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parameters: fix runtime default edge case

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This commit is contained in:
Daniel Agar
2021-03-09 13:38:35 -05:00
parent ceb445caa0
commit a991e78e18
2 changed files with 102 additions and 81 deletions
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src/lib/parameters/CMakeLists.txt
+1 -1
View File
@@ -77,7 +77,7 @@ if (px4_constrained_flash_build)
endif()
if(PX4_ETHERNET)
set(added_arguments ${added_arguments} --ethernet)
endif()
endif()
add_custom_command(OUTPUT ${generated_serial_params_file}
COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
src/lib/parameters/parameters.cpp
+101 -80
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2021 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file param.c
* @file parameters.cpp
*
* Global parameter store.
*
@@ -419,11 +419,6 @@ bool param_is_volatile(param_t param)
return false;
}
bool param_value_is_default(param_t param)
{
return handle_in_range(param) && !params_changed[param];
}
bool
param_value_unsaved(param_t param)
{
@@ -573,6 +568,53 @@ param_get_default_value(param_t param, void *default_val)
return ret;
}
bool param_value_is_default(param_t param)
{
if (handle_in_range(param)) {
switch (param_type(param)) {
case PARAM_TYPE_INT32: {
param_lock_reader();
int32_t default_value = 0;
if (param_get_default_value_internal(param, &default_value) == PX4_OK) {
const void *v = param_get_value_ptr(param);
if (v) {
int32_t current_value;
memcpy(&current_value, v, param_size(param));
param_unlock_reader();
return (current_value == default_value);
}
}
param_unlock_reader();
}
break;
case PARAM_TYPE_FLOAT: {
param_lock_reader();
float default_value = 0;
if (param_get_default_value_internal(param, &default_value) == PX4_OK) {
const void *v = param_get_value_ptr(param);
if (v) {
float current_value;
memcpy(&current_value, v, param_size(param));
param_unlock_reader();
return (fabsf(current_value - default_value) <= FLT_EPSILON);
}
}
param_unlock_reader();
}
break;
}
}
return false;
}
/**
* worker callback method to save the parameters
* @param arg unused
@@ -689,84 +731,45 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
goto out;
} else {
// check if param being set to default value
bool set_to_default = false;
switch (param_type(param)) {
case PARAM_TYPE_INT32: {
int32_t default_val = 0;
if (param_get_default_value_internal(param, &default_val) == PX4_OK) {
set_to_default = (default_val == *(int32_t *)val);
}
}
break;
case PARAM_TYPE_FLOAT: {
float default_val = 0;
if (param_get_default_value_internal(param, &default_val) == PX4_OK) {
set_to_default = (fabsf(default_val - * (float *)val) < FLT_EPSILON);
}
}
break;
}
param_wbuf_s *s = param_find_changed(param);
if (set_to_default) {
if (s != nullptr) {
// param is being set non-default -> default, simply clear storage
int pos = utarray_eltidx(param_values, s);
utarray_erase(param_values, pos, 1);
param_changed = true;
if (s == nullptr) {
/* construct a new parameter */
param_wbuf_s buf{};
buf.param = param;
} else {
// do nothing if param not already set and being set to default
}
param_changed = true;
params_changed.set(param, false);
result = PX4_OK;
/* add it to the array and sort */
utarray_push_back(param_values, &buf);
utarray_sort(param_values, param_compare_values);
params_changed.set(param, true);
} else {
if (s == nullptr) {
/* construct a new parameter */
param_wbuf_s buf{};
buf.param = param;
/* find it after sorting */
s = param_find_changed(param);
}
param_changed = true;
/* add it to the array and sort */
utarray_push_back(param_values, &buf);
utarray_sort(param_values, param_compare_values);
if (s != nullptr) {
/* update the changed value */
switch (param_type(param)) {
case PARAM_TYPE_INT32:
param_changed = param_changed || s->val.i != *(int32_t *)val;
s->val.i = *(int32_t *)val;
s->unsaved = !mark_saved;
params_changed.set(param, true);
result = PX4_OK;
break;
/* find it after sorting */
s = param_find_changed(param);
}
case PARAM_TYPE_FLOAT:
param_changed = param_changed || fabsf(s->val.f - * (float *)val) > FLT_EPSILON;
s->val.f = *(float *)val;
s->unsaved = !mark_saved;
params_changed.set(param, true);
result = PX4_OK;
break;
if (s != nullptr) {
/* update the changed value */
switch (param_type(param)) {
case PARAM_TYPE_INT32:
param_changed = param_changed || s->val.i != *(int32_t *)val;
s->val.i = *(int32_t *)val;
s->unsaved = !mark_saved;
params_changed.set(param, true);
result = PX4_OK;
break;
case PARAM_TYPE_FLOAT:
param_changed = param_changed || fabsf(s->val.f - * (float *)val) > FLT_EPSILON;
s->val.f = *(float *)val;
s->unsaved = !mark_saved;
params_changed.set(param, true);
result = PX4_OK;
break;
default:
break;
}
default:
break;
}
}
@@ -937,7 +940,6 @@ int param_set_default_value(param_t param, const void *val)
return result;
}
static int param_reset_internal(param_t param, bool notify = true)
{
param_wbuf_s *s = nullptr;
@@ -946,7 +948,6 @@ static int param_reset_internal(param_t param, bool notify = true)
param_lock_writer();
if (handle_in_range(param)) {
/* look for a saved value */
s = param_find_changed(param);
@@ -1218,8 +1219,28 @@ param_export(int fd, bool only_unsaved, param_filter_func filter)
}
// don't export default values
if (param_value_is_default(s->param)) {
continue;
switch (param_type(s->param)) {
case PARAM_TYPE_INT32: {
int32_t default_value = 0;
param_get_default_value_internal(s->param, &default_value);
if (s->val.i == default_value) {
PX4_DEBUG("skipping %s %d export", param_name(s->param), default_value);
continue;
}
}
break;
case PARAM_TYPE_FLOAT: {
float default_value = 0;
param_get_default_value_internal(s->param, &default_value);
if (fabsf(s->val.f - default_value) <= FLT_EPSILON) {
PX4_DEBUG("skipping %s %.3f export", param_name(s->param), (double)default_value);
continue;
}
}
break;
}
s->unsaved = false;