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86 lines
2.6 KiB
86 lines
2.6 KiB
12 years ago
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file BlockParam.h
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*
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* Controller library code
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*/
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#pragma once
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#include <systemlib/param/param.h>
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#include "Block.hpp"
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#include "List.hpp"
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namespace control
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{
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/**
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* A base class for block params that enables traversing linked list.
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*/
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class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
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{
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public:
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BlockParamBase(Block *parent, const char *name);
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virtual ~BlockParamBase() {};
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virtual void update() = 0;
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const char *getName() { return param_name(_handle); }
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protected:
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param_t _handle;
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};
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/**
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* Parameters that are tied to blocks for updating and nameing.
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*/
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template<class T>
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class __EXPORT BlockParam : public BlockParamBase
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{
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public:
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BlockParam(Block *block, const char *name) :
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BlockParamBase(block, name),
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_val() {
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update();
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}
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T get() { return _val; }
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void set(T val) { _val = val; }
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void update() {
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if (_handle != PARAM_INVALID) param_get(_handle, &_val);
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}
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protected:
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T _val;
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};
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} // namespace control
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