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RC_Channel_aux: Rename static member functions

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Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, some methods names are now
in conflict with those in the derived RC_Channel_aux class.
To keep a uniform naming convention in RC_Channel where
functions are most used and most numerous, the offending
functions in RC_Channel__aux are renamed as follows

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
This commit is contained in:
skyscraper 2016-05-08 09:24:11 +01:00 committed by Andrew Tridgell
parent d9ab3baf84
commit d16659331f
2 changed files with 45 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

86
libraries/RC_Channel/RC_Channel_aux.cpp
View File

@ -33,16 +33,16 @@ RC_Channel_aux::output_ch(void)
case k_none: // disabled
return;
case k_manual: // manual
radio_out = radio_in;
set_radio_out(get_radio_in());
break;
case k_rcin1 ... k_rcin16: // rc pass-thru
radio_out = hal.rcin->read(function-k_rcin1);
set_radio_out(hal.rcin->read(function-k_rcin1));
break;
case k_motor1 ... k_motor8:
// handled by AP_Motors::rc_write()
return;
}
hal.rcout->write(_ch_out, radio_out);
hal.rcout->write(_ch_out, get_radio_out());
}
/*
@ -153,13 +153,13 @@ void RC_Channel_aux::enable_aux_servos()
// trim value on startup
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i]) {
RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
// see if it is a valid function
if (function < RC_Channel_aux::k_nr_aux_servo_functions) {
_aux_channels[i]->enable_out();
}
}
}
RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
// see if it is a valid function
if (function < RC_Channel_aux::k_nr_aux_servo_functions) {
_aux_channels[i]->enable_out();
}
}
}
}
/*
@ -173,9 +173,9 @@ RC_Channel_aux::set_radio(RC_Channel_aux::Aux_servo_function_t function, int16_t
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->radio_out = constrain_int16(value,_aux_channels[i]->radio_min,_aux_channels[i]->radio_max);
_aux_channels[i]->set_radio_out(constrain_int16(value,_aux_channels[i]->get_radio_min(),_aux_channels[i]->get_radio_max()));
_aux_channels[i]->output();
}
}
}
}
@ -190,10 +190,10 @@ RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::Aux_servo_function_t function,
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
int16_t value2 = value - 1500 + _aux_channels[i]->radio_trim;
_aux_channels[i]->radio_out = constrain_int16(value2,_aux_channels[i]->radio_min,_aux_channels[i]->radio_max);
int16_t value2 = value - 1500 + _aux_channels[i]->get_radio_trim();
_aux_channels[i]->set_radio_out(constrain_int16(value2,_aux_channels[i]->get_radio_min(),_aux_channels[i]->get_radio_max()));
_aux_channels[i]->output();
}
}
}
}
@ -202,18 +202,18 @@ RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::Aux_servo_function_t function,
the given function type
*/
void
RC_Channel_aux::set_radio_trim(RC_Channel_aux::Aux_servo_function_t function)
RC_Channel_aux::set_trim_to_radio_in_for(RC_Channel_aux::Aux_servo_function_t function)
{
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
if (_aux_channels[i]->radio_in != 0) {
_aux_channels[i]->radio_trim = _aux_channels[i]->radio_in;
_aux_channels[i]->radio_trim.save();
}
}
if (_aux_channels[i]->get_radio_in() != 0) {
_aux_channels[i]->set_radio_trim( _aux_channels[i]->get_radio_in());
_aux_channels[i]->save_radio_trim();
}
}
}
}
@ -228,9 +228,9 @@ RC_Channel_aux::set_radio_to_min(RC_Channel_aux::Aux_servo_function_t function)
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->radio_out = _aux_channels[i]->radio_min;
_aux_channels[i]->set_radio_out( _aux_channels[i]->get_radio_min());
_aux_channels[i]->output();
}
}
}
}
@ -245,7 +245,7 @@ RC_Channel_aux::set_radio_to_max(RC_Channel_aux::Aux_servo_function_t function)
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->radio_out = _aux_channels[i]->radio_max;
_aux_channels[i]->set_radio_out(_aux_channels[i]->get_radio_max());
_aux_channels[i]->output();
}
}
@ -262,9 +262,9 @@ RC_Channel_aux::set_radio_to_trim(RC_Channel_aux::Aux_servo_function_t function)
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->radio_out = _aux_channels[i]->radio_trim;
_aux_channels[i]->set_radio_out( _aux_channels[i]->get_radio_trim());
_aux_channels[i]->output();
}
}
}
}
@ -279,14 +279,14 @@ RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::Aux_servo_function_t function,
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
if (do_input_output) {
_aux_channels[i]->input();
}
_aux_channels[i]->radio_out = _aux_channels[i]->radio_in;
if (do_input_output) {
_aux_channels[i]->output();
}
}
if (do_input_output) {
_aux_channels[i]->input();
}
_aux_channels[i]->set_radio_out(_aux_channels[i]->get_radio_in());
if (do_input_output) {
_aux_channels[i]->output();
}
}
}
}
@ -294,17 +294,17 @@ RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::Aux_servo_function_t function,
set servo_out and call calc_pwm() for a given function
*/
void
RC_Channel_aux::set_servo_out(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
{
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->servo_out = value;
_aux_channels[i]->calc_pwm();
_aux_channels[i]->set_servo_out(value);
_aux_channels[i]->calc_pwm();
_aux_channels[i]->output();
}
}
}
}
@ -356,15 +356,15 @@ RC_Channel_aux::set_servo_limit(RC_Channel_aux::Aux_servo_function_t function, R
RC_Channel_aux *ch = _aux_channels[i];
if (ch && ch->function.get() == function) {
uint16_t pwm = ch->get_limit_pwm(limit);
ch->radio_out = pwm;
ch->set_radio_out(pwm);
if (ch->function.get() == k_manual) {
// in order for output_ch() to work for k_manual we
// also have to override radio_in
ch->radio_in = pwm;
ch->set_radio_in(pwm);
}
if (ch->function.get() >= k_rcin1 && ch->function.get() <= k_rcin16) {
// save for k_rcin*
ch->radio_in = pwm;
ch->set_radio_in(pwm);
}
}
}
@ -379,7 +379,7 @@ RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t function)
if (function < k_nr_aux_servo_functions) {
return (_function_mask & (1ULL<<function)) != 0;
}
return false;
return false;
}
/*
@ -395,7 +395,7 @@ RC_Channel_aux::move_servo(RC_Channel_aux::Aux_servo_function_t function,
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->servo_out = value;
_aux_channels[i]->set_servo_out(value);
_aux_channels[i]->set_range(angle_min, angle_max);
_aux_channels[i]->calc_pwm();
_aux_channels[i]->output();

4
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -108,7 +108,7 @@ public:
static void set_radio_trimmed(Aux_servo_function_t function, int16_t value);
// set and save the trim for a function channel to radio_in
static void set_radio_trim(Aux_servo_function_t function);
static void set_trim_to_radio_in_for(Aux_servo_function_t function);
// set radio_out to radio_min
static void set_radio_to_min(Aux_servo_function_t function);
@ -123,7 +123,7 @@ public:
static void copy_radio_in_out(Aux_servo_function_t function, bool do_input_output=false);
// set servo_out
static void set_servo_out(Aux_servo_function_t function, int16_t value);
static void set_servo_out_for(Aux_servo_function_t function, int16_t value);
// setup failsafe for an auxillary channel function, by pwm
static void set_servo_failsafe_pwm(RC_Channel_aux::Aux_servo_function_t function, uint16_t pwm);