diff options
Diffstat (limited to 'apps/systemlib/control/block/BlockParam.hpp')
-rw-r--r-- | apps/systemlib/control/block/BlockParam.hpp | 85 |
1 files changed, 85 insertions, 0 deletions
diff --git a/apps/systemlib/control/block/BlockParam.hpp b/apps/systemlib/control/block/BlockParam.hpp new file mode 100644 index 000000000..7f86d1717 --- /dev/null +++ b/apps/systemlib/control/block/BlockParam.hpp @@ -0,0 +1,85 @@ +/**************************************************************************** + * + * 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 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 |