mirror of https://github.com/ArduPilot/ardupilot
139 lines
4.6 KiB
C++
139 lines
4.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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///
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/// @file AP_Common.h
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/// @brief Common definitions and utility routines for the ArduPilot
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/// libraries.
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///
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <stdint.h>
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#include <stdlib.h>
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// used to pack structures
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#define PACKED __attribute__((__packed__))
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// used to weaken symbols
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#define WEAK __attribute__((__weak__))
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// used to mark a function that may be unused in some builds
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#define UNUSED_FUNCTION __attribute__((unused))
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// this can be used to optimize individual functions
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#define OPTIMIZE(level) __attribute__((optimize(level)))
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// sometimes we need to prevent inlining to prevent large stack usage
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#define NOINLINE __attribute__((noinline))
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#define FMT_PRINTF(a,b) __attribute__((format(printf, a, b)))
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#define FMT_SCANF(a,b) __attribute__((format(scanf, a, b)))
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#ifdef __has_cpp_attribute
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# if __has_cpp_attribute(fallthrough)
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# define FALLTHROUGH [[fallthrough]]
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# elif __has_cpp_attribute(gnu::fallthrough)
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# define FALLTHROUGH [[gnu::fallthrough]]
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# endif
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#endif
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#ifndef FALLTHROUGH
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# define FALLTHROUGH
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#endif
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#define ToRad(x) radians(x) // *pi/180
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#define ToDeg(x) degrees(x) // *180/pi
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/* Declare and implement const and non-const versions of the array subscript
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* operator. The object is treated as an array of type_ values. */
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#define DEFINE_BYTE_ARRAY_METHODS \
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inline uint8_t &operator[](size_t i) { return reinterpret_cast<uint8_t *>(this)[i]; } \
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inline uint8_t operator[](size_t i) const { return reinterpret_cast<const uint8_t *>(this)[i]; }
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#define LOCATION_ALT_MAX_M 83000 // maximum altitude (in meters) that can be fit into Location structure's alt field
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/*
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check if bit bitnumber is set in value, returned as a
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bool. Bitnumber starts at 0 for the first bit
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*/
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#define BIT_IS_SET(value, bitnumber) (((value) & (1U<<(bitnumber))) != 0)
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// get high or low bytes from 2 byte integer
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#define LOWBYTE(i) ((uint8_t)(i))
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#define HIGHBYTE(i) ((uint8_t)(((uint16_t)(i))>>8))
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#define ARRAY_SIZE(_arr) (sizeof(_arr) / sizeof(_arr[0]))
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/*
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* See UNUSED_RESULT. The difference is that it receives @uniq_ as the name to
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* be used for its internal variable.
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*
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* @uniq_: a unique name to use for variable name
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* @expr_: the expression to be evaluated
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*/
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#define _UNUSED_RESULT(uniq_, expr_) \
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do { \
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decltype(expr_) uniq_ __attribute__((unused)); \
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uniq_ = expr_; \
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} while (0)
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/*
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* Allow to call a function annotated with warn_unused_result attribute
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* without getting a warning, because sometimes this is what we want to do.
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*
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* @expr_: the expression to be evaluated
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*/
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#define UNUSED_RESULT(expr_) _UNUSED_RESULT(__unique_name_##__COUNTER__, expr_)
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// @}
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// assert_storage_size template: assert that the memory used to store an
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// item is of a specific size.
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// example invocation:
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// assert_storage_size<class Location, 16> _assert_storage_size_Location;
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// templates are used for this because the compiler's output will
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// usually contain details of the template instantiation so you can
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// see how the actual size differs from the expected size.
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template<typename s, int s_size, int t> struct _assert_storage_size {
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static_assert(s_size == t, "wrong size");
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};
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template<typename s, int t> struct assert_storage_size {
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_assert_storage_size<s, sizeof(s), t> _member;
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};
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////////////////////////////////////////////////////////////////////////////////
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/// @name Conversions
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///
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/// Conversion macros and factors.
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///
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//@{
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/*
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Return true if value is between lower and upper bound inclusive.
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False otherwise.
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*/
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bool is_bounded_int32(int32_t value, int32_t lower_bound, int32_t upper_bound);
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/*
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useful debugging macro for SITL
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*/
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <stdio.h>
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#define SITL_printf(fmt, args ...) do { ::printf("%s(%u): " fmt, __FILE__, __LINE__, ##args); } while(0)
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#else
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#define SITL_printf(fmt, args ...)
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#endif
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