Block.cpp

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/**
 * @file Block.cpp
 *
 * Controller library code
 */

#include "Block.hpp"
#include "BlockParam.hpp"

#include <cstring>

namespace control
{

Block::Block(SuperBlock *parent, const char *name) :
    _name(name),
    _parent(parent)
{
    if (getParent() != nullptr) {
        getParent()->getChildren().add(this);
    }
}

void Block::getName(char *buf, size_t n)
{
    if (getParent() == nullptr) {
        strncpy(buf, _name, n);
        // ensure string is terminated
        buf[n - 1] = '\0';

    } else {
        char parentName[blockNameLengthMax];
        getParent()->getName(parentName, n);

        if (!strcmp(_name, "")) {
            strncpy(buf, parentName, n);
            // ensure string is terminated
            buf[n - 1] = '\0';

        } else {
            snprintf(buf, n, "%s_%s", parentName, _name);
        }
    }
}

void Block::updateParams()
{
    BlockParamBase *param = getParams().getHead();
    int count = 0;

    while (param != nullptr) {
        if (count++ > maxParamsPerBlock) {
            char name[blockNameLengthMax];
            getName(name, blockNameLengthMax);
            PX4_ERR("exceeded max params for block: %s", name);
            break;
        }

        //printf("updating param: %s\n", param->getName());
        param->update();
        param = param->getSibling();
    }

    updateParamsSubclass();
}

void SuperBlock::setDt(float dt)
{
    Block::setDt(dt);
    Block *child = getChildren().getHead();
    int count = 0;

    while (child != nullptr) {
        if (count++ > maxChildrenPerBlock) {
            char name[blockNameLengthMax];
            getName(name, blockNameLengthMax);
            PX4_ERR("exceeded max children for block: %s", name);
            break;
        }

        child->setDt(dt);
        child = child->getSibling();
    }
}

void SuperBlock::updateChildParams()
{
    Block *child = getChildren().getHead();
    int count = 0;

    while (child != nullptr) {
        if (count++ > maxChildrenPerBlock) {
            char name[blockNameLengthMax];
            getName(name, blockNameLengthMax);
            PX4_ERR("exceeded max children for block: %s", name);
            break;
        }

        child->updateParams();
        child = child->getSibling();
    }
}

} // namespace control

template class List<control::BlockParamBase *>;