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parameters: add boolean support (PARAM_DEFINE_BOOL)

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- real boolean parameter support saves a bit of space in export (bson)
and in mavlink sync
This commit is contained in:
Daniel Agar
2021-12-23 17:08:12 -05:00
parent 38af93085b
commit f23740a3c5
93 changed files with 525 additions and 232 deletions
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platforms/common/include/px4_platform_common/param.h
+64 -27
View File
@@ -261,7 +261,7 @@ private:
int32_t _val;
};
//external version
// external version
template<px4::params p>
class Param<int32_t &, p>
{
@@ -318,7 +318,7 @@ class Param<bool, p>
{
public:
// static type-check
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_BOOL, "parameter type must be bool");
Param()
{
@@ -331,18 +331,10 @@ public:
const bool &reference() const { return _val; }
/// Store the parameter value to the parameter storage (@see param_set())
bool commit() const
{
int32_t value_int = (int32_t)_val;
return param_set(handle(), &value_int) == 0;
}
bool commit() const { return param_set(handle(), &_val) == 0; }
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
bool commit_no_notification() const
{
int32_t value_int = (int32_t)_val;
return param_set_no_notification(handle(), &value_int) == 0;
}
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
/// Set and commit a new value. Returns true if the value changed.
bool commit_no_notification(bool val)
@@ -364,38 +356,83 @@ public:
update();
}
bool update()
{
int32_t value_int;
int ret = param_get(handle(), &value_int);
if (ret == 0) {
_val = value_int != 0;
return true;
}
return false;
}
bool update() { return param_get(handle(), &_val) == 0; }
param_t handle() const { return param_handle(p); }
private:
bool _val;
};
// external version
template<px4::params p>
class Param<bool &, p>
{
public:
// static type-check
static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_BOOL, "parameter type must be bool");
Param(bool &external_val)
: _val(external_val)
{
param_set_used(handle());
update();
}
bool get() const { return _val; }
const bool &reference() const { return _val; }
/// Store the parameter value to the parameter storage (@see param_set())
bool commit() const { return param_set(handle(), &_val) == 0; }
/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
/// Set and commit a new value. Returns true if the value changed.
bool commit_no_notification(bool val)
{
if (val != _val) {
set(val);
commit_no_notification();
return true;
}
return false;
}
void set(bool val) { _val = val; }
void reset()
{
param_reset_no_notification(handle());
update();
}
bool update() { return param_get(handle(), &_val) == 0; }
param_t handle() const { return param_handle(p); }
private:
bool &_val;
};
template <px4::params p>
using ParamFloat = Param<float, p>;
using ParamBool = Param<bool, p>;
template <px4::params p>
using ParamInt = Param<int32_t, p>;
template <px4::params p>
using ParamExtFloat = Param<float &, p>;
using ParamFloat = Param<float, p>;
template <px4::params p>
using ParamExtBool = Param<bool &, p>;
template <px4::params p>
using ParamExtInt = Param<int32_t &, p>;
template <px4::params p>
using ParamBool = Param<bool, p>;
using ParamExtFloat = Param<float &, p>;
} /* namespace do_not_explicitly_use_this_namespace */