param.cpp

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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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 *    used to endorse or promote products derived from this software
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/**
 * @file param.cpp
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Andreas Antener <andreas@uaventure.com>
 *
 * Parameter tool.
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/posix.h>

#include <errno.h>
#include <stdio.h>
#include <ctype.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <math.h>
#include <inttypes.h>
#include <sys/stat.h>

#include <arch/board/board.h>

#include <parameters/param.h>
#include "systemlib/err.h"

__BEGIN_DECLS
__EXPORT int param_main(int argc, char *argv[]);
__END_DECLS

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
#define PARAM_PRINT PX4_INFO_RAW
#endif

static int  do_save(const char *param_file_name);
static int  do_save_default();
static int  do_load(const char *param_file_name);
static int  do_import(const char *param_file_name);
static int  do_show(const char *search_string, bool only_changed);
static int  do_show_all();
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,
               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);
static int  do_find(const char *name);

static void print_usage()
{
    PRINT_MODULE_DESCRIPTION(
        R"DESCR_STR(
### Description
Command to access and manipulate parameters via shell or script.

This is used for example in the startup script to set airframe-specific parameters.

Parameters are automatically saved when changed, eg. with `param set`. They are typically stored to FRAM
or to the SD card. `param select` can be used to change the storage location for subsequent saves (this will
need to be (re-)configured on every boot).

If the FLASH-based backend is enabled (which is done at compile time, e.g. for the Intel Aero or Omnibus),
`param select` has no effect and the default is always the FLASH backend. However `param save/load <file>`
can still be used to write to/read from files.

Each parameter has a 'used' flag, which is set when it's read during boot. It is used to only show relevant
parameters to a ground control station.

### Examples
Change the airframe and make sure the airframe's default parameters are loaded:
$ param set SYS_AUTOSTART 4001
$ param set SYS_AUTOCONFIG 1
$ reboot
)DESCR_STR");

    PRINT_MODULE_USAGE_NAME("param", "command");
    PRINT_MODULE_USAGE_COMMAND_DESCR("load", "Load params from a file (overwrite all)");
    PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("import", "Import params from a file");
    PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("save", "Save params to a file");
    PRINT_MODULE_USAGE_ARG("<file>", "File name (use default if not given)", true);

    PRINT_MODULE_USAGE_COMMAND_DESCR("select", "Select default file");
    PRINT_MODULE_USAGE_ARG("<file>", "File name (use <root>/eeprom/parameters if not given)", true);

    PRINT_MODULE_USAGE_COMMAND_DESCR("show", "Show parameter values");
    PRINT_MODULE_USAGE_PARAM_FLAG('a', "Show all parameters (not just used)", true);
    PRINT_MODULE_USAGE_PARAM_FLAG('c', "Show only changed and used params", true);
    PRINT_MODULE_USAGE_PARAM_FLAG('q', "quiet mode, print only param value (name needs to be exact)", true);
    PRINT_MODULE_USAGE_ARG("<filter>", "Filter by param name (wildcard at end allowed, eg. sys_*)", true);

    PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print status of parameter system");

    PRINT_MODULE_USAGE_COMMAND_DESCR("set", "Set parameter to a value");
    PRINT_MODULE_USAGE_ARG("<param_name> <value>", "Parameter name and value to set", false);
    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");
    PRINT_MODULE_USAGE_ARG("<param_name1> [<param_name2>]", "Parameter name (one or more)", true);

    PRINT_MODULE_USAGE_COMMAND_DESCR("reset", "Reset params to default");
    PRINT_MODULE_USAGE_ARG("<exclude1> [<exclude2>]", "Do not reset matching params (wildcard at end allowed)", true);
    PRINT_MODULE_USAGE_COMMAND_DESCR("reset_nostart",
                     "Reset params to default, but keep SYS_AUTOSTART and SYS_AUTOCONFIG");
    PRINT_MODULE_USAGE_ARG("<exclude1> [<exclude2>]", "Do not reset matching params (wildcard at end allowed)", true);

    PRINT_MODULE_USAGE_COMMAND_DESCR("index", "Show param for a given index");
    PRINT_MODULE_USAGE_ARG("<index>", "Index: an integer >= 0", false);
    PRINT_MODULE_USAGE_COMMAND_DESCR("index_used", "Show used param for a given index");
    PRINT_MODULE_USAGE_ARG("<index>", "Index: an integer >= 0", false);
    PRINT_MODULE_USAGE_COMMAND_DESCR("find", "Show index of a param");
    PRINT_MODULE_USAGE_ARG("<param>", "param name", false);
}

int
param_main(int argc, char *argv[])
{
    if (argc >= 2) {
        if (!strcmp(argv[1], "save")) {
            if (argc >= 3) {
                return do_save(argv[2]);

            } else {
                int ret = do_save_default();

                if (ret) {
                    PX4_ERR("Param save failed (%i)", ret);
                    return 1;

                } else {
                    return 0;
                }
            }
        }

        if (!strcmp(argv[1], "load")) {
            if (argc >= 3) {
                return do_load(argv[2]);

            } else {
                return do_load(param_get_default_file());
            }
        }

        if (!strcmp(argv[1], "import")) {
            if (argc >= 3) {
                return do_import(argv[2]);

            } else {
                return do_import(param_get_default_file());
            }
        }

        if (!strcmp(argv[1], "select")) {
            if (argc >= 3) {
                param_set_default_file(argv[2]);

            } else {
                param_set_default_file(nullptr);
            }

            const char *default_file = param_get_default_file();
            if (default_file) {
                PX4_INFO("selected parameter default file %s", default_file);
            }
            return 0;
        }

        if (!strcmp(argv[1], "show")) {
            if (argc >= 3) {
                // optional argument -c to show only non-default params
                if (!strcmp(argv[2], "-c")) {
                    if (argc >= 4) {
                        return do_show(argv[3], true);

                    } else {
                        return do_show(nullptr, true);
                    }

                } else if (!strcmp(argv[2], "-a")) {
                    return do_show_all();

                } else if (!strcmp(argv[2], "-q")) {
                    if (argc >= 4) {
                        return do_show_quiet(argv[3]);
                    }
                } else {
                    return do_show(argv[2], false);
                }

            } else {
                return do_show(nullptr, false);
            }
        }

        if (!strcmp(argv[1], "status")) {
            param_print_status();
            return PX4_OK;
        }

        if (!strcmp(argv[1], "set")) {
            if (argc >= 5) {

                /* if the fail switch is provided, fails the command if not found */
                bool fail = !strcmp(argv[4], "fail");

                return do_set(argv[2], argv[3], fail);

            } else if (argc >= 4) {
                return do_set(argv[2], argv[3], false);

            } else {
                PX4_ERR("not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'");
                return 1;
            }
        }

        if (!strcmp(argv[1], "compare")) {
            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 >= 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;
            }
        }

        if (!strcmp(argv[1], "reset")) {
            if (argc >= 3) {
                return do_reset((const char **) &argv[2], argc - 2);

            } else {
                return do_reset(nullptr, 0);
            }
        }

        if (!strcmp(argv[1], "touch")) {
            if (argc >= 3) {
                return do_touch((const char **) &argv[2], argc - 2);
            } else {
                PX4_ERR("not enough arguments.");
                return 1;
            }
        }

        if (!strcmp(argv[1], "reset_nostart")) {
            if (argc >= 3) {
                return do_reset_nostart((const char **) &argv[2], argc - 2);

            } else {
                return do_reset_nostart(nullptr, 0);
            }
        }

        if (!strcmp(argv[1], "index_used")) {
            if (argc >= 3) {
                return do_show_index(argv[2], true);

            } else {
                PX4_ERR("no index provided");
                return 1;
            }
        }

        if (!strcmp(argv[1], "index")) {
            if (argc >= 3) {
                return do_show_index(argv[2], false);

            } else {
                PX4_ERR("no index provided");
                return 1;
            }
        }

        if (!strcmp(argv[1], "find")) {
            if (argc >= 3) {
                return do_find(argv[2]);

            } else {
                PX4_ERR("not enough arguments.\nTry 'param find PARAM_NAME'");
                return 1;
            }
        }
    }

    print_usage();
    return 1;
}

static int
do_save(const char *param_file_name)
{
    /* create the file */
    int fd = open(param_file_name, O_WRONLY | O_CREAT, PX4_O_MODE_666);

    if (fd < 0) {
        PX4_ERR("open '%s' failed (%i)", param_file_name, errno);
        return 1;
    }

    int result = param_export(fd, false);
    close(fd);

    if (result < 0) {
#ifndef __PX4_QURT
        (void)unlink(param_file_name);
#endif
        PX4_ERR("exporting to '%s' failed (%i)", param_file_name, result);
        return 1;
    }

    return 0;
}

static int
do_load(const char *param_file_name)
{
    int fd = -1;
    if (param_file_name) { // passing NULL means to select the flash storage
        fd = open(param_file_name, O_RDONLY);

        if (fd < 0) {
            PX4_ERR("open '%s' failed (%i)", param_file_name, errno);
            return 1;
        }
    }

    int result = param_load(fd);
    if (fd >= 0) {
        close(fd);
    }

    if (result < 0) {
        if (param_file_name) {
            PX4_ERR("importing from '%s' failed (%i)", param_file_name, result);
        } else {
            PX4_ERR("importing failed (%i)", result);
        }
        return 1;
    }

    return 0;
}

static int
do_import(const char *param_file_name)
{
    int fd = -1;
    if (param_file_name) { // passing NULL means to select the flash storage
        fd = open(param_file_name, O_RDONLY);

        if (fd < 0) {
            PX4_ERR("open '%s' failed (%i)", param_file_name, errno);
            return 1;
        }
    }

    int result = param_import(fd);
    if (fd >= 0) {
        close(fd);
    }

    if (result < 0) {
        if (param_file_name) {
            PX4_ERR("importing from '%s' failed (%i)", param_file_name, result);
        } else {
            PX4_ERR("importing failed (%i)", result);
        }
        return 1;
    }

    return 0;
}

static int
do_save_default()
{
    return param_save_default();
}

static int
do_show(const char *search_string, bool only_changed)
{
    PARAM_PRINT("Symbols: x = used, + = saved, * = unsaved\n");
    param_foreach(do_show_print, (char *)search_string, only_changed, true);
    PARAM_PRINT("\n %u/%u parameters used.\n", param_count_used(), param_count());

    return 0;
}

static int
do_show_all()
{
    PARAM_PRINT("Symbols: x = used, + = saved, * = unsaved\n");
    param_foreach(do_show_print, nullptr, false, false);
    PARAM_PRINT("\n %u parameters total, %u used.\n", param_count(), param_count_used());

    return 0;
}

static int
do_show_quiet(const char *param_name)
{
    param_t param = param_find_no_notification(param_name);
    int32_t ii;
    float ff;
    // Print only the param value (can be used in scripts)

    if (param == PARAM_INVALID) {
        return 1;
    }

    switch (param_type(param)) {
    case PARAM_TYPE_INT32:
        if (!param_get(param, &ii)) {
            PARAM_PRINT("%ld", (long)ii);
        }

        break;

    case PARAM_TYPE_FLOAT:
        if (!param_get(param, &ff)) {
            PARAM_PRINT("%4.4f", (double)ff);
        }

        break;

    default:
        return 1;
    }

    return 0;
}

static int
do_find(const char *name)
{
    param_t ret = param_find_no_notification(name);

    if (ret == PARAM_INVALID) {
        PX4_ERR("Parameter %s not found", name);
        return 1;
    }

    PARAM_PRINT("Found param %s at index %i\n", name, (int)ret);
    return 0;
}

static int
do_show_index(const char *index, bool used_index)
{
    char *end;
    int i = strtol(index, &end, 10);
    param_t param;
    int32_t ii;
    float ff;

    if (used_index) {
        param = param_for_used_index(i);

    } else {
        param = param_for_index(i);
    }

    if (param == PARAM_INVALID) {
        PX4_ERR("param not found for index %u", i);
        return 1;
    }

    PARAM_PRINT("index %d: %c %c %s [%d,%d] : ", i, (param_used(param) ? 'x' : ' '),
            param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
            param_name(param), param_get_used_index(param), param_get_index(param));

    switch (param_type(param)) {
    case PARAM_TYPE_INT32:
        if (!param_get(param, &ii)) {
            PARAM_PRINT("%ld\n", (long)ii);
        }

        break;

    case PARAM_TYPE_FLOAT:
        if (!param_get(param, &ff)) {
            PARAM_PRINT("%4.4f\n", (double)ff);
        }

        break;

    default:
        PARAM_PRINT("<unknown type %d>\n", 0 + param_type(param));
    }

    return 0;
}

static void
do_show_print(void *arg, param_t param)
{
    int32_t i;
    float f;
    const char *search_string = (const char *)arg;
    const char *p_name = (const char *)param_name(param);

    /* print nothing if search string is invalid and not matching */
    if (!(arg == nullptr)) {

        /* start search */
        const char *ss = search_string;
        const char *pp = p_name;

        /* XXX this comparison is only ok for trailing wildcards */
        while (*ss != '\0' && *pp != '\0') {

            // case insensitive comparison (param_name is always upper case)
            if (toupper(*ss) == *pp) {
                ss++;
                pp++;

            } else if (*ss == '*') {
                if (*(ss + 1) != '\0') {
                    PX4_WARN("* symbol only allowed at end of search string");
                    // FIXME - should exit
                    return;
                }

                pp++;

            } else {
                /* param not found */
                return;
            }
        }

        /* the search string must have been consumed */
        if (!(*ss == '\0' || *ss == '*') || *pp != '\0') {
            return;
        }
    }

    PARAM_PRINT("%c %c %s [%d,%d] : ", (param_used(param) ? 'x' : ' '),
            param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
            param_name(param), param_get_used_index(param), param_get_index(param));

    /*
     * This case can be expanded to handle printing common structure types.
     */

    switch (param_type(param)) {
    case PARAM_TYPE_INT32:
        if (!param_get(param, &i)) {
            PARAM_PRINT("%ld\n", (long)i);
            return;
        }

        break;

    case PARAM_TYPE_FLOAT:
        if (!param_get(param, &f)) {
            PARAM_PRINT("%4.4f\n", (double)f);
            return;
        }

        break;

    case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
        PARAM_PRINT("<struct type %d size %zu>\n", 0 + param_type(param), param_size(param));
        return;

    default:
        PARAM_PRINT("<unknown type %d>\n", 0 + param_type(param));
        return;
    }

    PARAM_PRINT("<error fetching parameter %lu>\n", (unsigned long)param);
}

static int
do_set(const char *name, const char *val, bool fail_on_not_found)
{
    int32_t i;
    float f;
    param_t param = param_find(name);

    /* set nothing if parameter cannot be found */
    if (param == PARAM_INVALID) {
        /* param not found - fail silenty in scripts as it prevents booting */
        PX4_ERR("Parameter %s not found.", name);
        return (fail_on_not_found) ? 1 : 0;
    }

    /*
     * Set parameter if type is known and conversion from string to value turns out fine
     */

    switch (param_type(param)) {
    case PARAM_TYPE_INT32:
        if (!param_get(param, &i)) {

            /* convert string */
            char *end;
            int32_t newval = strtol(val, &end, 10);

            if (i != newval) {
                PARAM_PRINT("%c %s: ",
                        param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
                        param_name(param));
                PARAM_PRINT("curr: %ld", (long)i);
                param_set(param, &newval);
                PARAM_PRINT(" -> new: %ld\n", (long)newval);
            }
        }

        break;

    case PARAM_TYPE_FLOAT:
        if (!param_get(param, &f)) {

            /* convert string */
            char *end;
            float newval = strtod(val, &end);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"

            if (f != newval) {
#pragma GCC diagnostic pop
                PARAM_PRINT("%c %s: ",
                        param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
                        param_name(param));
                PARAM_PRINT("curr: %4.4f", (double)f);
                param_set(param, &newval);
                PARAM_PRINT(" -> new: %4.4f\n", (double)newval);
            }

        }

        break;

    default:
        PX4_ERR("<unknown / unsupported type %d>\n", 0 + param_type(param));
        return 1;
    }

    return 0;
}

static int
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;
    param_t param = param_find(name);

    /* set nothing if parameter cannot be found */
    if (param == PARAM_INVALID) {
        /* param not found */
        if(err_level == COMPARE_ERROR_LEVEL::DO_ERROR)
        {
            PX4_ERR("Parameter %s not found", name);
        }
        return 1;
    }

    /*
     * Set parameter if type is known and conversion from string to value turns out fine
     */

    int ret = 1;

    switch (param_type(param)) {
    case PARAM_TYPE_INT32:
        if (!param_get(param, &i)) {

            /* convert string */
            char *end;

            for (unsigned k = 0; k < comparisons; k++) {

                int j = strtol(vals[k], &end, 10);

                if (((cmp_op == COMPARE_OPERATOR::EQUAL) && (i == j)) ||
                    ((cmp_op == COMPARE_OPERATOR::GREATER) && (i > j))) {
                    PX4_DEBUG(" %ld: ", (long)i);
                    ret = 0;
                }
            }
        }

        break;

    case PARAM_TYPE_FLOAT:
        if (!param_get(param, &f)) {

            /* convert string */
            char *end;

            for (unsigned k = 0; k < comparisons; k++) {

                float g = strtod(vals[k], &end);

                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;
                }
            }
        }

        break;

    default:
        PX4_ERR("<unknown / unsupported type %d>", 0 + param_type(param));
        return 1;
    }

    if (ret == 0) {
        PX4_DEBUG("%c %s: match\n",
              param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
              param_name(param));
    }

    return ret;
}

static int
do_reset(const char *excludes[], int num_excludes)
{
    if (num_excludes > 0) {
        param_reset_excludes(excludes, num_excludes);

    } else {
        param_reset_all();
    }

    return 0;
}

static int
do_touch(const char *params[], int num_params)
{
    for (int i = 0; i < num_params; ++i) {
        if (param_find(params[i]) == PARAM_INVALID) {
            PX4_ERR("param %s not found", params[i]);
        }
    }
    return 0;
}

static int
do_reset_nostart(const char *excludes[], int num_excludes)
{
    int32_t autostart;
    int32_t autoconfig;

    (void)param_get(param_find("SYS_AUTOSTART"), &autostart);
    (void)param_get(param_find("SYS_AUTOCONFIG"), &autoconfig);

    if (num_excludes > 0) {
        param_reset_excludes(excludes, num_excludes);

    } else {
        param_reset_all();
    }

    (void)param_set(param_find("SYS_AUTOSTART"), &autostart);
    (void)param_set(param_find("SYS_AUTOCONFIG"), &autoconfig);

    return 0;
}