Fixed casting issues with EEPROM Registry

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1371 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_Common/AP_Var.h

@@ -19,13 +19,19 @@ public:
 	virtual void setF(const float & val) = 0;
 
 	/// Get the variable value as a float
-	virtual const float & getF() = 0;
+	virtual const float getF() = 0;
 
-	/// Set the variable value as an Int16
+	/// Set the variable value as an int16
 	virtual void setI(const int16_t & val) = 0;
 
-	/// Get the variable value as an Int16
-	virtual const int16_t & getI() = 0;
+	/// Get the variable value as an int16
+	virtual const int16_t getI() = 0;
+
+	/// Set the variable value as a bool
+	virtual void setB(const bool & val) = 0;
+
+	/// Get the variable value as an bool
+	virtual const bool getB() = 0;
 
 	/// Save a variable to eeprom
 	virtual void save() = 0;
@@ -41,7 +47,7 @@ public:
 	virtual const bool & getSync() = 0;
 
 	/// Set the sync property
-	virtual void setSync(bool sync) = 0;
+	virtual void setSync(const bool & sync) = 0;
 };
 
 /// The variable template class. This class
@@ -81,7 +87,7 @@ public:
 	}
 
 	/// Get the variable as a float
-	virtual const float & getF() {
+	virtual const float getF() {
 		return get();
 	}
 
@@ -91,7 +97,7 @@ public:
 	}
 
 	/// Get the variable value as an Int16
-	virtual const int16_t & getI() {
+	virtual const int16_t getI() {
 		return get();
 	}
 
@@ -101,7 +107,7 @@ public:
 	}
 
 	/// Get the variable value as an Int16
-	virtual const bool & getB() {
+	virtual const bool getB() {
 		return get();
 	}
 
@@ -124,7 +130,7 @@ public:
 	/// If sync is true the a load will always occure before a get and a save will always
 	/// occure before a set.
 	virtual const bool & getSync() { return _sync; }
-	virtual void setSync(bool sync) { _sync = sync; }
+	virtual void setSync(const bool & sync) { _sync = sync; }
 
 protected:
 	type _data; /// The data that is stored on the heap */

libraries/AP_EEProm/AP_EEProm.cpp

@@ -22,12 +22,12 @@ void AP_EEPromRegistry::print(BetterStream & stream)
 	stream.printf("\nEEPROM Registry\n");
 	for (int i=0;i<getSize();i++)				
 	{
-		stream.printf("%s\t%s\tid:\t%d\taddr:\t%d\tval:\t%f\t\n",
+		stream.printf("id:\t%u\t%s\t%s\tval:\t%10.4f\taddr:\t%u\t\n",
+				(*this)[i]->getEntryId(),
 				(*this)[i]->getEntryParentName(),
 				(*this)[i]->getEntryName(),
-				(*this)[i]->getEntryId(),
-				(*this)[i]->getEntryAddress(),
-				(*this)[i]->getEntry());
+				(*this)[i]->getEntry(),
+				(*this)[i]->getEntryAddress());
 	}
 }
 

libraries/AP_EEProm/AP_EEProm.h

@@ -32,12 +32,12 @@ public:
 	/// Pure virtual function for setting the data value 
 	/// as a float. The function must handle the cast to 
 	/// the stored variable types.
-	virtual void setEntry(float val) = 0;
+	virtual void setEntry(const float & val) = 0;
 
 	/// Pure virtual function for getting data as a float. 
 	/// The function must handle the cast from the
 	/// stored variable types.
-	virtual float getEntry() = 0;
+	virtual const float getEntry() = 0;
 
 	/// Pure virtual function for getting entry name.
 	virtual const char * getEntryName() = 0;
@@ -46,10 +46,10 @@ public:
 	virtual const char * getEntryParentName() = 0;
 
 	/// Get the id of the variable.
-	virtual uint16_t getEntryId() = 0;
+	virtual const uint16_t & getEntryId() = 0;
 
 	/// Get the address of the variable.
-	virtual uint16_t getEntryAddress() = 0;
+	virtual const uint16_t & getEntryAddress() = 0;
 };
 
 ///The main EEProm Registry class.
@@ -92,16 +92,16 @@ public:
 		eepromRegistry.add(this,_id,_address,sizeof(type));
 	}
 
-	virtual void setEntry(float val) { this->setF(val); }
-	virtual float getEntry() { return this->getF(); }
+	virtual void setEntry(const float & val) { this->setF(val); }
+	virtual const float getEntry() { return this->getF(); }
 	virtual const char * getEntryName() { return this->getName(); }
 	virtual const char * getEntryParentName() { return this->getParentName(); }
 
 	/// Get the id of the variable.
-	virtual uint16_t getEntryId() { return _id; }
+	virtual const uint16_t & getEntryId() { return _id; }
 
 	/// Get the address of the variable.
-	virtual uint16_t getEntryAddress() { return _address; }
+	virtual const uint16_t & getEntryAddress() { return _address; }
 
 private:
 	uint16_t _id; /// Variable identifier

libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde

@@ -39,27 +39,29 @@ void setup()
 	Serial.begin(115200);
 	Serial.println("ArduPilot RC Channel test");
 
-	eepromRegistry.print(Serial); // show eeprom map
 	APM_RC.Init();		// APM Radio initialization
 
-	for (int i=0;i<nChannels;i++)
-	{
-		Serial.printf("ch:\t%d\tscale:\t%f\tcenter:\t%f\tpwmMin:\t%d\tpwmNeutral:\t%d\tpwmMax:\t%d\t",
-			rcCh[i].getCh(),rcCh[i].getScale(),rcCh[i].getCenter(),
-			rcCh[i].getPwmMin(),rcCh[i].getPwmNeutral(),rcCh[i].getPwmMax());
-	}
+	eepromRegistry.print(Serial); // show eeprom map
 }
 
 void loop()	
 {
 	// set channel positions
 	for (int i=0;i<nChannels;i++) rcCh[i].setNormalized(testPosition);
+
+	// print test position
 	Serial.printf("\ntestPosition (%f)\n\t\t",testPosition);
+
+	// print channgel names
 	for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
 	Serial.println();
+
+	// print pwm
 	Serial.printf("pwm      :\t");
 	for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rcCh[i].getPwm());
 	Serial.println();
+
+	// print position
 	Serial.printf("position :\t");
 	for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rcCh[i].getPosition());
 	Serial.println();
@@ -77,5 +79,5 @@ void loop()
 		testSign = 1;
 	}
 
-	delay(500);
+	delay(100);
 }