ParamManager.hpp
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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.hpp
*
* Defines basic functionality of UAVCAN parameter management class
*
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#pragma once
#include <lib/parameters/param.h>
#include <uavcan/_register/Name_1_0.h>
#include <uavcan/_register/Value_1_0.h>
typedef struct {
const char *uavcan_name;
const char *px4_name;
bool is_mutable {true};
bool is_persistent {true};
} UavcanParamBinder;
class UavcanParamManager
{
public:
bool GetParamByName(const char *param_name, uavcan_register_Value_1_0 &value);
bool GetParamByName(const uavcan_register_Name_1_0 &name, uavcan_register_Value_1_0 &value);
bool SetParamByName(const uavcan_register_Name_1_0 &name, const uavcan_register_Value_1_0 &value);
private:
const UavcanParamBinder _uavcan_params[8] {
{"uavcan.pub.esc.0.id", "UCAN1_ESC_PUB"},
{"uavcan.pub.servo.0.id", "UCAN1_SERVO_PUB"},
{"uavcan.pub.gps.0.id", "UCAN1_GPS_PUB"},
{"uavcan.sub.esc.0.id", "UCAN1_ESC0_PID"},
{"uavcan.sub.gps.0.id", "UCAN1_GPS0_PID"},
{"uavcan.sub.gps.1.id", "UCAN1_GPS1_PID"},
{"uavcan.sub.bms.0.id", "UCAN1_BMS0_PID"},
{"uavcan.sub.bms.1.id", "UCAN1_BMS1_PID"},
};
};