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452 lines
11 KiB
452 lines
11 KiB
/****************************************************************************
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*
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* Copyright (c) 2018 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 param.h
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*
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* C++ Parameter class
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*/
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#pragma once
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#include "param_macros.h"
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#include <float.h>
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#include <math.h>
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#include <parameters/px4_parameters.hpp>
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#define _DEFINE_SINGLE_PARAMETER(x) \
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do_not_explicitly_use_this_namespace::PAIR(x);
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#define _CALL_UPDATE(x) \
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STRIP(x).update();
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// define the parameter update method, which will update all parameters.
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// It is marked as 'final', so that wrong usages lead to a compile error (see below)
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#define _DEFINE_PARAMETER_UPDATE_METHOD(...) \
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protected: \
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void updateParamsImpl() final { \
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APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
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} \
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private:
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// Define a list of parameters. This macro also creates code to update parameters.
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// If you get a compile error like:
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// error: virtual function ‘virtual void <class>::updateParamsImpl()’
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// It means you have a custom inheritance tree (at least one class with params that inherits from another
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// class with params) and you need to use DEFINE_PARAMETERS_CUSTOM_PARENT() for **all** classes in
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// that tree.
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#define DEFINE_PARAMETERS(...) \
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APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__) \
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_DEFINE_PARAMETER_UPDATE_METHOD(__VA_ARGS__)
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#define _DEFINE_PARAMETER_UPDATE_METHOD_CUSTOM_PARENT(parent_class, ...) \
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protected: \
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void updateParamsImpl() override { \
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parent_class::updateParamsImpl(); \
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APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
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} \
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private:
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#define DEFINE_PARAMETERS_CUSTOM_PARENT(parent_class, ...) \
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APPLY_ALL(_DEFINE_SINGLE_PARAMETER, __VA_ARGS__) \
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_DEFINE_PARAMETER_UPDATE_METHOD_CUSTOM_PARENT(parent_class, __VA_ARGS__)
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// This namespace never needs to be used directly. Use the DEFINE_PARAMETERS_CUSTOM_PARENT and
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// DEFINE_PARAMETERS macros instead (the Param classes don't depend on using the macro, the macro just
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// makes sure that update() is automatically called).
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namespace do_not_explicitly_use_this_namespace
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{
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template<typename T, px4::params p>
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class Param
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{
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};
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// We use partial template specialization for each param type. This is only supported for classes, not individual methods,
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// which is why we have to repeat the whole class
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template<px4::params p>
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class Param<float, p>
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{
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public:
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// static type-check
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static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
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Param()
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{
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//param_set_used(handle());
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update();
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}
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float get() const { return _val; }
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const float &reference() const { return _val; }
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/// Store the parameter value to the parameter storage (@see param_set())
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bool commit() const
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{
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return true; // TODO
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//return param_set(handle(), &_val) == 0;
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}
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/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
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bool commit_no_notification() const
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{
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return true; // TODO
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//return param_set_no_notification(handle(), &_val) == 0;
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}
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/// Set and commit a new value. Returns true if the value changed.
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bool commit_no_notification(float val)
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{
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if (fabsf(val - _val) > FLT_EPSILON) {
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set(val);
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commit_no_notification();
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return true;
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}
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return false;
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}
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void set(float val) { _val = val; }
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void reset()
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{
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//param_reset_no_notification(handle()); // TODO
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update();
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}
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bool update()
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{
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return true; // TODO
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//return param_get(handle(), &_val) == 0;
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}
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//param_t handle() const { return param_handle(p); }
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private:
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float _val;
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};
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// external version
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template<px4::params p>
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class Param<float &, p>
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{
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public:
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// static type-check
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static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_FLOAT, "parameter type must be float");
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Param(float &external_val)
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: _val(external_val)
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{
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//param_set_used(handle()); // TODO
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update();
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}
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float get() const { return _val; }
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const float &reference() const { return _val; }
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/// Store the parameter value to the parameter storage (@see param_set())
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bool commit() const
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{
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//return param_set(handle(), &_val) == 0; // TODO
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return true;
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}
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/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
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bool commit_no_notification() const
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{
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return true;
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//return param_set_no_notification(handle(), &_val) == 0;
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}
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/// Set and commit a new value. Returns true if the value changed.
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bool commit_no_notification(float val)
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{
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if (fabsf(val - _val) > FLT_EPSILON) {
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set(val);
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commit_no_notification();
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return true;
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}
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return false;
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}
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void set(float val) { _val = val; }
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void reset()
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{
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//param_reset_no_notification(handle());
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update();
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}
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bool update()
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{
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return true;
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//return param_get(handle(), &_val) == 0;
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}
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//param_t handle() const { return param_handle(p); }
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private:
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float &_val;
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};
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template<px4::params p>
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class Param<int32_t, p>
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{
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public:
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// static type-check
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static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
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Param()
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{
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//param_set_used(handle());
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update();
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}
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int32_t get() const { return _val; }
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const int32_t &reference() const { return _val; }
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/// Store the parameter value to the parameter storage (@see param_set())
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bool commit() const
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{
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return true;
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//return param_set(handle(), &_val) == 0;
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}
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/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
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bool commit_no_notification() const
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{
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//return param_set_no_notification(handle(), &_val) == 0;
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return true;
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}
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/// Set and commit a new value. Returns true if the value changed.
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bool commit_no_notification(int32_t val)
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{
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if (val != _val) {
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set(val);
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commit_no_notification();
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return true;
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}
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return false;
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}
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void set(int32_t val) { _val = val; }
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void reset()
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{
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//param_reset_no_notification(handle());
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update();
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}
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bool update()
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{
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//return param_get(handle(), &_val) == 0;
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return true;
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}
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//param_t handle() const { return param_handle(p); }
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private:
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int32_t _val;
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};
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//external version
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template<px4::params p>
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class Param<int32_t &, p>
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{
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public:
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// static type-check
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static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
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Param(int32_t &external_val)
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: _val(external_val)
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{
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//param_set_used(handle());
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update();
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}
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int32_t get() const { return _val; }
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const int32_t &reference() const { return _val; }
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/// Store the parameter value to the parameter storage (@see param_set())
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bool commit() const
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{
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return true;
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//return param_set(handle(), &_val) == 0;
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}
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/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
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bool commit_no_notification() const
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{
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return true;
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//return param_set_no_notification(handle(), &_val) == 0;
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}
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/// Set and commit a new value. Returns true if the value changed.
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bool commit_no_notification(int32_t val)
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{
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if (val != _val) {
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set(val);
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commit_no_notification();
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return true;
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}
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return false;
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}
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void set(int32_t val) { _val = val; }
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void reset()
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{
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//param_reset_no_notification(handle());
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update();
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}
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bool update()
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{
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//return param_get(handle(), &_val) == 0;
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return true;
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}
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//param_t handle() const { return param_handle(p); }
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private:
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int32_t &_val;
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};
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template<px4::params p>
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class Param<bool, p>
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{
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public:
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// static type-check
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static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");
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Param()
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{
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//param_set_used(handle());
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update();
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}
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bool get() const { return _val; }
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const bool &reference() const { return _val; }
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/// Store the parameter value to the parameter storage (@see param_set())
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bool commit() const
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{
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int32_t value_int = (int32_t)_val;
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//return param_set(handle(), &value_int) == 0;
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return true;
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}
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/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
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bool commit_no_notification() const
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{
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int32_t value_int = (int32_t)_val;
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//return param_set_no_notification(handle(), &value_int) == 0;
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return true;
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}
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/// Set and commit a new value. Returns true if the value changed.
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bool commit_no_notification(bool val)
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{
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if (val != _val) {
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set(val);
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commit_no_notification();
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return true;
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}
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return false;
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}
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void set(bool val) { _val = val; }
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void reset()
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{
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//param_reset_no_notification(handle());
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update();
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}
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bool update()
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{
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int32_t value_int;
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int ret = 0;//param_get(handle(), &value_int);
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if (ret == 0) {
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_val = value_int != 0;
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return true;
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}
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return false;
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}
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//param_t handle() const { return param_handle(p); }
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private:
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bool _val;
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};
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template <px4::params p>
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using ParamFloat = Param<float, p>;
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template <px4::params p>
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using ParamInt = Param<int32_t, p>;
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template <px4::params p>
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using ParamExtFloat = Param<float &, p>;
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template <px4::params p>
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using ParamExtInt = Param<int32_t &, p>;
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template <px4::params p>
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using ParamBool = Param<bool, p>;
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} /* namespace do_not_explicitly_use_this_namespace */
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// Raise an appropriate compile error if a Param class is used directly (just to simplify debugging)
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template<px4::params p>
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class ParamInt
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{
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static_assert((int)p &&false, "Do not use this class directly, use the DEFINE_PARAMETERS macro instead");
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};
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template<px4::params p>
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class ParamFloat
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{
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static_assert((int)p &&false, "Do not use this class directly, use the DEFINE_PARAMETERS macro instead");
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};
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