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131 lines
3.9 KiB
131 lines
3.9 KiB
/**************************************************************************** |
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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 Block.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 <stdint.h> |
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#include <inttypes.h> |
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#include "List.hpp" |
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namespace control |
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{ |
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static const uint16_t maxChildrenPerBlock = 100; |
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static const uint16_t maxParamsPerBlock = 100; |
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static const uint16_t maxSubscriptionsPerBlock = 100; |
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static const uint16_t maxPublicationsPerBlock = 100; |
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static const uint8_t blockNameLengthMax = 80; |
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// forward declaration |
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class BlockParamBase; |
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class UOrbSubscriptionBase; |
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class UOrbPublicationBase; |
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class SuperBlock; |
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/** |
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*/ |
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class __EXPORT Block : |
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public ListNode<Block *> |
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{ |
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public: |
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friend class BlockParamBase; |
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// methods |
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Block(SuperBlock *parent, const char *name); |
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void getName(char *name, size_t n); |
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virtual ~Block() {}; |
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virtual void updateParams(); |
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virtual void updateSubscriptions(); |
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virtual void updatePublications(); |
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virtual void setDt(float dt) { _dt = dt; } |
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// accessors |
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float getDt() { return _dt; } |
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protected: |
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// accessors |
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SuperBlock *getParent() { return _parent; } |
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List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; } |
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List<UOrbPublicationBase *> & getPublications() { return _publications; } |
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List<BlockParamBase *> & getParams() { return _params; } |
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// attributes |
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const char *_name; |
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SuperBlock *_parent; |
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float _dt; |
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List<UOrbSubscriptionBase *> _subscriptions; |
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List<UOrbPublicationBase *> _publications; |
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List<BlockParamBase *> _params; |
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}; |
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class __EXPORT SuperBlock : |
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public Block |
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{ |
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public: |
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friend class Block; |
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// methods |
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SuperBlock(SuperBlock *parent, const char *name) : |
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Block(parent, name), |
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_children() { |
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} |
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virtual ~SuperBlock() {}; |
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virtual void setDt(float dt); |
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virtual void updateParams() { |
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Block::updateParams(); |
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if (getChildren().getHead() != NULL) updateChildParams(); |
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} |
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virtual void updateSubscriptions() { |
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Block::updateSubscriptions(); |
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if (getChildren().getHead() != NULL) updateChildSubscriptions(); |
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} |
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virtual void updatePublications() { |
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Block::updatePublications(); |
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if (getChildren().getHead() != NULL) updateChildPublications(); |
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} |
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protected: |
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// methods |
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List<Block *> & getChildren() { return _children; } |
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void updateChildParams(); |
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void updateChildSubscriptions(); |
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void updateChildPublications(); |
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// attributes |
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List<Block *> _children; |
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}; |
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} // namespace control
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