param add status

src/lib/parameters/param.h

@@ -397,6 +397,11 @@ __EXPORT int 		param_load_default(void);
  */
 __EXPORT uint32_t	param_hash_check(void);
 
+/**
+ * Print the status of the param system
+ *
+ */
+__EXPORT void	param_print_status(void);
 
 /**
  * Enable/disable the param autosaving.

src/lib/parameters/parameters.cpp

@@ -50,15 +50,16 @@
 #include <math.h>
 
 #include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_posix.h>
 #include <px4_sem.h>
 #include <px4_shutdown.h>
-
-#include <perf/perf_counter.h>
 #include <systemlib/uthash/utarray.h>
 
+using namespace time_literals;
+
 //#define PARAM_NO_ORB ///< if defined, avoid uorb dependency. This disables publication of parameter_update on param change
 //#define PARAM_NO_AUTOSAVE ///< if defined, do not autosave (avoids LP work queue dependency)
 
@@ -91,8 +92,8 @@ static char *param_user_file = nullptr;
 #include <px4_workqueue.h>
 /* autosaving variables */
 static hrt_abstime last_autosave_timestamp = 0;
-static struct work_s autosave_work;
-static bool autosave_scheduled = false;
+static struct work_s autosave_work {};
+static volatile bool autosave_scheduled = false;
 static bool autosave_disabled = false;
 #endif /* PARAM_NO_AUTOSAVE */
 
@@ -627,7 +628,7 @@ autosave_worker(void *arg)
 	int ret = param_save_default();
 
 	if (ret != 0) {
-		PX4_ERR("param save failed (%i)", ret);
+		PX4_ERR("param auto save failed (%i)", ret);
 	}
 }
 #endif /* PARAM_NO_AUTOSAVE */
@@ -651,10 +652,10 @@ param_autosave()
 	// - tasks often call param_set() for multiple params, so this avoids unnecessary save calls
 	// - the logger stores changed params. He gets notified on a param change via uORB and then
 	//   looks at all unsaved params.
-	hrt_abstime delay = 300 * 1000;
+	hrt_abstime delay = 300_ms;
 
-	const hrt_abstime rate_limit = 2000 * 1000; // rate-limit saving to 2 seconds
-	hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
+	static constexpr const hrt_abstime rate_limit = 2_s; // rate-limit saving to 2 seconds
+	const hrt_abstime last_save_elapsed = hrt_elapsed_time(&last_autosave_timestamp);
 
 	if (last_save_elapsed < rate_limit && rate_limit > last_save_elapsed + delay) {
 		delay = rate_limit - last_save_elapsed;
@@ -1371,3 +1372,36 @@ uint32_t param_hash_check()
 
 	return param_hash;
 }
+
+void param_print_status()
+{
+	PX4_INFO("summary: %d/%d (used/total)", param_count_used(), param_count());
+
+#ifndef FLASH_BASED_PARAMS
+	const char *filename = param_get_default_file();
+
+	if (filename != nullptr) {
+		PX4_INFO("file: %s", param_get_default_file());
+	}
+
+#endif /* FLASH_BASED_PARAMS */
+
+	if (param_values != nullptr) {
+		PX4_INFO("storage array: %d/%d elements (%zu bytes total)",
+			 utarray_len(param_values), param_values->n, param_values->n * sizeof(UT_icd));
+	}
+
+#ifndef PARAM_NO_AUTOSAVE
+	PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on");
+
+	if (!autosave_disabled && (last_autosave_timestamp > 0)) {
+		PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
+	}
+
+#endif /* PARAM_NO_AUTOSAVE */
+
+	perf_print_counter(param_export_perf);
+	perf_print_counter(param_find_perf);
+	perf_print_counter(param_get_perf);
+	perf_print_counter(param_set_perf);
+}

src/lib/parameters/parameters_shmem.cpp

@@ -1479,6 +1479,39 @@ uint32_t param_hash_check()
 	return param_hash;
 }
 
+void param_print_status()
+{
+	PX4_INFO("summary: %d/%d (used/total)", param_count_used(), param_count());
+
+#ifndef FLASH_BASED_PARAMS
+	const char *filename = param_get_default_file();
+
+	if (filename != nullptr) {
+		PX4_INFO("file: %s", param_get_default_file());
+	}
+
+#endif /* FLASH_BASED_PARAMS */
+
+	if (param_values != nullptr) {
+		PX4_INFO("storage array: %d/%d elements (%zu bytes total)",
+			 utarray_len(param_values), param_values->n, param_values->n * sizeof(UT_icd));
+	}
+
+#ifndef PARAM_NO_AUTOSAVE
+	PX4_INFO("auto save: %s", autosave_disabled ? "off" : "on");
+
+	if (!autosave_disabled && (last_autosave_timestamp > 0)) {
+		PX4_INFO("last auto save: %.3f seconds ago", hrt_elapsed_time(&last_autosave_timestamp) * 1e-6);
+	}
+
+#endif /* PARAM_NO_AUTOSAVE */
+
+	perf_print_counter(param_export_perf);
+	perf_print_counter(param_find_perf);
+	perf_print_counter(param_get_perf);
+	perf_print_counter(param_set_perf);
+}
+
 void init_params()
 {
 #ifdef __PX4_QURT

src/systemcmds/param/param.cpp

@@ -136,6 +136,8 @@ Change the airframe and make sure the airframe's default parameters are loaded:
 	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);
@@ -245,6 +247,11 @@ param_main(int argc, char *argv[])
 			}
 		}
 
+		if (!strcmp(argv[1], "status")) {
+			param_print_status();
+			return PX4_OK;
+		}
+
 		if (!strcmp(argv[1], "set")) {
 			if (argc >= 5) {