mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 06:03:33 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
114 lines
3.8 KiB
C++
114 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012-2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file BlockParam.hpp
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*
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* Controller library code
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*/
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#pragma once
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#include "Block.hpp"
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#include <containers/List.hpp>
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#include <px4_platform_common/defines.h>
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#include <parameters/param.h>
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namespace control
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{
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class Block;
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// A base class for block params that enables traversing linked list.
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class BlockParamBase : public ListNode<BlockParamBase *>
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{
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public:
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/**
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* Instantiate a block param base.
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*
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* @param parent_prefix Set to true to include the parent name in the parameter name
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*/
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BlockParamBase(Block *parent, const char *name, bool parent_prefix = true);
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virtual ~BlockParamBase() = default;
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virtual bool update() = 0;
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const char *getName() const { return param_name(_handle); }
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protected:
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param_t _handle{PARAM_INVALID};
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};
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// Parameters that are tied to blocks for updating and naming.
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template <class T>
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class __EXPORT BlockParam final : public BlockParamBase
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{
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public:
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BlockParam(Block *block, const char *name, bool parent_prefix = true);
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BlockParam(Block *block, const char *name, bool parent_prefix, T &extern_val);
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~BlockParam() override = default;
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// no copy, assignment, move, move assignment
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BlockParam(const BlockParam &) = delete;
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BlockParam &operator=(const BlockParam &) = delete;
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BlockParam(BlockParam &&) = delete;
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BlockParam &operator=(BlockParam &&) = delete;
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T get() const { return _val; }
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// Store the parameter value to the parameter storage (@see param_set())
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bool commit() { return (param_set(_handle, &_val) == PX4_OK); }
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// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
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bool commit_no_notification() { return (param_set_no_notification(_handle, &_val) == PX4_OK); }
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void set(T val) { _val = val; }
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bool update() override { return (param_get(_handle, &_val) == PX4_OK); }
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protected:
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T _val;
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};
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template <>
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bool BlockParam<bool>::update();
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typedef BlockParam<float> BlockParamFloat;
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typedef BlockParam<int32_t> BlockParamInt;
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typedef BlockParam<bool> BlockParamBool;
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typedef BlockParam<float &> BlockParamExtFloat;
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typedef BlockParam<int32_t &> BlockParamExtInt;
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} // namespace control
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