Moved control library.

src/lib/controllib/block/BlockParam.cpp

@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Blockparam.cpp
+ *
+ * Controller library code
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "BlockParam.hpp"
+
+#include <containers/List.hpp>
+
+namespace control
+{
+
+BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix) :
+	_handle(PARAM_INVALID)
+{
+	char fullname[blockNameLengthMax];
+
+	if (parent == NULL) {
+		strncpy(fullname, name, blockNameLengthMax);
+
+	} else {
+		char parentName[blockNameLengthMax];
+		parent->getName(parentName, blockNameLengthMax);
+
+		if (!strcmp(name, "")) {
+			strncpy(fullname, parentName, blockNameLengthMax);
+
+		} else if (parent_prefix) {
+			snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
+
+		} else {
+			strncpy(fullname, name, blockNameLengthMax);
+		}
+
+		parent->getParams().add(this);
+	}
+
+	_handle = param_find(fullname);
+
+	if (_handle == PARAM_INVALID) {
+		printf("error finding param: %s\n", fullname);
+	}
+};
+
+template <class T>
+BlockParam<T>::BlockParam(Block *block, const char *name,
+			  bool parent_prefix, T *extern_address) :
+	BlockParamBase(block, name, parent_prefix),
+	_val(),
+	_extern_address(extern_address)
+{
+	update();
+}
+
+template <class T>
+T BlockParam<T>::get() { return _val; }
+
+template <class T>
+void BlockParam<T>::set(T val)
+{
+	_val = val;
+
+	if (_extern_address != NULL) {
+		*_extern_address = val;
+	}
+}
+
+template <class T>
+void BlockParam<T>::update()
+{
+	if (_handle != PARAM_INVALID) {
+		param_get(_handle, &_val);
+
+		if (_extern_address != NULL) {
+			*_extern_address = _val;
+		}
+	}
+}
+
+template <class T>
+void BlockParam<T>::commit()
+{
+	if (_handle != PARAM_INVALID) { param_set(_handle, &_val); }
+}
+
+template <class T>
+BlockParam<T>::~BlockParam() {};
+
+template class __EXPORT BlockParam<float>;
+template class __EXPORT BlockParam<int>;
+
+} // namespace control