From a9bbbdce82ebf9d1d38fd36948fc3eb064d80177 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 20 Dec 2017 15:46:30 -0500
Subject: [PATCH] controllib add BlockParamBool (int32 wrapper)

---
 src/lib/controllib/block/BlockParam.cpp | 24 ++++++++++++++++++++++++
 src/lib/controllib/block/BlockParam.hpp |  6 +++++-
 2 files changed, 29 insertions(+), 1 deletion(-)

diff --git a/src/lib/controllib/block/BlockParam.cpp b/src/lib/controllib/block/BlockParam.cpp
index 7409144938..4b0e14cf5c 100644
--- a/src/lib/controllib/block/BlockParam.cpp
+++ b/src/lib/controllib/block/BlockParam.cpp
@@ -81,6 +81,30 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
 	}
 };
 
+template <>
+BlockParam<bool>::BlockParam(Block *block, const char *name, bool parent_prefix) :
+	BlockParamBase(block, name, parent_prefix),
+	_val()
+{
+	update();
+}
+
+template <>
+bool BlockParam<bool>::update()
+{
+	int32_t tmp = 0;
+	int ret = param_get(_handle, &tmp);
+
+	if (tmp == 1) {
+		_val = true;
+
+	} else {
+		_val = false;
+	}
+
+	return (ret == PX4_OK);
+}
+
 template <>
 BlockParam<int32_t>::BlockParam(Block *block, const char *name, bool parent_prefix) :
 	BlockParamBase(block, name, parent_prefix),
diff --git a/src/lib/controllib/block/BlockParam.hpp b/src/lib/controllib/block/BlockParam.hpp
index 5321ee6419..841ba879c9 100644
--- a/src/lib/controllib/block/BlockParam.hpp
+++ b/src/lib/controllib/block/BlockParam.hpp
@@ -63,7 +63,7 @@ public:
 	virtual ~BlockParamBase() = default;
 
 	virtual bool update() = 0;
-	const char *getName() { return param_name(_handle); }
+	const char *getName() const { return param_name(_handle); }
 
 protected:
 	param_t _handle{PARAM_INVALID};
@@ -101,8 +101,12 @@ protected:
 	T _val;
 };
 
+template <>
+bool BlockParam<bool>::update();
+
 typedef BlockParam<float> BlockParamFloat;
 typedef BlockParam<int32_t> BlockParamInt;
+typedef BlockParam<bool> BlockParamBool;
 typedef BlockParam<float &> BlockParamExtFloat;
 typedef BlockParam<int32_t &> BlockParamExtInt;