AllocatedActuatorMixer.hpp
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/****************************************************************************
*
* Copyright (C) 2012-2019 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 mixer_AllocatedActuatorMixer.hpp
*
* Mixer for allocated actuators.
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#pragma once
#include <lib/mixer/MixerBase/Mixer.hpp>
/**
* Mixer for allocated actuators.
*
* Copies a single actuator to a single output.
*/
class AllocatedActuatorMixer : public Mixer
{
public:
/**
* Constructor
*
* @param index Actuator index (0..15)
*/
AllocatedActuatorMixer(ControlCallback control_cb,
uintptr_t cb_handle,
uint8_t index);
virtual ~AllocatedActuatorMixer() = default;
// no copy, assignment, move, move assignment
AllocatedActuatorMixer(const AllocatedActuatorMixer &) = delete;
AllocatedActuatorMixer &operator=(const AllocatedActuatorMixer &) = delete;
AllocatedActuatorMixer(AllocatedActuatorMixer &&) = delete;
AllocatedActuatorMixer &operator=(AllocatedActuatorMixer &&) = delete;
/**
* Factory method with full external configuration.
*
* Given a pointer to a buffer containing a text description of the mixer,
* returns a pointer to a new instance of the mixer.
*
* @param control_cb The callback to invoke when fetching a
* control value.
* @param cb_handle Handle passed to the control callback.
* @param buf Buffer containing a text description of
* the mixer.
* @param buflen Length of the buffer in bytes, adjusted
* to reflect the bytes consumed.
* @return A new AllocatedActuatorMixer instance, or nullptr
* if the text format is bad.
*/
static AllocatedActuatorMixer *from_text(Mixer::ControlCallback control_cb,
uintptr_t cb_handle,
const char *buf,
unsigned &buflen);
unsigned mix(float *outputs, unsigned space) override;
void groups_required(uint32_t &groups) override;
unsigned set_trim(float trim) override;
unsigned get_trim(float *trim) override;
private:
uint8_t _control_group; /**< group from which the input reads */
uint8_t _control_index; /**< index within the control group */
static int parse(const char *buf,
unsigned &buflen,
uint8_t &index);
};