ParamManager.cpp
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/****************************************************************************
*
* Copyright (c) 2021 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 ParamManager.cpp
*
* Implements basic functionality of UAVCAN parameter management class
*
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#include "ParamManager.hpp"
bool UavcanParamManager::GetParamByName(const char *param_name, uavcan_register_Value_1_0 &value)
{
for (auto ¶m : _uavcan_params) {
if (strcmp(param_name, param.uavcan_name) == 0) {
param_t param_handle = param_find(param.px4_name);
if (param_handle == PARAM_INVALID) {
return false;
}
/// TODO: What will be our approach for handling other UAVCAN data-value types?
switch (param_type(param_handle)) {
case PARAM_TYPE_INT32: {
int32_t out_val {};
param_get(param_handle, &out_val);
value.integer32.value.elements[0] = out_val;
uavcan_register_Value_1_0_select_integer32_(&value);
break;
}
case PARAM_TYPE_FLOAT: {
float out_val {};
param_get(param_handle, &out_val);
value.real32.value.elements[0] = out_val;
uavcan_register_Value_1_0_select_real32_(&value);
break;
}
}
return true;
}
}
return false;
}
bool UavcanParamManager::GetParamByName(const uavcan_register_Name_1_0 &name, uavcan_register_Value_1_0 &value)
{
for (auto ¶m : _uavcan_params) {
if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) {
param_t param_handle = param_find(param.px4_name);
if (param_handle == PARAM_INVALID) {
return false;
}
/// TODO: What will be our approach for handling other UAVCAN data-value types?
switch (param_type(param_handle)) {
case PARAM_TYPE_INT32: {
int32_t out_val {};
param_set(param_handle, &out_val);
value.integer32.value.elements[0] = out_val;
uavcan_register_Value_1_0_select_integer32_(&value);
break;
}
case PARAM_TYPE_FLOAT: {
float out_val {};
param_set(param_handle, &out_val);
value.real32.value.elements[0] = out_val;
uavcan_register_Value_1_0_select_real32_(&value);
break;
}
}
return true;
}
}
return false;
}
bool UavcanParamManager::SetParamByName(const uavcan_register_Name_1_0 &name, const uavcan_register_Value_1_0 &value)
{
for (auto ¶m : _uavcan_params) {
if (strncmp((char *)name.name.elements, param.uavcan_name, name.name.count) == 0) {
param_t param_handle = param_find(param.px4_name);
if (param_handle == PARAM_INVALID) {
return false;
}
switch (param_type(param_handle)) {
case PARAM_TYPE_INT32: {
int32_t in_val = value.integer32.value.elements[0];
param_set(param_handle, &in_val);
break;
}
case PARAM_TYPE_FLOAT: {
float in_val = value.natural32.value.elements[0];
param_set(param_handle, &in_val);
break;
}
}
return true;
}
}
return false;
}