From 279889cbff37b7e13cd107d2ee27e7335c39728e Mon Sep 17 00:00:00 2001
From: David Jablonski <dayjaby@gmail.com>
Date: Sun, 11 Jun 2023 23:24:06 +0200
Subject: [PATCH] param_server: allow to change parameter internally

---
 protos/param_server/param_server.proto | 44 ++++++++++++++++++++++++--
 1 file changed, 42 insertions(+), 2 deletions(-)

diff --git a/protos/param_server/param_server.proto b/protos/param_server/param_server.proto
index 0790d7320..89f7518a3 100644
--- a/protos/param_server/param_server.proto
+++ b/protos/param_server/param_server.proto
@@ -21,6 +21,12 @@ service ParamServerService {
      * If the type is wrong, the result will be `WRONG_TYPE`.
      */
     rpc ProvideParamInt(ProvideParamIntRequest) returns(ProvideParamIntResponse) { option (mavsdk.options.async_type) = SYNC; }
+    /*
+     * Change an int parameter internally.
+     *
+     * If the type is wrong, the result will be `WRONG_TYPE`.
+     */
+    rpc ChangeParamInt(ChangeParamIntRequest) returns(ChangeParamIntResponse) { option (mavsdk.options.async_type) = SYNC; }
     /*
      * Retrieve a float parameter.
      *
@@ -33,6 +39,12 @@ service ParamServerService {
      * If the type is wrong, the result will be `WRONG_TYPE`.
      */
     rpc ProvideParamFloat(ProvideParamFloatRequest) returns(ProvideParamFloatResponse) { option (mavsdk.options.async_type) = SYNC; }
+    /*
+     * Change a float parameter internally.
+     *
+     * If the type is wrong, the result will be `WRONG_TYPE`.
+     */
+    rpc ChangeParamFloat(ChangeParamFloatRequest) returns(ChangeParamFloatResponse) { option (mavsdk.options.async_type) = SYNC; }
     /*
      * Retrieve a custom parameter.
      *
@@ -45,6 +57,12 @@ service ParamServerService {
      * If the type is wrong, the result will be `WRONG_TYPE`.
      */
     rpc ProvideParamCustom(ProvideParamCustomRequest) returns(ProvideParamCustomResponse) { option (mavsdk.options.async_type) = SYNC; }
+    /*
+     * Change a custom parameter internally.
+     *
+     * If the type is wrong, the result will be `WRONG_TYPE`.
+     */
+    rpc ChangeParamCustom(ChangeParamCustomRequest) returns(ChangeParamCustomResponse) { option (mavsdk.options.async_type) = SYNC; }
     /*
      * Retrieve all parameters.
      */
@@ -54,7 +72,6 @@ service ParamServerService {
 message RetrieveParamIntRequest {
     string name = 1; // Name of the parameter
 }
-
 message RetrieveParamIntResponse {
     ParamServerResult param_server_result = 1;
     int32 value = 2; // Value of the requested parameter
@@ -68,6 +85,14 @@ message ProvideParamIntResponse {
     ParamServerResult param_server_result = 1;
 }
 
+message ChangeParamIntRequest {
+    string name = 1; // Name of the parameter to change
+    int32 value = 2; // Value the parameter should be set to
+}
+message ChangeParamIntResponse {
+    ParamServerResult param_server_result = 1;
+}
+
 message RetrieveParamFloatRequest {
     string name = 1; // Name of the parameter
 }
@@ -84,10 +109,17 @@ message ProvideParamFloatResponse {
     ParamServerResult param_server_result = 1;
 }
 
+message ChangeParamFloatRequest {
+    string name = 1; // Name of the parameter to change
+    float value = 2; // Value the parameter should be set to
+}
+message ChangeParamFloatResponse {
+    ParamServerResult param_server_result = 1;
+}
+
 message RetrieveParamCustomRequest {
     string name = 1; // Name of the parameter
 }
-
 message RetrieveParamCustomResponse {
     ParamServerResult param_server_result = 1;
     string value = 2; // Value of the requested parameter
@@ -101,6 +133,14 @@ message ProvideParamCustomResponse {
     ParamServerResult param_server_result = 1;
 }
 
+message ChangeParamCustomRequest {
+    string name = 1; // Name of the parameter to change
+    string value = 2; // Value the parameter should be set to
+}
+message ChangeParamFloatResponse {
+    ParamServerResult param_server_result = 1;
+}
+
 
 message RetrieveAllParamsRequest {}