Commit Graph

12 Commits

Author SHA1 Message Date
DrZiplok@gmail.com 3adec05593 Fixes for EEPROM space allocation and mapping.
- We can't count on the first EEPROM scan knowing about everything; new variables may be constructed later so be willing to go back and re-scan the EEPROM if we encounter a new variable that hasn't been loaded yet.
- Sort out where _key actually points (the variable's data) in the EEPROM and get everyone to use the same interpretation.
- Fix return values from ::save and ::load.
- Make it possible to re-save after ::erase_all by de-locating all variables before the EEPROM is blown away.
- Fix args to eeprom_read_block/eeprom_write_block so that we don't spam random memory.

Add unit tests for basic save/load operations.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1532 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 08:11:53 +00:00
DrZiplok@gmail.com 1a2ce433e1 I never liked the plan that variable groups could only be statically scoped; it was much too fragile. These changes address that issue by splitting the global variable list into two lists, one for standalone variables (including groups), and one for variables that are members of a group.
Now a variable belonging to a group can safely be constructed before the group it belongs to, and the group can be destroyed before its member variables.  This greatly simplifies the AP_Var constructor(s).

Remove the lookup-by-index and lookup-by-key interfaces to AP_Var and replace them with first/next interfaces for all variables, and for variables belonging to a specific group.  Document their usage.  Add an accessor for the key associated with a variable so that search-by-key can be performed by a consumer.  Throw away the lookup cache implementation, as it's not required anymore.

Re-layout the EEPROM variable header and tweak the EEPROM space allocator so that it's more resistant to interruptions during variable save.

Fix the global constants so that they work.

Add an interface for erasing all variables in EEPROM (only writes one byte).

Fix unit tests so that they work with the changed interfaces.  Also tweak the unit test framework so that it doesn't inline all its code.  This is a WIP - many more tests need to be written still.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1531 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-23 06:52:59 +00:00
DrZiplok@gmail.com 6cf396074b Implement the missing AP_Var_group::*serialize functions.
Rather than implementing empty default constructors, make sure that AP_Var and friends have useful default constructors instead.  This works around AP_Meta_class::meta_cast requiring a default constructor without having empty ctors scattered around.

Add accessors to AP_Var so that the global variable list can be traversed and the group/variable relationship comprehended by outsiders.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1523 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-22 18:42:44 +00:00
DrZiplok@gmail.com d53844c52d Implement a pure data serialisation load/save model for AP_Var.
The format is a simple TLV format; a tag identifying the variable, a length for the variable, and then the actual data.  This format could ultimately be extended to include waypoint/commands as well.

This allows us to load and save groups of variables to EEPROM without having to have a static EEPROM map.

Still needs unit tests and (probably) bugfixing.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1522 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-22 08:37:52 +00:00
DrZiplok@gmail.com ea3570ded0 Formatting and naming changes for conformance with the ArduPilot Coding Conventions.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1502 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-16 09:14:21 +00:00
DrZiplok 9e79b78d2a Add a flags byte to variables, and implement a "no auto load" bit that opts variables out of load_all / save_all.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1449 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-05 17:56:46 +00:00
DrZiplok 6c0fc63e61 Save AP_Var's initial value as a default value, and add a function for restoring the default value.
Fix the AP_Var::lookup cache, which was very busted.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1448 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-05 09:25:07 +00:00
DrZiplok@gmail.com 4545c3df80 Move the AP_Var ctor out of the class definition; it's big enough that we don't want to inline it.
AP_Vars with either a name or an address are 'interesting' (the latter so we can save_all).

Add the concept of address offsets to scopes.  Now we have a container that we can put AP_Vars into that can be moved around in the EEPROM.  This will make it easier for things like the PID library which need to support multiple instances getting their parameters from different parts of the ROM.

Improve documentation.

Suck it up and admit that we aren't going to do "identity"-based addressing for the EEPROM and just call the property "address".



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1417 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-04 08:49:55 +00:00
DrZiplok 6c366f041d Rename the base class for variables AP_Var; less confusing, less to type. Rename the template type instead.
We don't need any of the arithmetic overloads, so strip them.

Fix includes.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1402 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-03 02:28:35 +00:00
DrZiplok 76dd412f7d Following discussions with James, a complete rewrite of AP_Var.
The overriding principle here is to keep the use of AP_Vars as simple as possible, whilst letting the implementation do useful things behind the scenes.  To that end, we define AP_Float, AP_Int8, AP_Int16 and AP_Int32.  These are strongly typed, so that there is no ambiguity about what a variable "really" is.

The classes behave like the variables they are storing; you can use an AP_Float in most places you would use a regular float; you can add to it, multiply by it, etc.  If it has been given an address in EEPROM you can load and save it.

Variables can be given names, and if they are named then they can be looked up.  This allows e.g. a GCS or a test tool to find and traffic in variables that it may not explicitly know about.

AP_Var does not attempt to solve the problem of EEPROM address space management.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1399 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-02 22:14:36 +00:00
DrZiplok 0f0090ec6c Don't define constant AP_Var's extern
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1381 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-01 00:31:39 +00:00
james.goppert 1f9bc81bd6 Added AP_Controller library.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1379 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-31 06:20:28 +00:00