file */
int fd = open(param_file_name, O_WRONLY | O_CREAT);
if (fd < 0)
if (fd < 0) {
err(1, "opening '%s' failed", param_file_name);
}
int result = param_export(fd, false);
close(fd);
@ -174,12 +184,13 @@ do_save(const char* param_file_name)
}
static void
do_load(const char* param_file_name)
do_load(const char *param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "open '%s'", param_file_name);
}
int result = param_load(fd);
close(fd);
@ -192,24 +203,26 @@ do_load(const char* param_file_name)
}
static void
do_import(const char* param_file_name)
do_import(const char *param_file_name)
{
int fd = open(param_file_name, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "open '%s'", param_file_name);
}
int result = param_import(fd);
close(fd);
if (result < 0)
if (result < 0) {
errx(1, "error importing from '%s'", param_file_name);
}
exit(0);
}
static void
do_show(const char* search_string)
do_show(const char *search_string)
{
printf(" + = saved, * = unsaved\n");
param_foreach(do_show_print, (char *)search_string, false);
@ -222,8 +235,8 @@ do_show_print(void *arg, param_t param)
{
int32_t i;
float f;
const char *search_string = (const char*)arg;
const char *p_name = (const char*)param_name(param);
const char *search_string = (const char *)arg;
const char *p_name = (const char *)param_name(param);
/* print nothing if search string is invalid and not matching */
if (!(arg == NULL)) {
@ -238,6 +251,7 @@ do_show_print(void *arg, param_t param)
if (*ss == *pp) {
ss++;
pp++;
} else if (*ss == '*') {
if (*(ss + 1) != '\0') {
warnx("* symbol only allowed at end of search string.");
@ -245,6 +259,7 @@ do_show_print(void *arg, param_t param)
}
pp++;
} else {
/* param not found */
return;
@ -252,8 +267,9 @@ do_show_print(void *arg, param_t param)
}
/* the search string must have been consumed */
if (!(*ss == '\0' || *ss == '*'))
if (!(*ss == '\0' || *ss == '*')) {
return;
}
}
printf("%c %s: ",
@ -294,7 +310,7 @@ do_show_print(void *arg, param_t param)
}
static void
do_set(const char* name, const char* val, bool fail_on_not_found)
do_set(const char *name, const char *val, bool fail_on_not_found)
{
int32_t i;
float f;
@ -317,27 +333,41 @@ do_set(const char* name, const char* val, bool fail_on_not_found)
switch (param_type(param)) {
case PARAM_TYPE_INT32:
if (!param_get(param, &i)) {
printf("curr: %d", i);
/* convert string */
char* end;
i = strtol(val,&end,10);
param_set(param, &i);
printf(" -> new: %d\n", i);
char *end;
int32_t newval = strtol(val, &end, 10);
if (i == newval) {
printf("unchanged\n");
} else {
printf("curr: %d", i);
param_set(param, &newval);
printf(" -> new: %d\n", newval);
}
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &f)) {
printf("curr: %4.4f", (double)f);
/* convert string */
char* end;
f = strtod(val,&end);
param_set(param, &f);
printf(" -> new: %4.4f\n", (double)f);
char *end;
float newval = strtod(val, &end);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
if (f == newval) {
#pragma GCC diagnostic pop
printf("unchanged\n");
} else {
printf("curr: %4.4f", (double)f);
param_set(param, &newval);
printf(" -> new: %4.4f\n", (double)newval);
}
}
@ -351,7 +381,7 @@ do_set(const char* name, const char* val, bool fail_on_not_found)
}
static void
do_compare(const char* name, char* vals[], unsigned comparisons)
do_compare(const char *name, char *vals[], unsigned comparisons)
{
int32_t i;
float f;
@ -374,11 +404,11 @@ do_compare(const char* name, char* vals[], unsigned comparisons)
if (!param_get(param, &i)) {
/* convert string */
char* end;
char *end;
for (unsigned k = 0; k < comparisons; k++) {
int j = strtol(vals[k],&end,10);
int j = strtol(vals[k], &end, 10);
if (i == j) {
printf(" %d: ", i);
@ -393,14 +423,15 @@ do_compare(const char* name, char* vals[], unsigned comparisons)
if (!param_get(param, &f)) {
/* convert string */
char* end;
char *end;
for (unsigned k = 0; k < comparisons; k++) {
float g = strtod(vals[k], &end);
if (fabsf(f - g) < 1e-7f) {
printf(" %4.4f: ", (double)f);
ret = 0;
ret = 0;
}
}
}
@ -413,8 +444,8 @@ do_compare(const char* name, char* vals[], unsigned comparisons)
if (ret == 0) {
printf("%c %s: match\n",
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
}
exit(ret);
@ -428,6 +459,7 @@ do_reset(void)
if (param_save_default()) {
warnx("Param export failed.");
exit(1);
} else {
exit(0);
}
@ -451,6 +483,7 @@ do_reset_nostart(void)
if (param_save_default()) {
warnx("Param export failed.");
exit(1);
} else {
exit(0);
}