enable silent compare of parameter (#12850)

Remove false errors after comparing parameters that doesn't exists.
as described in #12832

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -213,12 +213,12 @@ commander start
 navigator start
 
 
-if ! param compare MNT_MODE_IN -1
+if ! param compare -s MNT_MODE_IN -1
 then
 	vmount start
 fi
 
-if param greater TRIG_MODE 0
+if param greater -s TRIG_MODE 0
 then
 	camera_trigger start
 	camera_feedback start

ROMFS/px4fmu_common/init.d/rc.interface

@@ -17,9 +17,9 @@ set OUTPUT_DEV none
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
 # mixer to mount (override the airframe-specific MIXER_AUX setting).
 #
-if ! param compare MNT_MODE_IN -1
+if ! param compare -s MNT_MODE_IN -1
 then
-        if param compare MNT_MODE_OUT 0
+        if param compare -s MNT_MODE_OUT 0
         then
                 set MIXER_AUX mount
         fi

ROMFS/px4fmu_common/init.d/rc.logging

@@ -4,7 +4,7 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-if param greater UAVCAN_ENABLE 1
+if param greater -s UAVCAN_ENABLE 1
 then
 	# Reduce logger buffer to free up some RAM for UAVCAN servers.
 	set LOGGER_BUF 6

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -47,13 +47,13 @@ then
 	fi
 fi
 
-if param compare SENS_EN_BATT 1
+if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
 fi
 
 # Sensors on the PWM interface bank
-if param compare SENS_EN_LL40LS 1
+if param compare -s SENS_EN_LL40LS 1
 then
 	if pwm_input start
 	then
@@ -62,49 +62,49 @@ then
 fi
 
 # Lidar-Lite on I2C
-if param compare SENS_EN_LL40LS 2
+if param compare -s SENS_EN_LL40LS 2
 then
 	ll40ls start i2c -a
 fi
 
 # mappydot lidar sensor
-if param compare SENS_EN_MPDT 1
+if param compare -s SENS_EN_MPDT 1
 then
 	mappydot start -a
 fi
 
 # mb12xx sonar sensor
-if param greater SENS_EN_MB12XX 0
+if param greater -s SENS_EN_MB12XX 0
 then
 	mb12xx start -a
 fi
 
 # pga460 sonar sensor
-if param greater SENS_EN_PGA460 0
+if param greater -s SENS_EN_PGA460 0
 then
 	pga460 start
 fi
 
 # Lightware i2c lidar sensor
-if param greater SENS_EN_SF1XX 0
+if param greater -s SENS_EN_SF1XX 0
 then
 	sf1xx start -a
 fi
 
 # Heater driver for temperature regulated IMUs.
-if param compare SENS_EN_THERMAL 1
+if param compare -s SENS_EN_THERMAL 1
 then
 	heater start
 fi
 
 # Teraranger one tof sensor
-if param greater SENS_EN_TRANGER 0
+if param greater -s SENS_EN_TRANGER 0
 then
 	teraranger start -a
 fi
 
 # Possible pmw3901 optical flow sensor
-if param greater SENS_EN_PMW3901 0
+if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 start
 fi

ROMFS/px4fmu_common/init.d/rcS

@@ -299,7 +299,7 @@ else
 	#
 	# Set USE_IO flag.
 	#
-	if param compare SYS_USE_IO 1
+	if param compare -s SYS_USE_IO 1
 	then
 		set USE_IO yes
 	fi
@@ -347,7 +347,7 @@ else
 	fi
 
 	# Sensors on the PWM interface bank.
-	if param compare SENS_EN_LL40LS 1
+	if param compare -s SENS_EN_LL40LS 1
 	then
 		# Clear pins 5 and 6.
 		set FMU_MODE pwm4
@@ -374,7 +374,7 @@ else
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
-	if param greater UAVCAN_ENABLE 0
+	if param greater -s UAVCAN_ENABLE 0
 	then
 		# Start core UAVCAN module.
 		if uavcan start
@@ -426,7 +426,7 @@ else
 	sh /etc/init.d/rc.vehicle_setup
 
 	# Camera capture driver
-	if param greater CAM_CAP_FBACK 0
+	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
 		then

src/systemcmds/param/param.cpp

@@ -65,11 +65,17 @@ __BEGIN_DECLS
 __EXPORT int param_main(int argc, char *argv[]);
 __END_DECLS
 
-enum COMPARE_OPERATOR {
-	COMPARE_OPERATOR_EQUAL = 0,
-	COMPARE_OPERATOR_GREATER = 1,
+enum class COMPARE_OPERATOR {
+	EQUAL = 0,
+	GREATER = 1,
 };
 
+enum class COMPARE_ERROR_LEVEL {
+	DO_ERROR = 0,
+	SILENT = 1,
+};
+
+
 #ifdef __PX4_QURT
 #define PARAM_PRINT PX4_INFO
 #else
@@ -86,7 +92,8 @@ static int	do_show_quiet(const char *param_name);
 static int	do_show_index(const char *index, bool used_index);
 static void	do_show_print(void *arg, param_t param);
 static int	do_set(const char *name, const char *val, bool fail_on_not_found);
-static int	do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OPERATOR cmd_op);
+static int	do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OPERATOR cmd_op,
+			   enum COMPARE_ERROR_LEVEL err_level);
 static int 	do_reset(const char *excludes[], int num_excludes);
 static int 	do_touch(const char *params[], int num_params);
 static int	do_reset_nostart(const char *excludes[], int num_excludes);
@@ -143,10 +150,14 @@ Change the airframe and make sure the airframe's default parameters are loaded:
 	PRINT_MODULE_USAGE_ARG("fail", "If provided, let the command fail if param is not found", true);
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("compare", "Compare a param with a value. Command will succeed if equal");
+	PRINT_MODULE_USAGE_PARAM_FLAG('s', "If provided, silent errors if parameter doesn't exists", true);
 	PRINT_MODULE_USAGE_ARG("<param_name> <value>", "Parameter name and value to compare", false);
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("greater",
 					 "Compare a param with a value. Command will succeed if param is greater than the value");
+	PRINT_MODULE_USAGE_PARAM_FLAG('s', "If provided, silent errors if parameter doesn't exists", true);
+	PRINT_MODULE_USAGE_ARG("<param_name> <value>", "Parameter name and value to compare", false);
+
 	PRINT_MODULE_USAGE_ARG("<param_name> <value>", "Parameter name and value to compare", false);
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("touch", "Mark a parameter as used");
@@ -270,19 +281,21 @@ param_main(int argc, char *argv[])
 		}
 
 		if (!strcmp(argv[1], "compare")) {
-			if (argc >= 4) {
-				return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR_EQUAL);
-
+			if(argc >= 5 && !strcmp(argv[2], "-s")) {
+				return do_compare(argv[3], &argv[4], argc - 4, COMPARE_OPERATOR::EQUAL, COMPARE_ERROR_LEVEL::SILENT);
+			} else if (argc >= 4) {
+				return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR::EQUAL, COMPARE_ERROR_LEVEL::DO_ERROR);
 			} else {
 				PX4_ERR("not enough arguments.\nTry 'param compare PARAM_NAME 3'");
 				return 1;
 			}
 		}
 
 		if (!strcmp(argv[1], "greater")) {
-			if (argc >= 4) {
-				return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR_GREATER);
-
+			if(argc >= 5 && !strcmp(argv[2], "-s")) {
+				return do_compare(argv[3], &argv[4], argc - 4, COMPARE_OPERATOR::GREATER, COMPARE_ERROR_LEVEL::SILENT);
+			} else if (argc >= 4) {
+				return do_compare(argv[2], &argv[3], argc - 3, COMPARE_OPERATOR::GREATER, COMPARE_ERROR_LEVEL::DO_ERROR);
 			} else {
 				PX4_ERR("not enough arguments.\nTry 'param greater PARAM_NAME 3'");
 				return 1;
@@ -708,7 +721,7 @@ do_set(const char *name, const char *val, bool fail_on_not_found)
 }
 
 static int
-do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OPERATOR cmp_op)
+do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OPERATOR cmp_op, enum COMPARE_ERROR_LEVEL err_level)
 {
 	int32_t i;
 	float f;
@@ -717,7 +730,10 @@ do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OP
 	/* set nothing if parameter cannot be found */
 	if (param == PARAM_INVALID) {
 		/* param not found */
-		PX4_DEBUG("Parameter %s not found", name);
+		if(err_level == COMPARE_ERROR_LEVEL::DO_ERROR)
+		{
+			PX4_ERR("Parameter %s not found", name);
+		}
 		return 1;
 	}
 
@@ -738,8 +754,8 @@ do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OP
 
 				int j = strtol(vals[k], &end, 10);
 
-				if (((cmp_op == COMPARE_OPERATOR_EQUAL) && (i == j)) ||
-				    ((cmp_op == COMPARE_OPERATOR_GREATER) && (i > j))) {
+				if (((cmp_op == COMPARE_OPERATOR::EQUAL) && (i == j)) ||
+				    ((cmp_op == COMPARE_OPERATOR::GREATER) && (i > j))) {
 					PX4_DEBUG(" %ld: ", (long)i);
 					ret = 0;
 				}
@@ -758,8 +774,8 @@ do_compare(const char *name, char *vals[], unsigned comparisons, enum COMPARE_OP
 
 				float g = strtod(vals[k], &end);
 
-				if (((cmp_op == COMPARE_OPERATOR_EQUAL) && (fabsf(f - g) < 1e-7f)) ||
-				    ((cmp_op == COMPARE_OPERATOR_GREATER) && (f > g))) {
+				if (((cmp_op == COMPARE_OPERATOR::EQUAL) && (fabsf(f - g) < 1e-7f)) ||
+				    ((cmp_op == COMPARE_OPERATOR::GREATER) && (f > g))) {
 					PX4_DEBUG(" %4.4f: ", (double)f);
 					ret = 0;
 				}