diff options
Diffstat (limited to 'apps/systemlib/control/block/Block.cpp')
| -rw-r--r-- | apps/systemlib/control/block/Block.cpp | 210 |
1 files changed, 210 insertions, 0 deletions
diff --git a/apps/systemlib/control/block/Block.cpp b/apps/systemlib/control/block/Block.cpp new file mode 100644 index 000000000..5994d2315 --- /dev/null +++ b/apps/systemlib/control/block/Block.cpp @@ -0,0 +1,210 @@ +/**************************************************************************** + * + * 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 Block.cpp + * + * Controller library code + */ + +#include <math.h> +#include <string.h> +#include <stdio.h> + +#include "Block.hpp" +#include "BlockParam.hpp" +#include "UOrbSubscription.hpp" +#include "UOrbPublication.hpp" + +namespace control +{ + +Block::Block(SuperBlock *parent, const char *name) : + _name(name), + _parent(parent), + _dt(0), + _subscriptions(), + _params() +{ + if (getParent() != NULL) { + getParent()->getChildren().add(this); + } +} + +void Block::getName(char *buf, size_t n) +{ + if (getParent() == NULL) { + strncpy(buf, _name, n); + + } else { + char parentName[blockNameLengthMax]; + getParent()->getName(parentName, n); + + if (!strcmp(_name, "")) { + strncpy(buf, parentName, blockNameLengthMax); + + } else { + snprintf(buf, blockNameLengthMax, "%s_%s", parentName, _name); + } + } +} + +void Block::updateParams() +{ + BlockParamBase *param = getParams().getHead(); + int count = 0; + + while (param != NULL) { + if (count++ > maxParamsPerBlock) { + char name[blockNameLengthMax]; + getName(name, blockNameLengthMax); + printf("exceeded max params for block: %s\n", name); + break; + } + + //printf("updating param: %s\n", param->getName()); + param->update(); + param = param->getSibling(); + } +} + +void Block::updateSubscriptions() +{ + UOrbSubscriptionBase *sub = getSubscriptions().getHead(); + int count = 0; + + while (sub != NULL) { + if (count++ > maxSubscriptionsPerBlock) { + char name[blockNameLengthMax]; + getName(name, blockNameLengthMax); + printf("exceeded max subscriptions for block: %s\n", name); + break; + } + + sub->update(); + sub = sub->getSibling(); + } +} + +void Block::updatePublications() +{ + UOrbPublicationBase *pub = getPublications().getHead(); + int count = 0; + + while (pub != NULL) { + if (count++ > maxPublicationsPerBlock) { + char name[blockNameLengthMax]; + getName(name, blockNameLengthMax); + printf("exceeded max publications for block: %s\n", name); + break; + } + + pub->update(); + pub = pub->getSibling(); + } +} + +void SuperBlock::setDt(float dt) +{ + Block::setDt(dt); + Block *child = getChildren().getHead(); + int count = 0; + + while (child != NULL) { + if (count++ > maxChildrenPerBlock) { + char name[40]; + getName(name, 40); + printf("exceeded max children for block: %s\n", name); + break; + } + + child->setDt(dt); + child = child->getSibling(); + } +} + +void SuperBlock::updateChildParams() +{ + Block *child = getChildren().getHead(); + int count = 0; + + while (child != NULL) { + if (count++ > maxChildrenPerBlock) { + char name[40]; + getName(name, 40); + printf("exceeded max children for block: %s\n", name); + break; + } + + child->updateParams(); + child = child->getSibling(); + } +} + +void SuperBlock::updateChildSubscriptions() +{ + Block *child = getChildren().getHead(); + int count = 0; + + while (child != NULL) { + if (count++ > maxChildrenPerBlock) { + char name[40]; + getName(name, 40); + printf("exceeded max children for block: %s\n", name); + break; + } + + child->updateSubscriptions(); + child = child->getSibling(); + } +} + +void SuperBlock::updateChildPublications() +{ + Block *child = getChildren().getHead(); + int count = 0; + + while (child != NULL) { + if (count++ > maxChildrenPerBlock) { + char name[40]; + getName(name, 40); + printf("exceeded max children for block: %s\n", name); + break; + } + + child->updatePublications(); + child = child->getSibling(); + } +} + +} // namespace control |