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133 lines
3.8 KiB
C++
133 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 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.h
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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 <systemlib/param/param.h>
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#include "Block.hpp"
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#include <containers/List.hpp>
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#include <cstddef> // NULL
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namespace control
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{
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class Block;
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/**
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* A base class for block params that enables traversing linked list.
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*/
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class __EXPORT 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() {};
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virtual void update() = 0;
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const char *getName() { return param_name(_handle); }
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protected:
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param_t _handle;
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};
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/**
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* Parameters that are tied to blocks for updating and nameing.
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*/
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template <class T>
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class BlockParam : public BlockParamBase
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{
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public:
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BlockParam(Block *block, const char *name,
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bool parent_prefix = true);
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BlockParam(const BlockParam &) = delete;
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BlockParam &operator=(const BlockParam &) = delete;
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inline T get() const { return _val; }
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/**
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* Store the parameter value to the parameter storage (@see param_set())
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*/
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void commit();
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/**
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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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*/
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void commit_no_notification();
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void set(T val);
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void update() override;
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virtual ~BlockParam();
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protected:
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T _val;
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};
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typedef BlockParam<float> BlockParamFloat;
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typedef BlockParam<int> BlockParamInt;
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/**
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* Same as BlockParam, but in addition with a pointer to an external field that will be
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* set to the value of the parameter.
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* (BlockParam should be prefered over this)
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*/
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template <class T>
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class BlockParamExt : public BlockParam<T>
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{
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public:
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BlockParamExt(Block *block, const char *name,
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bool parent_prefix, T &extern_val);
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BlockParamExt(const BlockParamExt &) = delete;
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BlockParamExt &operator=(const BlockParamExt &) = delete;
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void set(T val);
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void update() override;
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virtual ~BlockParamExt();
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protected:
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T &_extern_val;
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};
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typedef BlockParamExt<float> BlockParamExtFloat;
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typedef BlockParamExt<int> BlockParamExtInt;
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} // namespace control
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