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Diffstat (limited to 'src/platforms/px4_parameter.h')
-rw-r--r-- | src/platforms/px4_parameter.h | 161 |
1 files changed, 161 insertions, 0 deletions
diff --git a/src/platforms/px4_parameter.h b/src/platforms/px4_parameter.h new file mode 100644 index 000000000..1376320b1 --- /dev/null +++ b/src/platforms/px4_parameter.h @@ -0,0 +1,161 @@ +/**************************************************************************** + * + * Copyright (c) 2015 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 px4_parameter.h + * + * PX4 Parameter API + */ +#pragma once +#if defined(__PX4_ROS) +/* includes when building for ros */ +#include "ros/ros.h" +#include <string> +#else +/* includes when building for NuttX */ +#include <systemlib/param/param.h> +#endif + +namespace px4 +{ + +/** + * Parameter base class + */ +template <typename T> +class __EXPORT ParameterBase +{ +public: + ParameterBase(const char *name, T value) : + _name(name), + _value(value) + {} + + virtual ~ParameterBase() {}; + + /** + * Update the parameter value and return the value + */ + virtual T update() = 0; + + /** + * Get the current parameter value + */ + virtual T get() = 0; + +protected: + const char *_name; /** The parameter name */ + T _value; /**< The current value of the parameter */ + +}; + +#if defined(__PX4_ROS) +template <typename T> +class Parameter : + public ParameterBase<T> +{ +public: + Parameter(const char *name, T value) : + ParameterBase<T>(name, value) + { + if (!ros::param::has(name)) { + ros::param::set(name, value); + } + + update(); + } + + ~Parameter() {}; + + /** + * Update the parameter value + */ + T update() + { + ros::param::get(this->_name, this->_value); + return get(); + } + + /** + * Get the current parameter value + */ + T get() + { + return this->_value; + } + +}; +#else +template <typename T> +class __EXPORT Parameter : + public ParameterBase<T> +{ +public: + Parameter(const char *name, T value) : + ParameterBase<T>(name, value), + _handle(param_find(name)) + { + update(); + } + + ~Parameter() {}; + + /** + * Update the parameter value + */ + T update() + { + if (_handle != PARAM_INVALID) { + param_get(_handle, &(this->_value)); + } + + return get(); + } + + /** + * Get the current parameter value + */ + T get() + { + return this->_value; + } + +protected: + param_t _handle; + +}; +#endif + +typedef Parameter<float> ParameterFloat; +typedef Parameter<int> ParameterInt; +} |