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author | James Goppert <james.goppert@gmail.com> | 2013-07-28 01:35:43 -0400 |
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committer | James Goppert <james.goppert@gmail.com> | 2013-07-28 01:35:43 -0400 |
commit | 1980d9dd63e29390f7c3ba9b31be576c07706f73 (patch) | |
tree | 22b8cebc3474bc897555db19c2810e1e102a9f15 /src/modules/controllib/block | |
parent | 95aa82f586a8c44c53ae48517efdeb5e5673b7b5 (diff) | |
download | px4-firmware-1980d9dd63e29390f7c3ba9b31be576c07706f73.tar.gz px4-firmware-1980d9dd63e29390f7c3ba9b31be576c07706f73.tar.bz2 px4-firmware-1980d9dd63e29390f7c3ba9b31be576c07706f73.zip |
Working on segway controller, restructure of fixedwing.
Diffstat (limited to 'src/modules/controllib/block')
-rw-r--r-- | src/modules/controllib/block/Block.cpp | 4 | ||||
-rw-r--r-- | src/modules/controllib/block/UOrbPublication.cpp | 39 | ||||
-rw-r--r-- | src/modules/controllib/block/UOrbPublication.hpp | 118 | ||||
-rw-r--r-- | src/modules/controllib/block/UOrbSubscription.cpp | 51 | ||||
-rw-r--r-- | src/modules/controllib/block/UOrbSubscription.hpp | 137 |
5 files changed, 2 insertions, 347 deletions
diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp index 5994d2315..b964d40a3 100644 --- a/src/modules/controllib/block/Block.cpp +++ b/src/modules/controllib/block/Block.cpp @@ -43,8 +43,8 @@ #include "Block.hpp" #include "BlockParam.hpp" -#include "UOrbSubscription.hpp" -#include "UOrbPublication.hpp" +#include "../uorb/UOrbSubscription.hpp" +#include "../uorb/UOrbPublication.hpp" namespace control { diff --git a/src/modules/controllib/block/UOrbPublication.cpp b/src/modules/controllib/block/UOrbPublication.cpp deleted file mode 100644 index f69b39d90..000000000 --- a/src/modules/controllib/block/UOrbPublication.cpp +++ /dev/null @@ -1,39 +0,0 @@ -/**************************************************************************** - * - * 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" diff --git a/src/modules/controllib/block/UOrbPublication.hpp b/src/modules/controllib/block/UOrbPublication.hpp deleted file mode 100644 index 0a8ae2ff7..000000000 --- a/src/modules/controllib/block/UOrbPublication.hpp +++ /dev/null @@ -1,118 +0,0 @@ -/**************************************************************************** - * - * 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(-1) { - if (list != NULL) list->add(this); - } - void update() { - if (_handle > 0) { - orb_publish(getMeta(), getHandle(), getDataVoidPtr()); - } else { - setHandle(orb_advertise(getMeta(), 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) { - } - 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 diff --git a/src/modules/controllib/block/UOrbSubscription.cpp b/src/modules/controllib/block/UOrbSubscription.cpp deleted file mode 100644 index 022cadd24..000000000 --- a/src/modules/controllib/block/UOrbSubscription.cpp +++ /dev/null @@ -1,51 +0,0 @@ -/**************************************************************************** - * - * 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 diff --git a/src/modules/controllib/block/UOrbSubscription.hpp b/src/modules/controllib/block/UOrbSubscription.hpp deleted file mode 100644 index 22cc2e114..000000000 --- a/src/modules/controllib/block/UOrbSubscription.hpp +++ /dev/null @@ -1,137 +0,0 @@ -/**************************************************************************** - * - * 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 |