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BlockParamExt replace with BlockParam reference types

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This commit is contained in:
Daniel Agar
2017-06-04 18:22:42 +08:00
committed by Lorenz Meier
parent b03818cd0e
commit 1671c32238
5 changed files with 58 additions and 118 deletions
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src/lib/controllib/block/Block.cpp
+2
View File
@@ -41,6 +41,8 @@
#include <string.h>
#include <stdio.h>
#include <cstring>
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp>
src/lib/controllib/block/BlockParam.cpp
+22 -66
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,19 +37,16 @@
* Controller library code
*/
#include <math.h>
#include <stdio.h>
#include <string.h>
#include "BlockParam.hpp"
#include <cstring>
#include <containers/List.hpp>
namespace control
{
BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix) :
_handle(PARAM_INVALID)
BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix)
{
char fullname[blockNameLengthMax];
@@ -60,7 +57,7 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
char parentName[blockNameLengthMax];
parent->getName(parentName, blockNameLengthMax);
if (!strcmp(name, "")) {
if (strcmp(name, "") == 0) {
strncpy(fullname, parentName, blockNameLengthMax);
// ensure string is terminated
fullname[sizeof(fullname) - 1] = '\0';
@@ -80,81 +77,40 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
_handle = param_find(fullname);
if (_handle == PARAM_INVALID) {
printf("error finding param: %s\n", fullname);
PX4_ERR("error finding param: %s\n", fullname);
}
};
template <class T>
BlockParam<T>::BlockParam(Block *block, const char *name,
bool parent_prefix) :
template <>
BlockParam<int32_t>::BlockParam(Block *block, const char *name, bool parent_prefix) :
BlockParamBase(block, name, parent_prefix),
_val()
{
update();
}
template <class T>
void BlockParam<T>::set(T val)
{
_val = val;
}
template <class T>
void BlockParam<T>::update()
{
if (_handle != PARAM_INVALID) {
param_get(_handle, &_val);
}
}
template <class T>
void BlockParam<T>::commit()
{
if (_handle != PARAM_INVALID) { param_set(_handle, &_val); }
}
template <class T>
void BlockParam<T>::commit_no_notification()
{
if (_handle != PARAM_INVALID) { param_set_no_notification(_handle, &_val); }
}
template <class T>
BlockParam<T>::~BlockParam() {};
template class __EXPORT BlockParam<float>;
template class __EXPORT BlockParam<int>;
template <class T>
BlockParamExt<T>::BlockParamExt(Block *block, const char *name,
bool parent_prefix, T &extern_val) :
BlockParam<T>(block, name, parent_prefix),
_extern_val(extern_val)
template <>
BlockParam<float>::BlockParam(Block *block, const char *name, bool parent_prefix) :
BlockParamBase(block, name, parent_prefix),
_val()
{
update();
}
template <class T>
void BlockParamExt<T>::set(T val)
template <>
BlockParam<int32_t &>::BlockParam(Block *block, const char *name, bool parent_prefix, int32_t &extern_val) :
BlockParamBase(block, name, parent_prefix),
_val(extern_val)
{
this->_val = val;
_extern_val = val;
update();
}
template <class T>
void BlockParamExt<T>::update()
template <>
BlockParam<float &>::BlockParam(Block *block, const char *name, bool parent_prefix, float &extern_val) :
BlockParamBase(block, name, parent_prefix),
_val(extern_val)
{
if (this->_handle != PARAM_INVALID) {
param_get(this->_handle, &this->_val);
_extern_val = this->_val;
}
update();
}
template <class T>
BlockParamExt<T>::~BlockParamExt() {};
template class __EXPORT BlockParamExt<float>;
template class __EXPORT BlockParamExt<int>;
} // namespace control
src/lib/controllib/block/BlockParam.hpp
+30 -50
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (C) 2012-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -43,17 +43,14 @@
#include "Block.hpp"
#include <containers/List.hpp>
#include <cstddef> // NULL
namespace control
{
class Block;
/**
* A base class for block params that enables traversing linked list.
*/
class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
// A base class for block params that enables traversing linked list.
class BlockParamBase : public ListNode<BlockParamBase *>
{
public:
/**
@@ -63,70 +60,53 @@ public:
*/
BlockParamBase(Block *parent, const char *name, bool parent_prefix = true);
virtual ~BlockParamBase() {};
virtual void update() = 0;
const char *getName() { return param_name(_handle); }
protected:
param_t _handle;
param_t _handle{PARAM_INVALID};
};
/**
* Parameters that are tied to blocks for updating and nameing.
*/
// Parameters that are tied to blocks for updating and naming.
template <class T>
class BlockParam : public BlockParamBase
class __EXPORT BlockParam : public BlockParamBase
{
public:
BlockParam(Block *block, const char *name,
bool parent_prefix = true);
BlockParam(Block *block, const char *name, bool parent_prefix = true);
BlockParam(Block *block, const char *name, bool parent_prefix, T &extern_val);
~BlockParam() = default;
// no copy, assignment, move, move assignment
BlockParam(const BlockParam &) = delete;
BlockParam &operator=(const BlockParam &) = delete;
BlockParam(BlockParam &&) = delete;
BlockParam &operator=(BlockParam &&) = delete;
inline T get() const { return _val; }
T get() const { return _val; }
/**
* Store the parameter value to the parameter storage (@see param_set())
*/
void commit();
// Store the parameter value to the parameter storage (@see param_set())
void commit() { param_set(_handle, &_val); };
/**
* Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
*/
void commit_no_notification();
// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
void commit_no_notification() { param_set_no_notification(_handle, &_val); };
void set(T val) { _val = val; };
void update() override { param_get(_handle, &_val); };
void set(T val);
void update() override;
virtual ~BlockParam();
protected:
T _val;
};
typedef BlockParam<float> BlockParamFloat;
typedef BlockParam<int> BlockParamInt;
typedef BlockParam<float &> BlockParamExtFloat;
typedef BlockParam<int32_t &> BlockParamExtInt;
/**
* Same as BlockParam, but in addition with a pointer to an external field that will be
* set to the value of the parameter.
* (BlockParam should be prefered over this)
*/
template <class T>
class BlockParamExt : public BlockParam<T>
{
public:
BlockParamExt(Block *block, const char *name,
bool parent_prefix, T &extern_val);
BlockParamExt(const BlockParamExt &) = delete;
BlockParamExt &operator=(const BlockParamExt &) = delete;
void set(T val);
void update() override;
virtual ~BlockParamExt();
protected:
T &_extern_val;
};
typedef BlockParamExt<float> BlockParamExtFloat;
typedef BlockParamExt<int> BlockParamExtInt;
template class __EXPORT BlockParam<float>;
template class __EXPORT BlockParam<int32_t>;
template class __EXPORT BlockParam<float &>;
template class __EXPORT BlockParam<int32_t &>;
} // namespace control
src/lib/ecl
+1 -1
Submodule src/lib/ecl updated: 05c3c46f83...9dee57f9ca
src/modules/ekf2/ekf2_main.cpp
+3 -1
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@@ -130,8 +130,10 @@ private:
static constexpr float _dt_max = 0.02;
bool _task_should_exit = false;
int _control_task = -1; // task handle for task
bool _replay_mode; // should we use replay data from a log
int _publish_replay_mode; // defines if we should publish replay messages
int32_t _publish_replay_mode; // defines if we should publish replay messages
float _default_ev_pos_noise = 0.05f; // external vision position noise used when an invalid value is supplied
float _default_ev_ang_noise = 0.05f; // external vision angle noise used when an invalid value is supplied