PX4-Autopilot/src/drivers/uavcannode/UavcanNodeParamManager.cpp

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#include "UavcanNodeParamManager.hpp"

#include <px4_platform_common/defines.h>
#include <lib/parameters/param.h>

namespace uavcannode
{

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) {
		int32_t default_value = 0;
		param_get_default_value(param_handle, &default_value);
		out_default.to<uavcan::protocol::param::Value::Tag::integer_value>() = default_value;

		out_min.to<uavcan::protocol::param::NumericValue::Tag::integer_value>() = INT32_MIN;
		out_max.to<uavcan::protocol::param::NumericValue::Tag::integer_value>() = INT32_MAX;

	} else if (value_type == PARAM_TYPE_FLOAT) {
		float default_value = 0;
		param_get_default_value(param_handle, &default_value);
		out_default.to<uavcan::protocol::param::Value::Tag::real_value>() = default_value;

		out_min.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = -FLT_MAX;
		out_max.to<uavcan::protocol::param::NumericValue::Tag::real_value>() = FLT_MAX;
	}
}

int UavcanNodeParamManager::saveAllParams()
{
	// Nothing to do here assuming autosave is turned on
	return 0;
}

int UavcanNodeParamManager::eraseAllParams()
{
	param_reset_all();
	return 0;
}

} // namespace uavcannode