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/****************************************************************************
*
* 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:
/**
* Instantiate a block param base.
*
* @param parent_prefix Set to true to include the parent name in the parameter name
*/
BlockParamBase(Block *parent, const char *name, bool parent_prefix=true);
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.
*/
class __EXPORT BlockParamFloat : 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);
}
protected:
float _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;
};
} // namespace control
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