Block.hpp

Go to the documentation of this file.

/****************************************************************************
 *
 *   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