mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-20 16:07:35 +08:00
Pavel Kirienko
128 lines
4.0 KiB
C++
128 lines
4.0 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#ifndef UAVCAN_PROTOCOL_PARAM_SERVER_HPP_INCLUDED
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#define UAVCAN_PROTOCOL_PARAM_SERVER_HPP_INCLUDED
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#include <uavcan/protocol/param/GetSet.hpp>
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#include <uavcan/protocol/param/ExecuteOpcode.hpp>
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#include <uavcan/node/service_server.hpp>
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#include <uavcan/util/method_binder.hpp>
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namespace uavcan
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{
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/**
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* Implement this interface in the application to support the standard remote reconfiguration services.
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* Refer to @ref ParamServer.
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*/
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class UAVCAN_EXPORT IParamManager
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{
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public:
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typedef typename StorageType<typename protocol::param::GetSet::Response::FieldTypes::name>::Type Name;
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typedef typename StorageType<typename protocol::param::GetSet::Request::FieldTypes::index>::Type Index;
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typedef protocol::param::Value Value;
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typedef protocol::param::NumericValue NumericValue;
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virtual ~IParamManager() { }
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/**
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* Copy the parameter name to @ref out_name if it exists, otherwise do nothing.
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*/
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virtual void getParamNameByIndex(Index index, Name& out_name) const = 0;
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/**
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* Assign by name if exists.
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*/
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virtual void assignParamValue(const Name& name, const Value& value) = 0;
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/**
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* Read by name if exists, otherwise do nothing.
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*/
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virtual void readParamValue(const Name& name, Value& out_value) const = 0;
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/**
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* Read param's default/max/min if available.
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* Note that min/max are only applicable to numeric params.
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* Implementation is optional.
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*/
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virtual void readParamDefaultMaxMin(const Name& name, Value& out_default,
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NumericValue& out_max, NumericValue& out_min) const
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{
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(void)name;
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(void)out_default;
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(void)out_max;
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(void)out_min;
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}
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/**
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* Save all params to non-volatile storage.
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* @return Negative if failed.
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*/
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virtual int saveAllParams() = 0;
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/**
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* Clear the non-volatile storage.
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* @return Negative if failed.
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*/
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virtual int eraseAllParams() = 0;
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/**
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* Convenience methods that can be used to check if a param value is empty.
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*/
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static bool isValueEmpty(const Value& val)
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{
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return val.value_bool.empty() &&
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val.value_int.empty() &&
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val.value_float.empty() &&
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val.value_string.empty();
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}
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static bool isValueEmpty(const NumericValue& val)
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{
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return val.value_int.empty() &&
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val.value_float.empty();
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}
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};
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/**
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* Convenience class for supporting the standard configuration services.
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* Highly recommended to use.
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*/
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class UAVCAN_EXPORT ParamServer
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{
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typedef MethodBinder<ParamServer*, void (ParamServer::*)(const protocol::param::GetSet::Request&,
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protocol::param::GetSet::Response&)> GetSetCallback;
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typedef MethodBinder<ParamServer*,
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void (ParamServer::*)(const protocol::param::ExecuteOpcode::Request&,
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protocol::param::ExecuteOpcode::Response&)> ExecuteOpcodeCallback;
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ServiceServer<protocol::param::GetSet, GetSetCallback> get_set_srv_;
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ServiceServer<protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> save_erase_srv_;
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IParamManager* manager_;
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void handleGetSet(const protocol::param::GetSet::Request& request, protocol::param::GetSet::Response& response);
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void handleExecuteOpcode(const protocol::param::ExecuteOpcode::Request& request,
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protocol::param::ExecuteOpcode::Response& response);
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public:
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explicit ParamServer(INode& node)
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: get_set_srv_(node)
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, save_erase_srv_(node)
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, manager_(NULL)
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{ }
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/**
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* Starts the parameter server with given param manager instance.
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* Returns negative error code.
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*/
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int start(IParamManager* manager);
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IParamManager* getParamManager() const { return manager_; }
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};
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}
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#endif // UAVCAN_PROTOCOL_PARAM_SERVER_HPP_INCLUDED
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