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Control lib update.

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This commit is contained in:
jgoppert
2015-10-20 10:48:10 -04:00
parent a57f8e2ce3
commit b9e461b028
12 changed files with 255 additions and 171 deletions
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src/modules/controllib/block/Block.hpp
+18 -14
View File
@@ -58,8 +58,8 @@ static const uint16_t maxPublicationsPerBlock = 100;
static const uint8_t blockNameLengthMax = 80;
// forward declaration
class SuperBlock;
class BlockParamBase;
class SuperBlock;
/**
*/
@@ -81,9 +81,9 @@ public:
protected:
// accessors
SuperBlock *getParent() { return _parent; }
List<uORB::SubscriptionNode *> & getSubscriptions() { return _subscriptions; }
List<uORB::PublicationNode *> & getPublications() { return _publications; }
List<BlockParamBase *> & getParams() { return _params; }
List<uORB::SubscriptionNode *> &getSubscriptions() { return _subscriptions; }
List<uORB::PublicationNode *> &getPublications() { return _publications; }
List<BlockParamBase *> &getParams() { return _params; }
// attributes
const char *_name;
SuperBlock *_parent;
@@ -94,8 +94,8 @@ protected:
private:
/* this class has pointer data members and should not be copied (private constructor) */
Block(const control::Block&);
Block operator=(const control::Block&);
Block(const control::Block &);
Block operator=(const control::Block &);
};
class __EXPORT SuperBlock :
@@ -106,28 +106,32 @@ public:
// methods
SuperBlock(SuperBlock *parent, const char *name) :
Block(parent, name),
_children() {
_children()
{
}
virtual ~SuperBlock() {};
virtual void setDt(float dt);
virtual void updateParams() {
virtual void updateParams()
{
Block::updateParams();
if (getChildren().getHead() != NULL) updateChildParams();
if (getChildren().getHead() != NULL) { updateChildParams(); }
}
virtual void updateSubscriptions() {
virtual void updateSubscriptions()
{
Block::updateSubscriptions();
if (getChildren().getHead() != NULL) updateChildSubscriptions();
if (getChildren().getHead() != NULL) { updateChildSubscriptions(); }
}
virtual void updatePublications() {
virtual void updatePublications()
{
Block::updatePublications();
if (getChildren().getHead() != NULL) updateChildPublications();
if (getChildren().getHead() != NULL) { updateChildPublications(); }
}
protected:
// methods
List<Block *> & getChildren() { return _children; }
List<Block *> &getChildren() { return _children; }
void updateChildParams();
void updateChildSubscriptions();
void updateChildPublications();
src/modules/controllib/block/BlockParam.cpp
+12 -7
View File
@@ -65,6 +65,7 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
} else if (parent_prefix) {
snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
} else {
strncpy(fullname, name, blockNameLengthMax);
}
@@ -74,15 +75,17 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
_handle = param_find(fullname);
if (_handle == PARAM_INVALID)
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) :
bool parent_prefix) :
BlockParamBase(block, name, parent_prefix),
_val() {
_val()
{
update();
}
@@ -93,13 +96,15 @@ 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);
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);
void BlockParam<T>::commit()
{
if (_handle != PARAM_INVALID) { param_set(_handle, &_val); }
}
template <class T>