mirror of https://github.com/ArduPilot/ardupilot
142 lines
3.3 KiB
C++
142 lines
3.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// This is free software; you can redistribute it and/or modify it under
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// the terms of the GNU Lesser General Public License as published by the
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// Free Software Foundation; either version 2.1 of the License, or (at
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// your option) any later version.
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//
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/// The AP variable interface. This allows different types
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/// of variables to be passed to blocks for floating point
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/// math, memory management, etc.
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#ifndef AP_Var_H
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#define AP_Var_H
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class AP_VarI
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{
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public:
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/// Set the variable value as a float
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virtual void setF(const float & val) = 0;
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/// Get the variable value as a float
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virtual const float & getF() = 0;
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/// Set the variable value as an Int16
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virtual void setI(const int16_t & val) = 0;
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/// Get the variable value as an Int16
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virtual const int16_t & getI() = 0;
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/// Save a variable to eeprom
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virtual void save() = 0;
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/// Load a variable from eeprom
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virtual void load() = 0;
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/// Get the name. This is useful for ground stations.
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virtual const char * getName() = 0;
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/// If sync is true the a load will always occure before a get and a save will always
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/// occure before a set.
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virtual const bool & getSync() = 0;
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/// Set the sync property
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virtual void setSync(bool sync) = 0;
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};
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/// The variable template class. This class
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/// implements get/set/save/load etc for the
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/// abstract template type.
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template <class type>
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class AP_Var : public AP_VarI
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{
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public:
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/// The default constrcutor
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AP_Var(const type & data, const char * name = "", const bool & sync=false) :
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_data(data), _name(name), _sync(sync)
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{
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}
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/// float copy constructor
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AP_Var(AP_VarI & v)
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{
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setF(v.getF());
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}
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/// Set the variable value
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void set(const type & val) {
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_data = val;
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if (_sync) save();
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}
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/// Get the variable value.
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const type & get() {
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if (_sync) load();
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return _data;
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}
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/// Set the variable value as a float
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virtual void setF(const float & val) {
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set(val);
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}
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/// Get the variable as a float
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virtual const float & getF() {
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return get();
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}
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/// Set the variable value as an Int16
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virtual void setI(const int16_t & val) {
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set(val);
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}
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/// Get the variable value as an Int16
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virtual const int16_t & getI() {
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return get();
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}
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/// Set the variable value as an Int16
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virtual void setB(const bool & val) {
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set(val);
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}
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/// Get the variable value as an Int16
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virtual const bool & getB() {
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return get();
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}
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/// Save a variable to eeprom
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virtual void save()
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{
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}
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/// Load a variable from eeprom
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virtual void load()
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{
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}
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/// Get the name. This is useful for ground stations.
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virtual const char * getName() { return _name; }
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/// If sync is true the a load will always occure before a get and a save will always
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/// occure before a set.
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virtual const bool & getSync() { return _sync; }
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virtual void setSync(bool sync) { _sync = sync; }
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protected:
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type _data; /// The data that is stored on the heap */
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const char * _name; /// The variable name, useful for gcs and terminal output
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bool _sync; /// Whether or not to call save/load on get/set
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};
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typedef AP_Var<float> AP_Float;
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typedef AP_Var<int8_t> AP_Int8;
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typedef AP_Var<uint8_t> AP_Uint8;
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typedef AP_Var<int16_t> AP_Int16;
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typedef AP_Var<uint16_t> AP_Uint16;
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typedef AP_Var<int32_t> AP_Int32;
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typedef AP_Var<uint32_t> AP_Unt32;
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typedef AP_Var<bool> AP_Bool;
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#endif // AP_Var_H
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