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Allow for read-only parameters using @READONLY marker #12076

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merged 2 commits into from
Sep 12, 2019
Merged

Allow for read-only parameters using @READONLY marker #12076

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39ac96a
AP_Param: support @READONLY marker in param files
tridge Aug 19, 2019
c908ed3
GCS_MAVLink: refuse set of read-only parameters
tridge Aug 19, 2019
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65 changes: 57 additions & 8 deletions libraries/AP_Param/AP_Param.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ const AP_Param::Info *AP_Param::_var_info;

struct AP_Param::param_override *AP_Param::param_overrides = nullptr;
uint16_t AP_Param::num_param_overrides = 0;
uint16_t AP_Param::num_read_only = 0;

ObjectBuffer<AP_Param::param_save> AP_Param::save_queue{30};
bool AP_Param::registered_save_handler;
Expand Down Expand Up @@ -1243,8 +1244,11 @@ bool AP_Param::configured_in_storage(void) const
return scan(&phdr, &ofs) && (phdr.type == AP_PARAM_VECTOR3F || idx == 0);
}

bool AP_Param::configured_in_defaults_file(void) const
bool AP_Param::configured_in_defaults_file(bool &read_only) const
{
if (num_param_overrides == 0) {
return false;
}
uint32_t group_element = 0;
const struct GroupInfo *ginfo;
struct GroupNesting group_nesting {};
Expand All @@ -1257,13 +1261,32 @@ bool AP_Param::configured_in_defaults_file(void) const

for (uint16_t i=0; i<num_param_overrides; i++) {
if (this == param_overrides[i].object_ptr) {
read_only = param_overrides[i].read_only;
return true;
}
}

return false;
}

bool AP_Param::configured(void) const
{
bool read_only;
return configured_in_defaults_file(read_only) || configured_in_storage();
}

bool AP_Param::is_read_only(void) const
{
if (num_read_only == 0) {
return false;
}
bool read_only;
if (configured_in_defaults_file(read_only)) {
return read_only;
}
return false;
}

// set a AP_Param variable to a specified value
void AP_Param::set_value(enum ap_var_type type, void *ptr, float value)
{
Expand Down Expand Up @@ -1849,25 +1872,37 @@ void AP_Param::set_float(float value, enum ap_var_type var_type)
/*
parse a parameter file line
*/
bool AP_Param::parse_param_line(char *line, char **vname, float &value)
bool AP_Param::parse_param_line(char *line, char **vname, float &value, bool &read_only)
{
if (line[0] == '#') {
return false;
}
char *saveptr = nullptr;
char *pname = strtok_r(line, ", =\t", &saveptr);
/*
note that we need the \r\n as delimiters to prevent us getting
strings with line termination in the results
*/
char *pname = strtok_r(line, ", =\t\r\n", &saveptr);
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if (pname == nullptr) {
return false;
}
if (strlen(pname) > AP_MAX_NAME_SIZE) {
return false;
}
const char *value_s = strtok_r(nullptr, ", =\t", &saveptr);
const char *value_s = strtok_r(nullptr, ", =\t\r\n", &saveptr);
if (value_s == nullptr) {
return false;
}
value = atof(value_s);
*vname = pname;

const char *flags_s = strtok_r(nullptr, ", =\t\r\n", &saveptr);
if (flags_s && strcmp(flags_s, "@READONLY") == 0) {
read_only = true;
} else {
read_only = false;
}

return true;
}

Expand All @@ -1890,7 +1925,8 @@ bool AP_Param::count_defaults_in_file(const char *filename, uint16_t &num_defaul
while (fgets(line, sizeof(line)-1, f)) {
char *pname;
float value;
if (!parse_param_line(line, &pname, value)) {
bool read_only;
if (!parse_param_line(line, &pname, value, read_only)) {
continue;
}
enum ap_var_type var_type;
Expand Down Expand Up @@ -1918,7 +1954,8 @@ bool AP_Param::read_param_defaults_file(const char *filename, bool last_pass)
while (fgets(line, sizeof(line)-1, f)) {
char *pname;
float value;
if (!parse_param_line(line, &pname, value)) {
bool read_only;
if (!parse_param_line(line, &pname, value, read_only)) {
continue;
}
enum ap_var_type var_type;
Expand All @@ -1935,6 +1972,10 @@ bool AP_Param::read_param_defaults_file(const char *filename, bool last_pass)
}
param_overrides[idx].object_ptr = vp;
param_overrides[idx].value = value;
param_overrides[idx].read_only = read_only;
if (read_only) {
num_read_only++;
}
idx++;
if (!vp->configured_in_storage()) {
vp->set_float(value, var_type);
Expand Down Expand Up @@ -1972,6 +2013,7 @@ bool AP_Param::load_defaults_file(const char *filename, bool last_pass)

delete[] param_overrides;
num_param_overrides = 0;
num_read_only = 0;

param_overrides = new param_override[num_defaults];
if (param_overrides == nullptr) {
Expand Down Expand Up @@ -2019,6 +2061,7 @@ bool AP_Param::count_embedded_param_defaults(uint16_t &count)
char line[100];
char *pname;
float value;
bool read_only;
uint16_t i;
uint16_t n = MIN(length, sizeof(line)-1);
for (i=0;i<n;i++) {
Expand All @@ -2041,7 +2084,7 @@ bool AP_Param::count_embedded_param_defaults(uint16_t &count)
continue;
}

if (!parse_param_line(line, &pname, value)) {
if (!parse_param_line(line, &pname, value, read_only)) {
continue;
}

Expand All @@ -2065,6 +2108,7 @@ void AP_Param::load_embedded_param_defaults(bool last_pass)
delete[] param_overrides;
param_overrides = nullptr;
num_param_overrides = 0;
num_read_only = 0;

uint16_t num_defaults = 0;
if (!count_embedded_param_defaults(num_defaults)) {
Expand All @@ -2085,6 +2129,7 @@ void AP_Param::load_embedded_param_defaults(bool last_pass)
char line[100];
char *pname;
float value;
bool read_only;
uint16_t i;
uint16_t n = MIN(length, sizeof(line)-1);
for (i=0;i<n;i++) {
Expand All @@ -2106,7 +2151,7 @@ void AP_Param::load_embedded_param_defaults(bool last_pass)
continue;
}

if (!parse_param_line(line, &pname, value)) {
if (!parse_param_line(line, &pname, value, read_only)) {
continue;
}
enum ap_var_type var_type;
Expand All @@ -2123,6 +2168,10 @@ void AP_Param::load_embedded_param_defaults(bool last_pass)
}
param_overrides[idx].object_ptr = vp;
param_overrides[idx].value = value;
param_overrides[idx].read_only = read_only;
if (read_only) {
num_read_only++;
}
idx++;
if (!vp->configured_in_storage()) {
vp->set_float(value, var_type);
Expand Down
11 changes: 8 additions & 3 deletions libraries/AP_Param/AP_Param.h
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Original file line number Diff line number Diff line change
Expand Up @@ -426,14 +426,17 @@ class AP_Param
static bool check_var_info(void);

// return true if the parameter is configured in the defaults file
bool configured_in_defaults_file(void) const;
bool configured_in_defaults_file(bool &read_only) const;

// return true if the parameter is configured in EEPROM/FRAM
bool configured_in_storage(void) const;

// return true if the parameter is configured
bool configured(void) const { return configured_in_defaults_file() || configured_in_storage(); }
bool configured(void) const;

// return true if the parameter is read-only
bool is_read_only(void) const;

// count of parameters in tree
static uint16_t count_parameters(void);

Expand Down Expand Up @@ -601,7 +604,7 @@ class AP_Param
// find a default value given a pointer to a default value in flash
static float get_default_value(const AP_Param *object_ptr, const float *def_value_ptr);

static bool parse_param_line(char *line, char **vname, float &value);
static bool parse_param_line(char *line, char **vname, float &value, bool &read_only);

#if HAL_OS_POSIX_IO == 1
/*
Expand Down Expand Up @@ -632,9 +635,11 @@ class AP_Param
struct param_override {
const AP_Param *object_ptr;
float value;
bool read_only; // param is marked @READONLY
};
static struct param_override *param_overrides;
static uint16_t num_param_overrides;
static uint16_t num_read_only;

// values filled into the EEPROM header
static const uint8_t k_EEPROM_magic0 = 0x50;
Expand Down
2 changes: 1 addition & 1 deletion libraries/GCS_MAVLink/GCS_Param.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,7 +276,7 @@ void GCS_MAVLINK::handle_param_set(const mavlink_message_t &msg)

float old_value = vp->cast_to_float(var_type);

if (parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) {
if ((parameter_flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) || vp->is_read_only()) {
gcs().send_text(MAV_SEVERITY_WARNING, "Param write denied (%s)", key);
// echo back the incorrect value so that we fulfull the
// parameter state machine requirements:
Expand Down