/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* 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
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/**
* @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