mavlink: parameters handling moved to MavlinkParametersManager class

11 years ago · 4722b609cc
2 changed files with 311 additions and 0 deletions
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@ -0,0 +1,197 @@
				@@ -0,0 +1,197 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_parameters.cpp
+ * Mavlink parameters manager implementation.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+//#include <stdlib.h>
+
+#include "mavlink_parameters.h"
+
+explicit
+MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
+	_send_all_index(-1)
+{
+}
+
+unsigned
+MavlinkParametersManager::get_size()
+{
+	if (_send_all_index() >= 0) {
+		return MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+
+	} else {
+		return 0;
+	}
+}
+
+void
+MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
+{
+	switch (msg->msgid) {
+	case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
+			/* request all parameters */
+			mavlink_param_request_list_t req_list;
+			mavlink_msg_param_request_list_decode(msg, &req_list);
+
+			if (req_list.target_system == mavlink_system.sysid &&
+			    (req_list.target_component == mavlink_system.compid || req_list.target_component == MAV_COMP_ID_ALL)) {
+
+				_send_all_index = 0;
+				_mavlink->send_statustext_info("[pm] sending list");
+			}
+			break;
+		}
+
+	case MAVLINK_MSG_ID_PARAM_SET: {
+			/* set parameter */
+			if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
+				mavlink_param_set_t set;
+				mavlink_msg_param_set_decode(msg, &set);
+
+				if (set.target_system == mavlink_system.sysid &&
+				    (set.target_component == mavlink_system.compid || set.target_component == MAV_COMP_ID_ALL)) {
+
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter, set and send it */
+					param_t param = param_find(name);
+
+					if (param == PARAM_INVALID) {
+						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
+						sprintf(buf, "[pm] unknown param: %s", name);
+						_mavlink->send_statustext_info(buf);
+
+					} else {
+						/* set and send parameter */
+						param_set(param, &(set.param_value));
+						send_param(param);
+					}
+				}
+			}
+			break;
+		}
+
+	case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
+			/* request one parameter */
+			mavlink_param_request_read_t req_read;
+			mavlink_msg_param_request_read_decode(msg, &req_read);
+
+			if (req_read.target_system == mavlink_system.sysid &&
+			    (req_read.target_component == mavlink_system.compid || req_read.target_component == MAV_COMP_ID_ALL)) {
+
+				/* when no index is given, loop through string ids and compare them */
+				if (req_read.param_index < 0) {
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, req_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter and send it */
+					send_param(param_find(name));
+
+				} else {
+					/* when index is >= 0, send this parameter again */
+					send_param(param_for_index(req_read.param_index));
+				}
+			}
+			break;
+		}
+
+	default:
+		break;
+	}
+}
+
+void
+MavlinkParametersManager::send(const hrt_abstime t)
+{
+	/* send all parameters if requested */
+	if (_send_all_index >= 0) {
+		send_param(param_for_index(_send_all_index));
+		_send_all_index++;
+		if (_send_all_index >= param_count()) {
+			_send_all_index = -1;
+		}
+	}
+}
+
+void
+MavlinkParametersManager::send_param(param_t param)
+{
+	if (param == PARAM_INVALID) {
+		return;
+	}
+
+	mavlink_param_value_t msg;
+
+	/*
+	 * get param value, since MAVLink encodes float and int params in the same
+	 * space during transmission, copy param onto float val_buf
+	 */
+	if (param_get(param, &msg.param_value) != OK) {
+		return;
+	}
+
+	msg.param_count = param_count();
+	msg.param_index = param_get_index(param);
+
+	/* copy parameter name */
+	strncpy(msg.param_id, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+
+	/* query parameter type */
+	param_type_t type = param_type(param);
+
+	/*
+	 * Map onboard parameter type to MAVLink type,
+	 * endianess matches (both little endian)
+	 */
+	if (type == PARAM_TYPE_INT32) {
+		msg.param_type = MAVLINK_TYPE_INT32_T;
+
+	} else if (type == PARAM_TYPE_FLOAT) {
+		msg.param_type = MAVLINK_TYPE_FLOAT;
+
+	} else {
+		msg.param_type = MAVLINK_TYPE_FLOAT;
+	}
+
+	_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
+}
--- a/src/modules/mavlink/mavlink_parameters.h
+++ b/src/modules/mavlink/mavlink_parameters.h
@ -0,0 +1,114 @@
				@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_parameters.h
+ * Mavlink parameters manager definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#pragma once
+
+#include "mavlink_stream.h"
+
+class MavlinkParametersManager : public MavlinkStream
+{
+public:
+	const char *get_name() const
+	{
+		return MavlinkParametersManager::get_name_static();
+	}
+
+	static const char *get_name_static()
+	{
+		return "PARAM_VALUE";
+	}
+
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_PARAM_VALUE;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkParametersManager(mavlink);
+	}
+
+	unsigned get_size();
+
+	void handle_message(const mavlink_message_t *msg);
+
+	/**
+	 * Send one parameter identified by index.
+	 *
+	 * @param index		The index of the parameter to send.
+	 * @return		zero on success, nonzero else.
+	 */
+	void		start_send_one(int index);
+
+
+	/**
+	 * Send one parameter identified by name.
+	 *
+	 * @param name		The index of the parameter to send.
+	 * @return		zero on success, nonzero else.
+	 */
+	int			start_send_for_name(const char *name);
+
+	/**
+	 * Start sending the parameter queue.
+	 *
+	 * This function will not directly send parameters, but instead
+	 * activate the sending of one parameter on each call of
+	 * mavlink_pm_queued_send().
+	 * @see 		mavlink_pm_queued_send()
+	 */
+	void		start_send_all();
+
+private:
+	int		_send_all_index;
+
+	/* do not allow top copying this class */
+	MavlinkParametersManager(MavlinkParametersManager &);
+	MavlinkParametersManager& operator = (const MavlinkParametersManager &);
+
+protected:
+	explicit MavlinkParametersManager(Mavlink *mavlink);
+
+	void subscribe() {}
+
+	void send(const hrt_abstime t);
+
+	void send_param(param_t param);
+};