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param.cpp
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param.cpp
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/**
* @brief Parameter plugin
* @file param.cpp
* @author Vladimir Ermakov <vooon341@gmail.com>
*
* @addtogroup plugin
* @{
*/
/*
* Copyright 2014,2015,2016 Vladimir Ermakov.
*
* This file is part of the mavros package and subject to the license terms
* in the top-level LICENSE file of the mavros repository.
* https://github.com/mavlink/mavros/tree/master/LICENSE.md
*/
#include <chrono>
#include <condition_variable>
#include <mavros/mavros_plugin.h>
#include <mavros_msgs/ParamSet.h>
#include <mavros_msgs/ParamGet.h>
#include <mavros_msgs/ParamPull.h>
#include <mavros_msgs/ParamPush.h>
#include <mavros_msgs/Param.h>
namespace mavros {
namespace std_plugins {
using utils::enum_value;
/**
* @brief Parameter storage
*
* Stores parameter value.
*
* APM uses:
* - int8 (primary for bools)
* - int16 ???
* - int32 for int's
* - real32 for float's
*
* PX4:
* - int32 for int's
* - real32 for float's
*
* So no reason to really use boost::any.
* But feel free to fire an issue if your AP do not like it.
*/
class Parameter {
public:
using MT = mavlink::common::MAV_PARAM_TYPE;
using PARAM_SET = mavlink::common::msg::PARAM_SET;
using XmlRpcValue = XmlRpc::XmlRpcValue;
std::string param_id;
XmlRpcValue param_value;
uint16_t param_index;
uint16_t param_count;
void set_value(mavlink::common::msg::PARAM_VALUE &pmsg)
{
mavlink::mavlink_param_union_t uv;
uv.param_float = pmsg.param_value;
// #170 - copy union value to itermediate var
int int_tmp;
float float_tmp;
switch (pmsg.param_type) {
// [[[cog:
// param_types = [ (s, 'float' if s == 'real32' else s) for s in (
// 'int8', 'uint8',
// 'int16', 'uint16',
// 'int32', 'uint32',
// 'real32',
// )]
// unsupported_types = ('int64', 'uint64', 'real64')
//
// for a, b in param_types:
// btype = 'int' if 'int' in b else b
// cog.outl("case enum_value(MT::%s):" % a.upper())
// cog.outl("\t%s_tmp = uv.param_%s;" % (btype, b))
// cog.outl("\tparam_value = %s_tmp;" % btype)
// cog.outl("\tbreak;")
// ]]]
case enum_value(MT::INT8):
int_tmp = uv.param_int8;
param_value = int_tmp;
break;
case enum_value(MT::UINT8):
int_tmp = uv.param_uint8;
param_value = int_tmp;
break;
case enum_value(MT::INT16):
int_tmp = uv.param_int16;
param_value = int_tmp;
break;
case enum_value(MT::UINT16):
int_tmp = uv.param_uint16;
param_value = int_tmp;
break;
case enum_value(MT::INT32):
int_tmp = uv.param_int32;
param_value = int_tmp;
break;
case enum_value(MT::UINT32):
int_tmp = uv.param_uint32;
param_value = int_tmp;
break;
case enum_value(MT::REAL32):
float_tmp = uv.param_float;
param_value = float_tmp;
break;
// [[[end]]] (checksum: 5950e4ee032d4aa198b953f56909e129)
default:
ROS_WARN_NAMED("param", "PM: Unsupported param %.16s (%u/%u) type: %u",
pmsg.param_id.data(), pmsg.param_index, pmsg.param_count, pmsg.param_type);
param_value = 0;
};
}
/**
* Variation of set_value with quirks for ArduPilotMega
*/
void set_value_apm_quirk(mavlink::common::msg::PARAM_VALUE &pmsg)
{
int32_t int_tmp;
float float_tmp;
switch (pmsg.param_type) {
// [[[cog:
// for a, b in param_types:
// btype = 'int' if 'int' in b else b
// cog.outl("case enum_value(MT::%s):" % a.upper())
// cog.outl("\t%s_tmp = pmsg.param_value;" % btype)
// cog.outl("\tparam_value = %s_tmp;" % btype)
// cog.outl("\tbreak;")
// ]]]
case enum_value(MT::INT8):
int_tmp = pmsg.param_value;
param_value = int_tmp;
break;
case enum_value(MT::UINT8):
int_tmp = pmsg.param_value;
param_value = int_tmp;
break;
case enum_value(MT::INT16):
int_tmp = pmsg.param_value;
param_value = int_tmp;
break;
case enum_value(MT::UINT16):
int_tmp = pmsg.param_value;
param_value = int_tmp;
break;
case enum_value(MT::INT32):
int_tmp = pmsg.param_value;
param_value = int_tmp;
break;
case enum_value(MT::UINT32):
int_tmp = pmsg.param_value;
param_value = int_tmp;
break;
case enum_value(MT::REAL32):
float_tmp = pmsg.param_value;
param_value = float_tmp;
break;
// [[[end]]] (checksum: c30ee34dd84213471690612ab49f1f73)
default:
ROS_WARN_NAMED("param", "PM: Unsupported param %.16s (%u/%u) type: %u",
pmsg.param_id.data(), pmsg.param_index, pmsg.param_count, pmsg.param_type);
param_value = 0;
}
}
//! Make PARAM_SET message. Set target ids manually!
PARAM_SET to_param_set()
{
// Note: XmlRpcValue does not have const cast operators.
// This method can't be const.
mavlink::mavlink_param_union_t uv;
PARAM_SET ret{};
mavlink::set_string(ret.param_id, param_id);
switch (param_value.getType()) {
// [[[cog:
// xmlrpc_types = (
// ('TypeBoolean', 'uint8', 'bool'),
// ('TypeInt', 'int32', 'int32_t'),
// ('TypeDouble', 'real32', 'double'),
// )
//
// for a, b, c in xmlrpc_types:
// uvb = 'float' if 'real32' == b else b
// cog.outl("case XmlRpcValue::%s:" % a)
// cog.outl("\tuv.param_%s = static_cast<%s>(param_value);" % (uvb, c))
// cog.outl("\tret.param_type = enum_value(MT::%s);" % b.upper())
// cog.outl("\tbreak;")
// ]]]
case XmlRpcValue::TypeBoolean:
uv.param_uint8 = static_cast<bool>(param_value);
ret.param_type = enum_value(MT::UINT8);
break;
case XmlRpcValue::TypeInt:
uv.param_int32 = static_cast<int32_t>(param_value);
ret.param_type = enum_value(MT::INT32);
break;
case XmlRpcValue::TypeDouble:
uv.param_float = static_cast<double>(param_value);
ret.param_type = enum_value(MT::REAL32);
break;
// [[[end]]] (checksum: c414a3950fba234cbbe694a2576ae022)
default:
ROS_WARN_NAMED("param", "PR: Unsupported XmlRpcValue type: %u", param_value.getType());
}
ret.param_value = uv.param_float;
return ret;
}
//! Make PARAM_SET message. Set target ids manually!
PARAM_SET to_param_set_apm_qurk()
{
PARAM_SET ret{};
mavlink::set_string(ret.param_id, param_id);
switch (param_value.getType()) {
// [[[cog:
// for a, b, c in xmlrpc_types:
// cog.outl("case XmlRpcValue::%s:" % a)
// cog.outl("\tret.param_value = static_cast<%s &>(param_value);" % c)
// cog.outl("\tret.param_type = enum_value(MT::%s);" % b.upper())
// cog.outl("\tbreak;")
// ]]]
case XmlRpcValue::TypeBoolean:
ret.param_value = static_cast<bool &>(param_value);
ret.param_type = enum_value(MT::UINT8);
break;
case XmlRpcValue::TypeInt:
ret.param_value = static_cast<int32_t &>(param_value);
ret.param_type = enum_value(MT::INT32);
break;
case XmlRpcValue::TypeDouble:
ret.param_value = static_cast<double &>(param_value);
ret.param_type = enum_value(MT::REAL32);
break;
// [[[end]]] (checksum: 5b10c0e1f2e916f1c31313eaa5cc83e0)
default:
ROS_WARN_NAMED("param", "PR: Unsupported XmlRpcValue type: %u", param_value.getType());
}
return ret;
}
/**
* For get/set services
*/
int64_t to_integer()
{
switch (param_value.getType()) {
// [[[cog:
// for a, b, c in xmlrpc_types:
// if 'int' not in b:
// continue
// cog.outl("case XmlRpcValue::%s:\treturn static_cast<%s>(param_value);" % (a, c))
// ]]]
case XmlRpcValue::TypeBoolean: return static_cast<bool>(param_value);
case XmlRpcValue::TypeInt: return static_cast<int32_t>(param_value);
// [[[end]]] (checksum: ce23a3bc04354d8cfcb82341beb83709)
default:
return 0;
}
}
double to_real()
{
if (param_value.getType() == XmlRpcValue::TypeDouble)
return static_cast<double>(param_value);
else
return 0.0;
}
// for debugging
std::string to_string() const
{
return utils::format("%s (%u/%u): %s", param_id.c_str(), param_index, param_count, param_value.toXml().c_str());
}
mavros_msgs::Param to_msg()
{
mavros_msgs::Param msg;
// XXX(vooon): find better solution
msg.header.stamp = ros::Time::now();
msg.param_id = param_id;
msg.value.integer = to_integer();
msg.value.real = to_real();
msg.param_index = param_index;
msg.param_count = param_count;
return msg;
}
/**
* Exclude this parameters from ~param/push
*/
static bool check_exclude_param_id(std::string param_id)
{
return param_id == "SYSID_SW_MREV" ||
param_id == "SYS_NUM_RESETS" ||
param_id == "ARSPD_OFFSET" ||
param_id == "GND_ABS_PRESS" ||
param_id == "GND_ABS_PRESS2" ||
param_id == "GND_ABS_PRESS3" ||
param_id == "STAT_BOOTCNT" ||
param_id == "STAT_FLTTIME" ||
param_id == "STAT_RESET" ||
param_id == "STAT_RUNTIME" ||
param_id == "GND_TEMP" ||
param_id == "CMD_TOTAL" ||
param_id == "CMD_INDEX" ||
param_id == "LOG_LASTFILE" ||
param_id == "FENCE_TOTAL" ||
param_id == "FORMAT_VERSION";
}
};
/**
* @brief Parameter set transaction data
*/
class ParamSetOpt {
public:
ParamSetOpt(Parameter &_p, size_t _rem) :
param(_p),
retries_remaining(_rem),
is_timedout(false)
{ }
Parameter param;
size_t retries_remaining;
bool is_timedout;
std::mutex cond_mutex;
std::condition_variable ack;
};
/**
* @brief Parameter manipulation plugin
*/
class ParamPlugin : public plugin::PluginBase {
public:
ParamPlugin() : PluginBase(),
param_nh("~param"),
BOOTUP_TIME_DT(BOOTUP_TIME_MS / 1000.0),
LIST_TIMEOUT_DT(LIST_TIMEOUT_MS / 1000.0),
PARAM_TIMEOUT_DT(PARAM_TIMEOUT_MS / 1000.0),
RETRIES_COUNT(_RETRIES_COUNT),
param_count(-1),
param_state(PR::IDLE),
param_rx_retries(RETRIES_COUNT),
is_timedout(false)
{ }
void initialize(UAS &uas_) override
{
PluginBase::initialize(uas_);
pull_srv = param_nh.advertiseService("pull", &ParamPlugin::pull_cb, this);
push_srv = param_nh.advertiseService("push", &ParamPlugin::push_cb, this);
set_srv = param_nh.advertiseService("set", &ParamPlugin::set_cb, this);
get_srv = param_nh.advertiseService("get", &ParamPlugin::get_cb, this);
param_value_pub = param_nh.advertise<mavros_msgs::Param>("param_value", 100);
shedule_timer = param_nh.createTimer(BOOTUP_TIME_DT, &ParamPlugin::shedule_cb, this, true);
shedule_timer.stop();
timeout_timer = param_nh.createTimer(PARAM_TIMEOUT_DT, &ParamPlugin::timeout_cb, this, true);
timeout_timer.stop();
enable_connection_cb();
}
Subscriptions get_subscriptions() override
{
return {
make_handler(&ParamPlugin::handle_param_value),
};
}
private:
using lock_guard = std::lock_guard<std::recursive_mutex>;
using unique_lock = std::unique_lock<std::recursive_mutex>;
std::recursive_mutex mutex;
ros::NodeHandle param_nh;
ros::ServiceServer pull_srv;
ros::ServiceServer push_srv;
ros::ServiceServer set_srv;
ros::ServiceServer get_srv;
ros::Publisher param_value_pub;
ros::Timer shedule_timer; //!< for startup shedule fetch
ros::Timer timeout_timer; //!< for timeout resend
static constexpr int BOOTUP_TIME_MS = 10000; //!< APM boot time
static constexpr int PARAM_TIMEOUT_MS = 1000; //!< Param wait time
static constexpr int LIST_TIMEOUT_MS = 30000; //!< Receive all time
static constexpr int _RETRIES_COUNT = 3;
const ros::Duration BOOTUP_TIME_DT;
const ros::Duration LIST_TIMEOUT_DT;
const ros::Duration PARAM_TIMEOUT_DT;
const int RETRIES_COUNT;
std::unordered_map<std::string, Parameter> parameters;
std::list<uint16_t> parameters_missing_idx;
std::unordered_map<std::string, std::shared_ptr<ParamSetOpt>> set_parameters;
ssize_t param_count;
enum class PR {
IDLE,
RXLIST,
RXPARAM,
RXPARAM_TIMEDOUT,
TXPARAM
};
PR param_state;
size_t param_rx_retries;
bool is_timedout;
std::mutex list_cond_mutex;
std::condition_variable list_receiving;
/* -*- message handlers -*- */
void handle_param_value(const mavlink::mavlink_message_t *msg, mavlink::common::msg::PARAM_VALUE &pmsg)
{
lock_guard lock(mutex);
auto param_id = mavlink::to_string(pmsg.param_id);
// search
auto param_it = parameters.find(param_id);
if (param_it != parameters.end()) {
// parameter exists
auto &p = param_it->second;
if (m_uas->is_ardupilotmega())
p.set_value_apm_quirk(pmsg);
else
p.set_value(pmsg);
// check that ack required
auto set_it = set_parameters.find(param_id);
if (set_it != set_parameters.end()) {
set_it->second->ack.notify_all();
}
param_value_pub.publish(p.to_msg());
ROS_WARN_STREAM_COND_NAMED(
((p.param_index != pmsg.param_index &&
pmsg.param_index != UINT16_MAX) ||
p.param_count != pmsg.param_count),
"param",
"PR: Param " << p.to_string() << " different index: " << pmsg.param_index << "/" << pmsg.param_count);
ROS_DEBUG_STREAM_NAMED("param", "PR: Update param " << p.to_string());
}
else {
// insert new element
Parameter p{};
p.param_id = param_id;
p.param_index = pmsg.param_index;
p.param_count = pmsg.param_count;
if (m_uas->is_ardupilotmega())
p.set_value_apm_quirk(pmsg);
else
p.set_value(pmsg);
parameters[param_id] = p;
param_value_pub.publish(p.to_msg());
ROS_DEBUG_STREAM_NAMED("param", "PR: New param " << p.to_string());
}
if (param_state == PR::RXLIST || param_state == PR::RXPARAM || param_state == PR::RXPARAM_TIMEDOUT) {
// we received first param. setup list timeout
if (param_state == PR::RXLIST) {
param_count = pmsg.param_count;
param_state = PR::RXPARAM;
parameters_missing_idx.clear();
if (param_count != UINT16_MAX) {
ROS_DEBUG_NAMED("param", "PR: waiting %zu parameters", param_count);
// declare that all parameters are missing
for (uint16_t idx = 0; idx < param_count; idx++)
parameters_missing_idx.push_back(idx);
}
else
ROS_WARN_NAMED("param", "PR: FCU does not know index for first element! "
"Param list may be truncated.");
}
// trying to avoid endless rerequest loop
// Issue #276
bool it_is_first_requested = parameters_missing_idx.front() == pmsg.param_index;
// remove idx for that message
parameters_missing_idx.remove(pmsg.param_index);
// in receiving mode we use param_rx_retries for LIST and PARAM
if (it_is_first_requested) {
ROS_DEBUG_NAMED("param", "PR: got a value of a requested param idx=%u, "
"resetting retries count", pmsg.param_index);
param_rx_retries = RETRIES_COUNT;
} else if (param_state == PR::RXPARAM_TIMEDOUT) {
ROS_INFO_NAMED("param", "PR: got an unsolicited param value idx=%u, "
"not resetting retries count %zu", pmsg.param_index, param_rx_retries);
}
restart_timeout_timer();
/* index starting from 0, receivig done */
if (parameters_missing_idx.empty()) {
ssize_t missed = param_count - parameters.size();
ROS_INFO_COND_NAMED(missed == 0, "param", "PR: parameters list received");
ROS_WARN_COND_NAMED(missed > 0, "param",
"PR: parameters list received, but %zd parametars are missed",
missed);
go_idle();
list_receiving.notify_all();
} else if (param_state == PR::RXPARAM_TIMEDOUT) {
uint16_t first_miss_idx = parameters_missing_idx.front();
ROS_DEBUG_NAMED("param", "PR: requesting next timed out parameter idx=%u", first_miss_idx);
param_request_read("", first_miss_idx);
}
}
}
/* -*- low-level send function -*- */
void param_request_list()
{
ROS_DEBUG_NAMED("param", "PR:m: request list");
mavlink::common::msg::PARAM_REQUEST_LIST rql{};
m_uas->msg_set_target(rql);
UAS_FCU(m_uas)->send_message_ignore_drop(rql);
}
void param_request_read(std::string id, int16_t index = -1)
{
ROS_ASSERT(index >= -1);
ROS_DEBUG_NAMED("param", "PR:m: request '%s', idx %d", id.c_str(), index);
mavlink::common::msg::PARAM_REQUEST_READ rqr{};
m_uas->msg_set_target(rqr);
rqr.param_index = index;
if (index != -1) {
mavlink::set_string(rqr.param_id, id);
}
UAS_FCU(m_uas)->send_message_ignore_drop(rqr);
}
void param_set(Parameter ¶m)
{
ROS_DEBUG_STREAM_NAMED("param", "PR:m: set param " << param.to_string());
// GCC 4.8 can't type out lambda return
auto ps = ([this, ¶m]() -> mavlink::common::msg::PARAM_SET {
if (m_uas->is_ardupilotmega())
return param.to_param_set_apm_qurk();
else
return param.to_param_set();
})();
m_uas->msg_set_target(ps);
UAS_FCU(m_uas)->send_message_ignore_drop(ps);
}
/* -*- mid-level functions -*- */
void connection_cb(bool connected) override
{
lock_guard lock(mutex);
if (connected) {
shedule_pull(BOOTUP_TIME_DT);
}
else {
shedule_timer.stop();
}
}
void shedule_pull(const ros::Duration &dt)
{
shedule_timer.stop();
shedule_timer.setPeriod(dt);
shedule_timer.start();
}
void shedule_cb(const ros::TimerEvent &event)
{
lock_guard lock(mutex);
if (param_state != PR::IDLE) {
// try later
ROS_DEBUG_NAMED("param", "PR: busy, reshedule pull");
shedule_pull(BOOTUP_TIME_DT);
}
ROS_DEBUG_NAMED("param", "PR: start sheduled pull");
param_state = PR::RXLIST;
param_rx_retries = RETRIES_COUNT;
parameters.clear();
restart_timeout_timer();
param_request_list();
}
void timeout_cb(const ros::TimerEvent &event)
{
lock_guard lock(mutex);
if (param_state == PR::RXLIST && param_rx_retries > 0) {
param_rx_retries--;
ROS_WARN_NAMED("param", "PR: request list timeout, retries left %zu", param_rx_retries);
restart_timeout_timer();
param_request_list();
}
else if (param_state == PR::RXPARAM || param_state == PR::RXPARAM_TIMEDOUT) {
if (parameters_missing_idx.empty()) {
ROS_WARN_NAMED("param", "PR: missing list is clear, but we in RXPARAM state, "
"maybe last rerequest fails. Params missed: %zd",
param_count - parameters.size());
go_idle();
list_receiving.notify_all();
return;
}
param_state = PR::RXPARAM_TIMEDOUT;
uint16_t first_miss_idx = parameters_missing_idx.front();
if (param_rx_retries > 0) {
param_rx_retries--;
ROS_WARN_NAMED("param", "PR: request param #%u timeout, retries left %zu, and %zu params still missing",
first_miss_idx, param_rx_retries, parameters_missing_idx.size());
restart_timeout_timer();
param_request_read("", first_miss_idx);
}
else {
ROS_ERROR_NAMED("param", "PR: request param #%u completely missing.", first_miss_idx);
parameters_missing_idx.pop_front();
restart_timeout_timer();
if (!parameters_missing_idx.empty()) {
param_rx_retries = RETRIES_COUNT;
first_miss_idx = parameters_missing_idx.front();
ROS_WARN_NAMED("param", "PR: %zu params still missing, trying to request next: #%u",
parameters_missing_idx.size(), first_miss_idx);
param_request_read("", first_miss_idx);
}
}
}
else if (param_state == PR::TXPARAM) {
auto it = set_parameters.begin();
if (it == set_parameters.end()) {
ROS_DEBUG_NAMED("param", "PR: send list empty, but state TXPARAM");
go_idle();
return;
}
if (it->second->retries_remaining > 0) {
it->second->retries_remaining--;
ROS_WARN_NAMED("param", "PR: Resend param set for %s, retries left %zu",
it->second->param.param_id.c_str(),
it->second->retries_remaining);
restart_timeout_timer();
param_set(it->second->param);
}
else {
ROS_ERROR_NAMED("param", "PR: Param set for %s timed out.",
it->second->param.param_id.c_str());
it->second->is_timedout = true;
it->second->ack.notify_all();
}
}
else {
ROS_DEBUG_NAMED("param", "PR: timeout in IDLE!");
}
}
void restart_timeout_timer()
{
is_timedout = false;
timeout_timer.stop();
timeout_timer.start();
}
void go_idle()
{
param_state = PR::IDLE;
timeout_timer.stop();
}
bool wait_fetch_all()
{
std::unique_lock<std::mutex> lock(list_cond_mutex);
return list_receiving.wait_for(lock, std::chrono::nanoseconds(LIST_TIMEOUT_DT.toNSec()))
== std::cv_status::no_timeout
&& !is_timedout;
}
bool wait_param_set_ack_for(std::shared_ptr<ParamSetOpt> opt)
{
std::unique_lock<std::mutex> lock(opt->cond_mutex);
return opt->ack.wait_for(lock, std::chrono::nanoseconds(PARAM_TIMEOUT_DT.toNSec()) * (RETRIES_COUNT + 2))
== std::cv_status::no_timeout
&& !opt->is_timedout;
}
bool send_param_set_and_wait(Parameter ¶m)
{
unique_lock lock(mutex);
// add to waiting list
auto opt = std::make_shared<ParamSetOpt>(param, RETRIES_COUNT);
set_parameters[param.param_id] = opt;
param_state = PR::TXPARAM;
restart_timeout_timer();
param_set(param);
lock.unlock();
bool is_not_timeout = wait_param_set_ack_for(opt);
lock.lock();
// free opt data
set_parameters.erase(param.param_id);
go_idle();
return is_not_timeout;
}
//! Set ROS param only if name is good
bool rosparam_set_allowed(const Parameter &p)
{
if (m_uas->is_px4() && p.param_id == "_HASH_CHECK") {
auto v = p.param_value; // const XmlRpcValue can't cast
ROS_INFO_NAMED("param", "PR: PX4 parameter _HASH_CHECK ignored: 0x%8x", static_cast<int32_t>(v));
return false;
}
param_nh.setParam(p.param_id, p.param_value);
return true;
}
/* -*- ROS callbacks -*- */
/**
* @brief fetches all parameters from device
* @service ~param/pull
*/
bool pull_cb(mavros_msgs::ParamPull::Request &req,
mavros_msgs::ParamPull::Response &res)
{
unique_lock lock(mutex);
if ((param_state == PR::IDLE && parameters.empty())
|| req.force_pull) {
if (!req.force_pull)
ROS_DEBUG_NAMED("param", "PR: start pull");
else
ROS_INFO_NAMED("param", "PR: start force pull");
param_state = PR::RXLIST;
param_rx_retries = RETRIES_COUNT;
parameters.clear();
shedule_timer.stop();
restart_timeout_timer();
param_request_list();
lock.unlock();
res.success = wait_fetch_all();
}
else if (param_state == PR::RXLIST || param_state == PR::RXPARAM || param_state == PR::RXPARAM_TIMEDOUT) {
lock.unlock();
res.success = wait_fetch_all();
}
else {
lock.unlock();
res.success = true;
}
lock.lock();
res.param_received = parameters.size();
for (auto p : parameters) {
lock.unlock();
rosparam_set_allowed(p.second);
lock.lock();
}
return true;
}
/**
* @brief push all parameter value to device
* @service ~param/push
*/
bool push_cb(mavros_msgs::ParamPush::Request &req,
mavros_msgs::ParamPush::Response &res)
{
XmlRpc::XmlRpcValue param_dict;
if (!param_nh.getParam("", param_dict))
return true;
ROS_ASSERT(param_dict.getType() == XmlRpc::XmlRpcValue::TypeStruct);
int tx_count = 0;
for (auto ¶m : param_dict) {
if (Parameter::check_exclude_param_id(param.first)) {
ROS_DEBUG_STREAM_NAMED("param", "PR: Exclude param: " << param.first);
continue;
}
unique_lock lock(mutex);
auto param_it = parameters.find(param.first);
if (param_it != parameters.end()) {
// copy current state of Parameter
auto to_send = param_it->second;
// Update XmlRpcValue
to_send.param_value = param.second;
lock.unlock();
bool set_res = send_param_set_and_wait(to_send);
lock.lock();
if (set_res)
tx_count++;
}
else {
ROS_WARN_STREAM_NAMED("param", "PR: Unknown rosparam: " << param.first);
}
}
res.success = true;
res.param_transfered = tx_count;
return true;
}
/**
* @brief sets parameter value
* @service ~param/set
*/
bool set_cb(mavros_msgs::ParamSet::Request &req,
mavros_msgs::ParamSet::Response &res)
{
unique_lock lock(mutex);
if (param_state == PR::RXLIST || param_state == PR::RXPARAM || param_state == PR::RXPARAM_TIMEDOUT) {
ROS_ERROR_NAMED("param", "PR: receiving not complete");
return false;
}
auto param_it = parameters.find(req.param_id);
if (param_it != parameters.end()) {
auto to_send = param_it->second;
// according to ParamValue description
if (req.value.integer != 0)
to_send.param_value = static_cast<int>(req.value.integer);
else if (req.value.real != 0.0)
to_send.param_value = req.value.real;
else if (param_it->second.param_value.getType() == XmlRpc::XmlRpcValue::Type::TypeDouble)
to_send.param_value = req.value.real;
else
to_send.param_value = 0;
lock.unlock();
res.success = send_param_set_and_wait(to_send);
lock.lock();
res.value.integer = param_it->second.to_integer();
res.value.real = param_it->second.to_real();
lock.unlock();
rosparam_set_allowed(param_it->second);
}
else {
ROS_ERROR_STREAM_NAMED("param", "PR: Unknown parameter to set: " << req.param_id);
res.success = false;
}
return true;
}
/**
* @brief get parameter
* @service ~param/get
*/
bool get_cb(mavros_msgs::ParamGet::Request &req,
mavros_msgs::ParamGet::Response &res)
{
lock_guard lock(mutex);
auto param_it = parameters.find(req.param_id);
if (param_it != parameters.end()) {
res.success = true;
res.value.integer = param_it->second.to_integer();
res.value.real = param_it->second.to_real();
}
else {
ROS_ERROR_STREAM_NAMED("param", "PR: Unknown parameter to get: " << req.param_id);
res.success = false;
}
return true;
}
};
} // namespace std_plugins
} // namespace mavros
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::ParamPlugin, mavros::plugin::PluginBase)