diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index a1c629c2764f..17f00d9e2441 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface index eaadea3e1266..e33882b17089 100644 --- a/ROMFS/px4fmu_common/init.d/rc.interface +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 711cbb8087bd..11584dfc6270 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 580f9f0c8ebb..14627b587a4d 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index f5c63f0053dc..846d8abd0829 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/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 diff --git a/src/systemcmds/param/param.cpp b/src/systemcmds/param/param.cpp index 90def735cb73..7f143015302c 100644 --- a/src/systemcmds/param/param.cpp +++ b/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(" ", "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(" ", "Parameter name and value to compare", false); + PRINT_MODULE_USAGE_ARG(" ", "Parameter name and value to compare", false); PRINT_MODULE_USAGE_COMMAND_DESCR("touch", "Mark a parameter as used"); @@ -270,9 +281,10 @@ 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; @@ -280,9 +292,10 @@ param_main(int argc, char *argv[]) } 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; }