diff options
Diffstat (limited to 'src/modules/controllib/block')
| -rw-r--r-- | src/modules/controllib/block/Block.cpp | 9 | ||||
| -rw-r--r-- | src/modules/controllib/block/Block.hpp | 18 | ||||
| -rw-r--r-- | src/modules/controllib/block/BlockParam.cpp | 25 | ||||
| -rw-r--r-- | src/modules/controllib/block/BlockParam.hpp | 41 | ||||
| -rw-r--r-- | src/modules/controllib/block/List.hpp | 71 |
5 files changed, 53 insertions, 111 deletions
diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp index b964d40a3..6768bfa7e 100644 --- a/src/modules/controllib/block/Block.cpp +++ b/src/modules/controllib/block/Block.cpp @@ -41,10 +41,11 @@ #include <string.h> #include <stdio.h> +#include <uORB/Subscription.hpp> +#include <uORB/Publication.hpp> + #include "Block.hpp" #include "BlockParam.hpp" -#include "../uorb/UOrbSubscription.hpp" -#include "../uorb/UOrbPublication.hpp" namespace control { @@ -100,7 +101,7 @@ void Block::updateParams() void Block::updateSubscriptions() { - UOrbSubscriptionBase *sub = getSubscriptions().getHead(); + uORB::SubscriptionBase *sub = getSubscriptions().getHead(); int count = 0; while (sub != NULL) { @@ -118,7 +119,7 @@ void Block::updateSubscriptions() void Block::updatePublications() { - UOrbPublicationBase *pub = getPublications().getHead(); + uORB::PublicationBase *pub = getPublications().getHead(); int count = 0; while (pub != NULL) { diff --git a/src/modules/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp index 258701f27..736698e21 100644 --- a/src/modules/controllib/block/Block.hpp +++ b/src/modules/controllib/block/Block.hpp @@ -42,7 +42,13 @@ #include <stdint.h> #include <inttypes.h> -#include "List.hpp" +#include <containers/List.hpp> + +// forward declaration +namespace uORB { + class SubscriptionBase; + class PublicationBase; +} namespace control { @@ -55,8 +61,6 @@ static const uint8_t blockNameLengthMax = 80; // forward declaration class BlockParamBase; -class UOrbSubscriptionBase; -class UOrbPublicationBase; class SuperBlock; /** @@ -79,15 +83,15 @@ public: protected: // accessors SuperBlock *getParent() { return _parent; } - List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; } - List<UOrbPublicationBase *> & getPublications() { return _publications; } + List<uORB::SubscriptionBase *> & getSubscriptions() { return _subscriptions; } + List<uORB::PublicationBase *> & getPublications() { return _publications; } List<BlockParamBase *> & getParams() { return _params; } // attributes const char *_name; SuperBlock *_parent; float _dt; - List<UOrbSubscriptionBase *> _subscriptions; - List<UOrbPublicationBase *> _publications; + List<uORB::SubscriptionBase *> _subscriptions; + List<uORB::PublicationBase *> _publications; List<BlockParamBase *> _params; }; diff --git a/src/modules/controllib/block/BlockParam.cpp b/src/modules/controllib/block/BlockParam.cpp index fd12e365d..8f98da74f 100644 --- a/src/modules/controllib/block/BlockParam.cpp +++ b/src/modules/controllib/block/BlockParam.cpp @@ -76,4 +76,29 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref printf("error finding param: %s\n", fullname); }; +template <class T> +BlockParam<T>::BlockParam(Block *block, const char *name, + bool parent_prefix) : + BlockParamBase(block, name, parent_prefix), + _val() { + update(); +} + +template <class T> +T BlockParam<T>::get() { return _val; } + +template <class T> +void BlockParam<T>::set(T val) { _val = val; } + +template <class T> +void BlockParam<T>::update() { + if (_handle != PARAM_INVALID) param_get(_handle, &_val); +} + +template <class T> +BlockParam<T>::~BlockParam() {}; + +template class __EXPORT BlockParam<float>; +template class __EXPORT BlockParam<int>; + } // namespace control diff --git a/src/modules/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp index 36bc8c24b..a64d0139e 100644 --- a/src/modules/controllib/block/BlockParam.hpp +++ b/src/modules/controllib/block/BlockParam.hpp @@ -42,7 +42,7 @@ #include <systemlib/param/param.h> #include "Block.hpp" -#include "List.hpp" +#include <containers/List.hpp> namespace control { @@ -70,38 +70,21 @@ protected: * Parameters that are tied to blocks for updating and nameing. */ -class __EXPORT BlockParamFloat : public BlockParamBase +template <class T> +class BlockParam : public BlockParamBase { public: - BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) : - BlockParamBase(block, name, parent_prefix), - _val() { - update(); - } - float get() { return _val; } - void set(float val) { _val = val; } - void update() { - if (_handle != PARAM_INVALID) param_get(_handle, &_val); - } + BlockParam(Block *block, const char *name, + bool parent_prefix=true); + T get(); + void set(T val); + void update(); + virtual ~BlockParam(); protected: - float _val; + T _val; }; -class __EXPORT BlockParamInt : public BlockParamBase -{ -public: - BlockParamInt(Block *block, const char *name, bool parent_prefix=true) : - BlockParamBase(block, name, parent_prefix), - _val() { - update(); - } - int get() { return _val; } - void set(int val) { _val = val; } - void update() { - if (_handle != PARAM_INVALID) param_get(_handle, &_val); - } -protected: - int _val; -}; +typedef BlockParam<float> BlockParamFloat; +typedef BlockParam<int> BlockParamInt; } // namespace control diff --git a/src/modules/controllib/block/List.hpp b/src/modules/controllib/block/List.hpp deleted file mode 100644 index 96b0b94d1..000000000 --- a/src/modules/controllib/block/List.hpp +++ /dev/null @@ -1,71 +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 Node.h - * - * A node of a linked list. - */ - -#pragma once - -template<class T> -class __EXPORT ListNode -{ -public: - ListNode() : _sibling(NULL) { - } - void setSibling(T sibling) { _sibling = sibling; } - T getSibling() { return _sibling; } - T get() { - return _sibling; - } -protected: - T _sibling; -}; - -template<class T> -class __EXPORT List -{ -public: - List() : _head() { - } - void add(T newNode) { - newNode->setSibling(getHead()); - setHead(newNode); - } - T getHead() { return _head; } -private: - void setHead(T &head) { _head = head; } - T _head; -}; |