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uncrustify libraries/AP_Common/AP_Param.h with fixups by hand

This commit is contained in:
Pat Hickey 2012-08-16 23:17:46 -07:00
parent 6f09714618
commit 42e24a869f
1 changed files with 118 additions and 97 deletions
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215
libraries/AP_Common/AP_Param.h
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@ -28,18 +28,18 @@
#define AP_VAROFFSET(type, element) (((uintptr_t)(&((const type *)1)->element))-1) #define AP_VAROFFSET(type, element) (((uintptr_t)(&((const type *)1)->element))-1)
// find the type of a variable given the class and element // find the type of a variable given the class and element
#define AP_CLASSTYPE(class, element) (((const class *)1)->element.vtype) #define AP_CLASSTYPE(class, element) (((const class *) 1)->element.vtype)
// declare a group var_info line // declare a group var_info line
#define AP_GROUPINFO(name, idx, class, element, def) { AP_CLASSTYPE(class, element), idx, name, AP_VAROFFSET(class, element), {def_value:def} } #define AP_GROUPINFO(name, idx, class, element, def) { AP_CLASSTYPE(class, element), idx, name, AP_VAROFFSET(class, element), {def_value : def} }
// declare a nested group entry in a group var_info // declare a nested group entry in a group var_info
#ifdef AP_NESTED_GROUPS_ENABLED #ifdef AP_NESTED_GROUPS_ENABLED
#define AP_NESTEDGROUPINFO(class, idx) { AP_PARAM_GROUP, idx, "", 0, { group_info: class::var_info } } #define AP_NESTEDGROUPINFO(class, idx) { AP_PARAM_GROUP, idx, "", 0, { group_info : class::var_info } }
#endif #endif
#define AP_GROUPEND { AP_PARAM_NONE, 0xFF, "", 0, { group_info : NULL } } #define AP_GROUPEND { AP_PARAM_NONE, 0xFF, "", 0, { group_info : NULL } }
#define AP_VAREND { AP_PARAM_NONE, "", 0, NULL, { group_info : NULL } } #define AP_VAREND { AP_PARAM_NONE, "", 0, NULL, { group_info : NULL } }
enum ap_var_type { enum ap_var_type {
AP_PARAM_NONE = 0, AP_PARAM_NONE = 0,
@ -87,7 +87,7 @@ public:
// called once at startup to setup the _var_info[] table. This // called once at startup to setup the _var_info[] table. This
// will also check the EEPROM header and re-initialise it if the // will also check the EEPROM header and re-initialise it if the
// wrong version is found // wrong version is found
static bool setup(const struct Info *info, uint16_t eeprom_size); static bool setup(const struct Info *info, uint16_t eeprom_size);
// constructor to load default values and setup var_info table // constructor to load default values and setup var_info table
AP_Param(const struct Info *info, uint16_t eeprom_size) { AP_Param(const struct Info *info, uint16_t eeprom_size) {
@ -96,19 +96,21 @@ public:
} }
// empty constructor for child classes // empty constructor for child classes
AP_Param() {} AP_Param() {
}
// a token used for first()/next() state // a token used for first()/next() state
typedef struct { typedef struct {
uint32_t key:8; uint32_t key : 8;
uint32_t idx:6; // offset into array types uint32_t idx : 6; // offset into array types
uint32_t group_element:18; uint32_t group_element : 18;
} ParamToken; } ParamToken;
// return true if AP_Param has been initialised via setup() // return true if AP_Param has been initialised via setup()
static bool initialised(void); static bool initialised(void);
/// Copy the variable's name, prefixed by any containing group name, to a buffer. /// Copy the variable's name, prefixed by any containing group name, to a
/// buffer.
/// ///
/// If the variable has no name, the buffer will contain an empty string. /// If the variable has no name, the buffer will contain an empty string.
/// ///
@ -128,7 +130,7 @@ public:
/// @return A pointer to the variable, or NULL if /// @return A pointer to the variable, or NULL if
/// it does not exist. /// it does not exist.
/// ///
static AP_Param *find(const char *name, enum ap_var_type *ptype); static AP_Param * find(const char *name, enum ap_var_type *ptype);
/// Save the current value of the variable to EEPROM. /// Save the current value of the variable to EEPROM.
/// ///
@ -152,39 +154,39 @@ public:
/// ///
static bool load_all(void); static bool load_all(void);
// set a AP_Param variable to a specified value // set a AP_Param variable to a specified value
static void set_value(enum ap_var_type type, void *ptr, float def_value); static void set_value(enum ap_var_type type, void *ptr, float def_value);
// load default values for scalars in a group // load default values for scalars in a group
static void load_defaults_group(const struct GroupInfo *group_info, uintptr_t base); static void load_defaults_group(const struct GroupInfo *group_info, uintptr_t base);
// load default values for all scalars // load default values for all scalars
static void load_defaults(void); static void load_defaults(void);
/// Erase all variables in EEPROM. /// Erase all variables in EEPROM.
/// ///
static void erase_all(void); static void erase_all(void);
/// print the value of all variables /// print the value of all variables
static void show_all(void); static void show_all(void);
/// Returns the first variable /// Returns the first variable
/// ///
/// @return The first variable in _var_info, or NULL if /// @return The first variable in _var_info, or NULL if
/// there are none. /// there are none.
/// ///
static AP_Param *first(ParamToken *token, enum ap_var_type *ptype); static AP_Param * first(ParamToken *token, enum ap_var_type *ptype);
/// Returns the next variable in _var_info, recursing into groups /// Returns the next variable in _var_info, recursing into groups
/// as needed /// as needed
static AP_Param *next(ParamToken *token, enum ap_var_type *ptype); static AP_Param * next(ParamToken *token, enum ap_var_type *ptype);
/// Returns the next scalar variable in _var_info, recursing into groups /// Returns the next scalar variable in _var_info, recursing into groups
/// as needed /// as needed
static AP_Param *next_scalar(ParamToken *token, enum ap_var_type *ptype); static AP_Param * next_scalar(ParamToken *token, enum ap_var_type *ptype);
/// cast a variable to a float given its type /// cast a variable to a float given its type
float cast_to_float(enum ap_var_type type); float cast_to_float(enum ap_var_type type);
private: private:
/// EEPROM header /// EEPROM header
@ -193,77 +195,96 @@ private:
/// that the ROM is formatted for AP_Param. /// that the ROM is formatted for AP_Param.
/// ///
struct EEPROM_header { struct EEPROM_header {
uint8_t magic[2]; uint8_t magic[2];
uint8_t revision; uint8_t revision;
uint8_t spare; uint8_t spare;
}; };
/* This header is prepended to a variable stored in EEPROM. /* This header is prepended to a variable stored in EEPROM.
The meaning is as follows: * The meaning is as follows:
*
- key: the k_param enum value from Parameter.h in the sketch * - key: the k_param enum value from Parameter.h in the sketch
*
- group_element: This is zero for top level parameters. For * - group_element: This is zero for top level parameters. For
parameters stored within an object this is divided * parameters stored within an object this is divided
into 3 lots of 6 bits, allowing for three levels * into 3 lots of 6 bits, allowing for three levels
of object to be stored in the eeprom * of object to be stored in the eeprom
*
- type: the ap_var_type value for the variable * - type: the ap_var_type value for the variable
*/ */
struct Param_header { struct Param_header {
uint32_t key:8; uint32_t key : 8;
uint32_t type:6; uint32_t type : 6;
uint32_t group_element:18; uint32_t group_element : 18;
}; };
// number of bits in each level of nesting of groups // number of bits in each level of nesting of groups
static const uint8_t _group_level_shift = 6; static const uint8_t _group_level_shift = 6;
static const uint8_t _group_bits = 18; static const uint8_t _group_bits = 18;
static const uint8_t _sentinal_key = 0xFF; static const uint8_t _sentinal_key = 0xFF;
static const uint8_t _sentinal_type = 0x3F; static const uint8_t _sentinal_type = 0x3F;
static const uint8_t _sentinal_group = 0xFF; static const uint8_t _sentinal_group = 0xFF;
static bool check_group_info(const struct GroupInfo *group_info, uint16_t *total_size, uint8_t max_bits); static bool check_group_info(const struct GroupInfo *group_info, uint16_t *total_size, uint8_t max_bits);
static bool duplicate_key(uint8_t vindex, uint8_t key); static bool duplicate_key(uint8_t vindex, uint8_t key);
static bool check_var_info(void); static bool check_var_info(void);
const struct Info *find_var_info_group(const struct GroupInfo *group_info, const struct Info * find_var_info_group(
uint8_t vindex, const struct GroupInfo * group_info,
uint8_t group_base, uint8_t vindex,
uint8_t group_shift, uint8_t group_base,
uint8_t *group_element, uint8_t group_shift,
const struct GroupInfo **group_ret, uint8_t * group_element,
uint8_t *idx); const struct GroupInfo ** group_ret,
const struct Info *find_var_info(uint8_t *group_element, uint8_t * idx);
const struct GroupInfo **group_ret, const struct Info * find_var_info(
uint8_t *idx); uint8_t * group_element,
static const struct Info *find_by_header_group(struct Param_header phdr, void **ptr, const struct GroupInfo ** group_ret,
uint8_t vindex, uint8_t * idx);
const struct GroupInfo *group_info, static const struct Info * find_by_header_group(
uint8_t group_base, struct Param_header phdr, void **ptr,
uint8_t group_shift); uint8_t vindex,
static const struct Info *find_by_header(struct Param_header phdr, void **ptr); const struct GroupInfo *group_info,
void add_vector3f_suffix(char *buffer, size_t buffer_size, uint8_t idx); uint8_t group_base,
static AP_Param *find_group(const char *name, uint8_t vindex, const struct GroupInfo *group_info, enum ap_var_type *ptype); uint8_t group_shift);
static void write_sentinal(uint16_t ofs); static const struct Info * find_by_header(
bool scan(const struct Param_header *phdr, uint16_t *pofs); struct Param_header phdr,
static const uint8_t type_size(enum ap_var_type type); void **ptr);
static void eeprom_write_check(const void *ptr, uint16_t ofs, uint8_t size); void add_vector3f_suffix(
static AP_Param *next_group(uint8_t vindex, const struct GroupInfo *group_info, char *buffer,
bool *found_current, size_t buffer_size,
uint8_t group_base, uint8_t idx);
uint8_t group_shift, static AP_Param * find_group(
ParamToken *token, const char *name,
enum ap_var_type *ptype); uint8_t vindex,
const struct GroupInfo *group_info,
enum ap_var_type *ptype);
static void write_sentinal(uint16_t ofs);
bool scan(
const struct Param_header *phdr,
uint16_t *pofs);
static const uint8_t type_size(enum ap_var_type type);
static void eeprom_write_check(
const void *ptr,
uint16_t ofs,
uint8_t size);
static AP_Param * next_group(
uint8_t vindex,
const struct GroupInfo *group_info,
bool *found_current,
uint8_t group_base,
uint8_t group_shift,
ParamToken *token,
enum ap_var_type *ptype);
static uint16_t _eeprom_size; static uint16_t _eeprom_size;
static uint8_t _num_vars; static uint8_t _num_vars;
static const struct Info *_var_info; static const struct Info * _var_info;
// values filled into the EEPROM header // values filled into the EEPROM header
static const uint8_t k_EEPROM_magic0 = 0x50; static const uint8_t k_EEPROM_magic0 = 0x50;
static const uint8_t k_EEPROM_magic1 = 0x41; ///< "AP" static const uint8_t k_EEPROM_magic1 = 0x41; ///< "AP"
static const uint8_t k_EEPROM_revision = 6; ///< current format revision static const uint8_t k_EEPROM_revision = 6; ///< current format revision
}; };
/// Template class for scalar variables. /// Template class for scalar variables.
@ -278,7 +299,7 @@ template<typename T, ap_var_type PT>
class AP_ParamT : public AP_Param class AP_ParamT : public AP_Param
{ {
public: public:
static const ap_var_type vtype = PT; static const ap_var_type vtype = PT;
/// Value getter /// Value getter
/// ///
@ -322,13 +343,13 @@ public:
/// Copy assignment from self does nothing. /// Copy assignment from self does nothing.
/// ///
AP_ParamT<T,PT>& operator=(AP_ParamT<T,PT>& v) { AP_ParamT<T,PT>& operator= (AP_ParamT<T,PT>& v) {
return v; return v;
} }
/// Copy assignment from T is equivalent to ::set. /// Copy assignment from T is equivalent to ::set.
/// ///
AP_ParamT<T,PT>& operator=(T v) { AP_ParamT<T,PT>& operator= (T v) {
_value = v; _value = v;
return *this; return *this;
} }
@ -357,23 +378,23 @@ class AP_ParamV : public AP_Param
{ {
public: public:
static const ap_var_type vtype = PT; static const ap_var_type vtype = PT;
/// Value getter /// Value getter
/// ///
T get(void) const { T get(void) const {
return _value; return _value;
} }
/// Value setter /// Value setter
/// ///
void set(T v) { void set(T v) {
_value = v; _value = v;
} }
/// Combined set and save /// Combined set and save
/// ///
bool set_and_save(T v) { bool set_and_save(T v) {
set(v); set(v);
return save(); return save();
} }
@ -388,19 +409,19 @@ public:
/// Copy assignment from self does nothing. /// Copy assignment from self does nothing.
/// ///
AP_ParamV<T,PT>& operator=(AP_ParamV<T,PT>& v) { AP_ParamV<T,PT>& operator =(AP_ParamV<T,PT>& v) {
return v; return v;
} }
/// Copy assignment from T is equivalent to ::set. /// Copy assignment from T is equivalent to ::set.
/// ///
AP_ParamV<T,PT>& operator=(T v) { AP_ParamV<T,PT>& operator =(T v) {
_value = v; _value = v;
return *this; return *this;
} }
protected: protected:
T _value; T _value;
}; };
@ -424,7 +445,7 @@ public:
/// ///
/// @note It would be nice to range-check i here, but then what would we return? /// @note It would be nice to range-check i here, but then what would we return?
/// ///
T &operator [](uint8_t i) { T & operator[](uint8_t i) {
return _value[i]; return _value[i];
} }
@ -444,7 +465,7 @@ public:
/// ///
/// @note Attempts to set an index out of range are discarded. /// @note Attempts to set an index out of range are discarded.
/// ///
void set(uint8_t i, T v) { void set(uint8_t i, T v) {
if (i < N) { if (i < N) {
_value[i] = v; _value[i] = v;
} }
@ -452,7 +473,7 @@ public:
/// Copy assignment from self does nothing. /// Copy assignment from self does nothing.
/// ///
AP_ParamA<T,N,PT>& operator=(AP_ParamA<T,N,PT>& v) { AP_ParamA<T,N,PT>& operator= (AP_ParamA<T,N,PT>& v) {
return v; return v;
} }
@ -468,7 +489,7 @@ protected:
// _t is the base type // _t is the base type
// _suffix is the suffix on the AP_* type name // _suffix is the suffix on the AP_* type name
// _pt is the enum ap_var_type type // _pt is the enum ap_var_type type
#define AP_PARAMDEF(_t, _suffix, _pt) typedef AP_ParamT<_t, _pt> AP_##_suffix; #define AP_PARAMDEF(_t, _suffix, _pt) typedef AP_ParamT<_t, _pt> AP_ ## _suffix;
AP_PARAMDEF(float, Float, AP_PARAM_FLOAT); // defines AP_Float AP_PARAMDEF(float, Float, AP_PARAM_FLOAT); // defines AP_Float
AP_PARAMDEF(int8_t, Int8, AP_PARAM_INT8); // defines AP_Int8 AP_PARAMDEF(int8_t, Int8, AP_PARAM_INT8); // defines AP_Int8
AP_PARAMDEF(int16_t, Int16, AP_PARAM_INT16); // defines AP_Int16 AP_PARAMDEF(int16_t, Int16, AP_PARAM_INT16); // defines AP_Int16
@ -479,7 +500,7 @@ AP_PARAMDEF(int32_t, Int32, AP_PARAM_INT32); // defines AP_Int32
// _suffix is the suffix on the AP_* type name // _suffix is the suffix on the AP_* type name
// _size is the size of the array // _size is the size of the array
// _pt is the enum ap_var_type type // _pt is the enum ap_var_type type
#define AP_PARAMDEFA(_t, _suffix, _size, _pt) typedef AP_ParamA<_t, _size, _pt> AP_##_suffix; #define AP_PARAMDEFA(_t, _suffix, _size, _pt) typedef AP_ParamA<_t, _size, _pt> AP_ ## _suffix;
AP_PARAMDEFA(float, Vector6f, 6, AP_PARAM_VECTOR6F); AP_PARAMDEFA(float, Vector6f, 6, AP_PARAM_VECTOR6F);
// declare a non-scalar type // declare a non-scalar type
@ -487,7 +508,7 @@ AP_PARAMDEFA(float, Vector6f, 6, AP_PARAM_VECTOR6F);
// _t is the base type // _t is the base type
// _suffix is the suffix on the AP_* type name // _suffix is the suffix on the AP_* type name
// _pt is the enum ap_var_type type // _pt is the enum ap_var_type type
#define AP_PARAMDEFV(_t, _suffix, _pt) typedef AP_ParamV<_t, _pt> AP_##_suffix; #define AP_PARAMDEFV(_t, _suffix, _pt) typedef AP_ParamV<_t, _pt> AP_ ## _suffix;
/// Rely on built in casting for other variable types /// Rely on built in casting for other variable types
/// to minimize template creation and save memory /// to minimize template creation and save memory