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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/BlockParam.cpp
+22 -66
View File
@@ -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