Block.hpp
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/****************************************************************************
*
* 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
* 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 Block.hpp
*
* Controller library code
*/
#pragma once
#include <containers/List.hpp>
#include <controllib/block/BlockParam.hpp>
#include <cstdint>
namespace control
{
static constexpr uint8_t maxChildrenPerBlock = 100;
static constexpr uint8_t maxParamsPerBlock = 110;
static constexpr uint8_t blockNameLengthMax = 40;
// forward declaration
class BlockParamBase;
class SuperBlock;
/**
*/
class __EXPORT Block : public ListNode<Block *>
{
public:
friend class BlockParamBase;
Block(SuperBlock *parent, const char *name);
virtual ~Block() = default;
// no copy, assignment, move, move assignment
Block(const Block &) = delete;
Block &operator=(const Block &) = delete;
Block(Block &&) = delete;
Block &operator=(Block &&) = delete;
void getName(char *name, size_t n);
virtual void updateParams();
virtual void setDt(float dt) { _dt = dt; }
float getDt() { return _dt; }
protected:
virtual void updateParamsSubclass() {}
SuperBlock *getParent() { return _parent; }
List<BlockParamBase *> &getParams() { return _params; }
const char *_name;
SuperBlock *_parent;
float _dt{0.0f};
List<BlockParamBase *> _params;
};
class __EXPORT SuperBlock :
public Block
{
public:
friend class Block;
SuperBlock(SuperBlock *parent, const char *name) : Block(parent, name) {}
~SuperBlock() = default;
// no copy, assignment, move, move assignment
SuperBlock(const SuperBlock &) = delete;
SuperBlock &operator=(const SuperBlock &) = delete;
SuperBlock(SuperBlock &&) = delete;
SuperBlock &operator=(SuperBlock &&) = delete;
void setDt(float dt) override;
void updateParams() override
{
Block::updateParams();
if (getChildren().getHead() != nullptr) { updateChildParams(); }
}
protected:
List<Block *> &getChildren() { return _children; }
void updateChildParams();
List<Block *> _children;
};
} // namespace control