mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 18:23:33 +08:00
Merge James's controllib bits into a separate library module.
Add a top-level mathlib header to avoid having to dig around for specific headers.
This commit is contained in:
px4dev
@@ -0,0 +1,210 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
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||||
* @file Block.cpp
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||||
*
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||||
* Controller library code
|
||||
*/
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||||
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||||
#include <math.h>
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#include <string.h>
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#include <stdio.h>
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#include "Block.hpp"
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#include "BlockParam.hpp"
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#include "UOrbSubscription.hpp"
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#include "UOrbPublication.hpp"
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namespace control
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{
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||||
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||||
Block::Block(SuperBlock *parent, const char *name) :
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||||
_name(name),
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||||
_parent(parent),
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||||
_dt(0),
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||||
_subscriptions(),
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||||
_params()
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||||
{
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||||
if (getParent() != NULL) {
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getParent()->getChildren().add(this);
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||||
}
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||||
}
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||||
|
||||
void Block::getName(char *buf, size_t n)
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||||
{
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if (getParent() == NULL) {
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strncpy(buf, _name, n);
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||||
|
||||
} else {
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||||
char parentName[blockNameLengthMax];
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getParent()->getName(parentName, n);
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||||
|
||||
if (!strcmp(_name, "")) {
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||||
strncpy(buf, parentName, blockNameLengthMax);
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||||
|
||||
} else {
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||||
snprintf(buf, blockNameLengthMax, "%s_%s", parentName, _name);
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||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Block::updateParams()
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||||
{
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BlockParamBase *param = getParams().getHead();
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int count = 0;
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||||
|
||||
while (param != NULL) {
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||||
if (count++ > maxParamsPerBlock) {
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||||
char name[blockNameLengthMax];
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getName(name, blockNameLengthMax);
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printf("exceeded max params for block: %s\n", name);
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break;
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}
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//printf("updating param: %s\n", param->getName());
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param->update();
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param = param->getSibling();
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}
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}
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void Block::updateSubscriptions()
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{
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UOrbSubscriptionBase *sub = getSubscriptions().getHead();
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int count = 0;
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||||
|
||||
while (sub != NULL) {
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||||
if (count++ > maxSubscriptionsPerBlock) {
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char name[blockNameLengthMax];
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||||
getName(name, blockNameLengthMax);
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||||
printf("exceeded max subscriptions for block: %s\n", name);
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||||
break;
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||||
}
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||||
|
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sub->update();
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sub = sub->getSibling();
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||||
}
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||||
}
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void Block::updatePublications()
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{
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UOrbPublicationBase *pub = getPublications().getHead();
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int count = 0;
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|
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while (pub != NULL) {
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if (count++ > maxPublicationsPerBlock) {
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char name[blockNameLengthMax];
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getName(name, blockNameLengthMax);
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||||
printf("exceeded max publications for block: %s\n", name);
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break;
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||||
}
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||||
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pub->update();
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pub = pub->getSibling();
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||||
}
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||||
}
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||||
|
||||
void SuperBlock::setDt(float dt)
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{
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Block::setDt(dt);
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Block *child = getChildren().getHead();
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||||
int count = 0;
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||||
|
||||
while (child != NULL) {
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if (count++ > maxChildrenPerBlock) {
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char name[40];
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getName(name, 40);
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||||
printf("exceeded max children for block: %s\n", name);
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break;
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}
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child->setDt(dt);
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child = child->getSibling();
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}
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||||
}
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|
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void SuperBlock::updateChildParams()
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{
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Block *child = getChildren().getHead();
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int count = 0;
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||||
|
||||
while (child != NULL) {
|
||||
if (count++ > maxChildrenPerBlock) {
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||||
char name[40];
|
||||
getName(name, 40);
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||||
printf("exceeded max children for block: %s\n", name);
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||||
break;
|
||||
}
|
||||
|
||||
child->updateParams();
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||||
child = child->getSibling();
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||||
}
|
||||
}
|
||||
|
||||
void SuperBlock::updateChildSubscriptions()
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{
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Block *child = getChildren().getHead();
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int count = 0;
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||||
|
||||
while (child != NULL) {
|
||||
if (count++ > maxChildrenPerBlock) {
|
||||
char name[40];
|
||||
getName(name, 40);
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||||
printf("exceeded max children for block: %s\n", name);
|
||||
break;
|
||||
}
|
||||
|
||||
child->updateSubscriptions();
|
||||
child = child->getSibling();
|
||||
}
|
||||
}
|
||||
|
||||
void SuperBlock::updateChildPublications()
|
||||
{
|
||||
Block *child = getChildren().getHead();
|
||||
int count = 0;
|
||||
|
||||
while (child != NULL) {
|
||||
if (count++ > maxChildrenPerBlock) {
|
||||
char name[40];
|
||||
getName(name, 40);
|
||||
printf("exceeded max children for block: %s\n", name);
|
||||
break;
|
||||
}
|
||||
|
||||
child->updatePublications();
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||||
child = child->getSibling();
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace control
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||||
@@ -0,0 +1,131 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 Block.h
|
||||
*
|
||||
* Controller library code
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
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#include <inttypes.h>
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||||
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||||
#include "List.hpp"
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||||
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||||
namespace control
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||||
{
|
||||
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||||
static const uint16_t maxChildrenPerBlock = 100;
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||||
static const uint16_t maxParamsPerBlock = 100;
|
||||
static const uint16_t maxSubscriptionsPerBlock = 100;
|
||||
static const uint16_t maxPublicationsPerBlock = 100;
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||||
static const uint8_t blockNameLengthMax = 80;
|
||||
|
||||
// forward declaration
|
||||
class BlockParamBase;
|
||||
class UOrbSubscriptionBase;
|
||||
class UOrbPublicationBase;
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||||
class SuperBlock;
|
||||
|
||||
/**
|
||||
*/
|
||||
class __EXPORT Block :
|
||||
public ListNode<Block *>
|
||||
{
|
||||
public:
|
||||
friend class BlockParamBase;
|
||||
// methods
|
||||
Block(SuperBlock *parent, const char *name);
|
||||
void getName(char *name, size_t n);
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||||
virtual ~Block() {};
|
||||
virtual void updateParams();
|
||||
virtual void updateSubscriptions();
|
||||
virtual void updatePublications();
|
||||
virtual void setDt(float dt) { _dt = dt; }
|
||||
// accessors
|
||||
float getDt() { return _dt; }
|
||||
protected:
|
||||
// accessors
|
||||
SuperBlock *getParent() { return _parent; }
|
||||
List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
|
||||
List<UOrbPublicationBase *> & getPublications() { return _publications; }
|
||||
List<BlockParamBase *> & getParams() { return _params; }
|
||||
// attributes
|
||||
const char *_name;
|
||||
SuperBlock *_parent;
|
||||
float _dt;
|
||||
List<UOrbSubscriptionBase *> _subscriptions;
|
||||
List<UOrbPublicationBase *> _publications;
|
||||
List<BlockParamBase *> _params;
|
||||
};
|
||||
|
||||
class __EXPORT SuperBlock :
|
||||
public Block
|
||||
{
|
||||
public:
|
||||
friend class Block;
|
||||
// methods
|
||||
SuperBlock(SuperBlock *parent, const char *name) :
|
||||
Block(parent, name),
|
||||
_children() {
|
||||
}
|
||||
virtual ~SuperBlock() {};
|
||||
virtual void setDt(float dt);
|
||||
virtual void updateParams() {
|
||||
Block::updateParams();
|
||||
|
||||
if (getChildren().getHead() != NULL) updateChildParams();
|
||||
}
|
||||
virtual void updateSubscriptions() {
|
||||
Block::updateSubscriptions();
|
||||
|
||||
if (getChildren().getHead() != NULL) updateChildSubscriptions();
|
||||
}
|
||||
virtual void updatePublications() {
|
||||
Block::updatePublications();
|
||||
|
||||
if (getChildren().getHead() != NULL) updateChildPublications();
|
||||
}
|
||||
protected:
|
||||
// methods
|
||||
List<Block *> & getChildren() { return _children; }
|
||||
void updateChildParams();
|
||||
void updateChildSubscriptions();
|
||||
void updateChildPublications();
|
||||
// attributes
|
||||
List<Block *> _children;
|
||||
};
|
||||
|
||||
} // namespace control
|
||||
@@ -0,0 +1,77 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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"
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
BlockParamBase::BlockParamBase(Block *parent, const char *name) :
|
||||
_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 {
|
||||
snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
|
||||
}
|
||||
|
||||
parent->getParams().add(this);
|
||||
}
|
||||
|
||||
_handle = param_find(fullname);
|
||||
|
||||
if (_handle == PARAM_INVALID)
|
||||
printf("error finding param: %s\n", fullname);
|
||||
};
|
||||
|
||||
} // namespace control
|
||||
@@ -0,0 +1,85 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.h
|
||||
*
|
||||
* Controller library code
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
#include "Block.hpp"
|
||||
#include "List.hpp"
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
/**
|
||||
* A base class for block params that enables traversing linked list.
|
||||
*/
|
||||
class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
|
||||
{
|
||||
public:
|
||||
BlockParamBase(Block *parent, const char *name);
|
||||
virtual ~BlockParamBase() {};
|
||||
virtual void update() = 0;
|
||||
const char *getName() { return param_name(_handle); }
|
||||
protected:
|
||||
param_t _handle;
|
||||
};
|
||||
|
||||
/**
|
||||
* Parameters that are tied to blocks for updating and nameing.
|
||||
*/
|
||||
template<class T>
|
||||
class __EXPORT BlockParam : public BlockParamBase
|
||||
{
|
||||
public:
|
||||
BlockParam(Block *block, const char *name) :
|
||||
BlockParamBase(block, name),
|
||||
_val() {
|
||||
update();
|
||||
}
|
||||
T get() { return _val; }
|
||||
void set(T val) { _val = val; }
|
||||
void update() {
|
||||
if (_handle != PARAM_INVALID) param_get(_handle, &_val);
|
||||
}
|
||||
protected:
|
||||
T _val;
|
||||
};
|
||||
|
||||
} // namespace control
|
||||
@@ -0,0 +1,71 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 Node.h
|
||||
*
|
||||
* A node of a linked list.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
template<class T>
|
||||
class __EXPORT ListNode
|
||||
{
|
||||
public:
|
||||
ListNode() : _sibling(NULL) {
|
||||
}
|
||||
void setSibling(T sibling) { _sibling = sibling; }
|
||||
T getSibling() { return _sibling; }
|
||||
T get() {
|
||||
return _sibling;
|
||||
}
|
||||
protected:
|
||||
T _sibling;
|
||||
};
|
||||
|
||||
template<class T>
|
||||
class __EXPORT List
|
||||
{
|
||||
public:
|
||||
List() : _head() {
|
||||
}
|
||||
void add(T newNode) {
|
||||
newNode->setSibling(getHead());
|
||||
setHead(newNode);
|
||||
}
|
||||
T getHead() { return _head; }
|
||||
private:
|
||||
void setHead(T &head) { _head = head; }
|
||||
T _head;
|
||||
};
|
||||
@@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 UOrbPublication.cpp
|
||||
*
|
||||
*/
|
||||
|
||||
#include "UOrbPublication.hpp"
|
||||
@@ -0,0 +1,118 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 UOrbPublication.h
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include "Block.hpp"
|
||||
#include "List.hpp"
|
||||
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
class Block;
|
||||
|
||||
/**
|
||||
* Base publication warapper class, used in list traversal
|
||||
* of various publications.
|
||||
*/
|
||||
class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
|
||||
{
|
||||
public:
|
||||
|
||||
UOrbPublicationBase(
|
||||
List<UOrbPublicationBase *> * list,
|
||||
const struct orb_metadata *meta) :
|
||||
_meta(meta),
|
||||
_handle() {
|
||||
if (list != NULL) list->add(this);
|
||||
}
|
||||
void update() {
|
||||
orb_publish(getMeta(), getHandle(), getDataVoidPtr());
|
||||
}
|
||||
virtual void *getDataVoidPtr() = 0;
|
||||
virtual ~UOrbPublicationBase() {
|
||||
orb_unsubscribe(getHandle());
|
||||
}
|
||||
const struct orb_metadata *getMeta() { return _meta; }
|
||||
int getHandle() { return _handle; }
|
||||
protected:
|
||||
void setHandle(orb_advert_t handle) { _handle = handle; }
|
||||
const struct orb_metadata *_meta;
|
||||
orb_advert_t _handle;
|
||||
};
|
||||
|
||||
/**
|
||||
* UOrb Publication wrapper class
|
||||
*/
|
||||
template<class T>
|
||||
class UOrbPublication :
|
||||
public T, // this must be first!
|
||||
public UOrbPublicationBase
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param list A list interface for adding to list during construction
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
*/
|
||||
UOrbPublication(
|
||||
List<UOrbPublicationBase *> * list,
|
||||
const struct orb_metadata *meta) :
|
||||
T(), // initialize data structure to zero
|
||||
UOrbPublicationBase(list, meta) {
|
||||
// It is important that we call T()
|
||||
// before we publish the data, so we
|
||||
// call this here instead of the base class
|
||||
setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
|
||||
}
|
||||
virtual ~UOrbPublication() {}
|
||||
/*
|
||||
* XXX
|
||||
* This function gets the T struct, assuming
|
||||
* the struct is the first base class, this
|
||||
* should use dynamic cast, but doesn't
|
||||
* seem to be available
|
||||
*/
|
||||
void *getDataVoidPtr() { return (void *)(T *)(this); }
|
||||
};
|
||||
|
||||
} // namespace control
|
||||
@@ -0,0 +1,51 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 UOrbSubscription.cpp
|
||||
*
|
||||
*/
|
||||
|
||||
#include "UOrbSubscription.hpp"
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
bool __EXPORT UOrbSubscriptionBase::updated()
|
||||
{
|
||||
bool isUpdated = false;
|
||||
orb_check(_handle, &isUpdated);
|
||||
return isUpdated;
|
||||
}
|
||||
|
||||
} // namespace control
|
||||
@@ -0,0 +1,137 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 UOrbSubscription.h
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include "Block.hpp"
|
||||
#include "List.hpp"
|
||||
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
class Block;
|
||||
|
||||
/**
|
||||
* Base subscription warapper class, used in list traversal
|
||||
* of various subscriptions.
|
||||
*/
|
||||
class __EXPORT UOrbSubscriptionBase :
|
||||
public ListNode<control::UOrbSubscriptionBase *>
|
||||
{
|
||||
public:
|
||||
// methods
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
*/
|
||||
UOrbSubscriptionBase(
|
||||
List<UOrbSubscriptionBase *> * list,
|
||||
const struct orb_metadata *meta) :
|
||||
_meta(meta),
|
||||
_handle() {
|
||||
if (list != NULL) list->add(this);
|
||||
}
|
||||
bool updated();
|
||||
void update() {
|
||||
if (updated()) {
|
||||
orb_copy(_meta, _handle, getDataVoidPtr());
|
||||
}
|
||||
}
|
||||
virtual void *getDataVoidPtr() = 0;
|
||||
virtual ~UOrbSubscriptionBase() {
|
||||
orb_unsubscribe(_handle);
|
||||
}
|
||||
// accessors
|
||||
const struct orb_metadata *getMeta() { return _meta; }
|
||||
int getHandle() { return _handle; }
|
||||
protected:
|
||||
// accessors
|
||||
void setHandle(int handle) { _handle = handle; }
|
||||
// attributes
|
||||
const struct orb_metadata *_meta;
|
||||
int _handle;
|
||||
};
|
||||
|
||||
/**
|
||||
* UOrb Subscription wrapper class
|
||||
*/
|
||||
template<class T>
|
||||
class __EXPORT UOrbSubscription :
|
||||
public T, // this must be first!
|
||||
public UOrbSubscriptionBase
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param list A list interface for adding to list during construction
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
* @param interval The minimum interval in milliseconds between updates
|
||||
*/
|
||||
UOrbSubscription(
|
||||
List<UOrbSubscriptionBase *> * list,
|
||||
const struct orb_metadata *meta, unsigned interval) :
|
||||
T(), // initialize data structure to zero
|
||||
UOrbSubscriptionBase(list, meta) {
|
||||
setHandle(orb_subscribe(getMeta()));
|
||||
orb_set_interval(getHandle(), interval);
|
||||
}
|
||||
|
||||
/**
|
||||
* Deconstructor
|
||||
*/
|
||||
virtual ~UOrbSubscription() {}
|
||||
|
||||
/*
|
||||
* XXX
|
||||
* This function gets the T struct, assuming
|
||||
* the struct is the first base class, this
|
||||
* should use dynamic cast, but doesn't
|
||||
* seem to be available
|
||||
*/
|
||||
void *getDataVoidPtr() { return (void *)(T *)(this); }
|
||||
T getData() { return T(*this); }
|
||||
};
|
||||
|
||||
} // namespace control
|
||||
Reference in New Issue
Block a user