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.

apps/controllib/block/BlockParam.hpp

@@ -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