BlockParamExt replace with BlockParam reference types

src/lib/controllib/block/Block.cpp

@@ -41,6 +41,8 @@
 #include <string.h>
 #include <stdio.h>
 
+#include <cstring>
+
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
 

src/lib/controllib/block/BlockParam.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012-2017 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
@@ -37,19 +37,16 @@
  * Controller library code
  */
 
-#include <math.h>
-#include <stdio.h>
-#include <string.h>
-
 #include "BlockParam.hpp"
 
+#include <cstring>
+
 #include <containers/List.hpp>
 
 namespace control
 {
 
-BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix) :
+BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix)
-	_handle(PARAM_INVALID)
 {
 	char fullname[blockNameLengthMax];
 
@@ -60,7 +57,7 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
 		char parentName[blockNameLengthMax];
 		parent->getName(parentName, blockNameLengthMax);
 
-		if (!strcmp(name, "")) {
+		if (strcmp(name, "") == 0) {
 			strncpy(fullname, parentName, blockNameLengthMax);
 			// ensure string is terminated
 			fullname[sizeof(fullname) - 1] = '\0';
@@ -80,81 +77,40 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
 	_handle = param_find(fullname);
 
 	if (_handle == PARAM_INVALID) {
-		printf("error finding param: %s\n", fullname);
+		PX4_ERR("error finding param: %s\n", fullname);
 	}
 };
 
-template <class T>
+template <>
-BlockParam<T>::BlockParam(Block *block, const char *name,
+BlockParam<int32_t>::BlockParam(Block *block, const char *name, bool parent_prefix) :
-			  bool parent_prefix) :
 	BlockParamBase(block, name, parent_prefix),
 	_val()
 {
 	update();
 }
 
-template <class T>
+template <>
-void BlockParam<T>::set(T val)
+BlockParam<float>::BlockParam(Block *block, const char *name, bool parent_prefix) :
-{
+	BlockParamBase(block, name, parent_prefix),
-	_val = val;
+	_val()
-}
-
-template <class T>
-void BlockParam<T>::update()
-{
-	if (_handle != PARAM_INVALID) {
-		param_get(_handle, &_val);
-	}
-}
-
-template <class T>
-void BlockParam<T>::commit()
-{
-	if (_handle != PARAM_INVALID) { param_set(_handle, &_val); }
-}
-
-template <class T>
-void BlockParam<T>::commit_no_notification()
-{
-	if (_handle != PARAM_INVALID) { param_set_no_notification(_handle, &_val); }
-}
-
-template <class T>
-BlockParam<T>::~BlockParam() {};
-
-template class __EXPORT BlockParam<float>;
-template class __EXPORT BlockParam<int>;
-
-
-template <class T>
-BlockParamExt<T>::BlockParamExt(Block *block, const char *name,
-				bool parent_prefix, T &extern_val) :
-	BlockParam<T>(block, name, parent_prefix),
-	_extern_val(extern_val)
 {
 	update();
 }
 
-template <class T>
+template <>
-void BlockParamExt<T>::set(T val)
+BlockParam<int32_t &>::BlockParam(Block *block, const char *name, bool parent_prefix, int32_t &extern_val) :
+	BlockParamBase(block, name, parent_prefix),
+	_val(extern_val)
 {
-	this->_val = val;
+	update();
-	_extern_val = val;
 }
 
-template <class T>
+template <>
-void BlockParamExt<T>::update()
+BlockParam<float &>::BlockParam(Block *block, const char *name, bool parent_prefix, float &extern_val) :
+	BlockParamBase(block, name, parent_prefix),
+	_val(extern_val)
 {
-	if (this->_handle != PARAM_INVALID) {
+	update();
-		param_get(this->_handle, &this->_val);
-		_extern_val = this->_val;
-	}
 }
 
-template <class T>
-BlockParamExt<T>::~BlockParamExt() {};
-
-template class __EXPORT BlockParamExt<float>;
-template class __EXPORT BlockParamExt<int>;
-
 } // namespace control

src/lib/controllib/block/BlockParam.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012-2017 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
@@ -43,17 +43,14 @@
 
 #include "Block.hpp"
 #include <containers/List.hpp>
-#include <cstddef>	// NULL
 
 namespace control
 {
 
 class Block;
 
-/**
+// A base class for block params that enables traversing linked list.
- * A base class for block params that enables traversing linked list.
+class BlockParamBase : public ListNode<BlockParamBase *>
- */
-class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
 {
 public:
 	/**
@@ -63,70 +60,53 @@ public:
 	 */
 	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;
+	param_t _handle{PARAM_INVALID};
 };
 
-/**
+// Parameters that are tied to blocks for updating and naming.
- * Parameters that are tied to blocks for updating and nameing.
- */
-
 template <class T>
-class BlockParam : public BlockParamBase
+class __EXPORT BlockParam : public BlockParamBase
 {
 public:
-	BlockParam(Block *block, const char *name,
+	BlockParam(Block *block, const char *name, bool parent_prefix = true);
-		   bool parent_prefix = true);
+	BlockParam(Block *block, const char *name, bool parent_prefix, T &extern_val);
+
+	~BlockParam() = default;
+
+	// no copy, assignment, move, move assignment
 	BlockParam(const BlockParam &) = delete;
 	BlockParam &operator=(const BlockParam &) = delete;
+	BlockParam(BlockParam &&) = delete;
+	BlockParam &operator=(BlockParam &&) = delete;
 
-	inline T get() const { return _val; }
+	T get() const { return _val; }
 
-	/**
+	// Store the parameter value to the parameter storage (@see param_set())
-	 * Store the parameter value to the parameter storage (@see param_set())
+	void commit() { param_set(_handle, &_val); };
-	 */
-	void commit();
 
-	/**
+	// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	 * Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	void commit_no_notification() { param_set_no_notification(_handle, &_val); };
-	 */
+
-	void commit_no_notification();
+	void set(T val) { _val = val; };
+	void update() override { param_get(_handle, &_val); };
 
-	void set(T val);
-	void update() override;
-	virtual ~BlockParam();
 protected:
 	T _val;
 };
 
 typedef BlockParam<float> BlockParamFloat;
 typedef BlockParam<int> BlockParamInt;
+typedef BlockParam<float &> BlockParamExtFloat;
+typedef BlockParam<int32_t &> BlockParamExtInt;
 
-
+template class __EXPORT BlockParam<float>;
-/**
+template class __EXPORT BlockParam<int32_t>;
- * Same as BlockParam, but in addition with a pointer to an external field that will be
+template class __EXPORT BlockParam<float &>;
- * set to the value of the parameter.
+template class __EXPORT BlockParam<int32_t &>;
- * (BlockParam should be prefered over this)
- */
-template <class T>
-class BlockParamExt : public BlockParam<T>
-{
-public:
-	BlockParamExt(Block *block, const char *name,
-		      bool parent_prefix, T &extern_val);
-	BlockParamExt(const BlockParamExt &) = delete;
-	BlockParamExt &operator=(const BlockParamExt &) = delete;
-
-	void set(T val);
-	void update() override;
-	virtual ~BlockParamExt();
-protected:
-	T &_extern_val;
-};
-
-typedef BlockParamExt<float> BlockParamExtFloat;
-typedef BlockParamExt<int> BlockParamExtInt;
 
 } // namespace control

src/lib/ecl

@@ -1 +1 @@
-Subproject commit 05c3c46f839ef0738c2cb0c643dd40a2d6ef01d8
+Subproject commit 9dee57f9ca5b9665fb9fba051bb20a6a010311c0

src/modules/ekf2/ekf2_main.cpp

@@ -130,8 +130,10 @@ private:
 	static constexpr float _dt_max = 0.02;
 	bool	_task_should_exit = false;
 	int	_control_task = -1;		// task handle for task
+
 	bool 	_replay_mode;			// should we use replay data from a log
-	int 	_publish_replay_mode;		// defines if we should publish replay messages
+	int32_t _publish_replay_mode;		// defines if we should publish replay messages
+
 	float	_default_ev_pos_noise = 0.05f;	// external vision position noise used when an invalid value is supplied
 	float	_default_ev_ang_noise = 0.05f;	// external vision angle noise used when an invalid value is supplied