ardupilot/libraries/AP_Common/AP_Var.h

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// This is free software; you can redistribute it and/or modify it under
// the terms of the GNU Lesser General Public License as published by the
// Free Software Foundation; either version 2.1 of the License, or (at
// your option) any later version.
//

/// @file	AP_Var.h
/// @brief	A system for managing and storing variables that are of
///			general interest to the system.
///
///

/// The AP variable interface. This allows different types
/// of variables to be passed to blocks for floating point
/// math, memory management, etc.

#ifndef AP_VAR_H
#define AP_VAR_H
#include <stddef.h>
#include <string.h>
#include <stdint.h>

#include <avr/pgmspace.h>
#include <avr/eeprom.h>

#include "AP_MetaClass.h"

class AP_Var_scope;

/// Base class for variables.
///
/// Provides naming and lookup services for variables.
///
class AP_Var : public AP_Meta_class
{
public:
    /// Storage address for variables that can be saved to EEPROM
    ///
    /// If the variable is contained within a scope, then the address
    /// is relative to the scope.
    ///
    /// @todo	This might be used as a token for mass serialisation,
    ///			but for now it's just the address of the variable's backing
    ///			store in EEPROM.
    ///
    typedef uint16_t Address;

    /// An address value that indicates that a variable is not to be saved to EEPROM.
    ///
    /// As the value has all bits set to 1, it's not a legal EEPROM address for any
    /// EEPROM smaller than 64K.
    ///
    /// This value is normally the default.
    ///
    static const Address k_no_address = ~(Address)0;

    /// The largest variable that will be saved to EEPROM.
    /// This affects the amount of stack space that is required by the ::save, ::load,
    /// ::save_all and ::load_all functions.
    ///
    static const size_t k_max_size = 16;

    /// Optional flags affecting the behavior and usage of the variable.
    ///
    enum Flags {
        k_no_flags     = 0,
        k_no_auto_load = (1 << 0), ///< will not be loaded by ::load_all or saved by ::save_all
        k_no_import    = (1 << 1)  ///< new values must not be imported from e.g. a GCS
    };

    /// Constructor
    ///
    /// @param	name			An optional name by which the variable may be known.
    ///							This name may be looked up via the ::lookup function.
    /// @param	scope			An optional scope that the variable may be a contained within.
    ///							The scope's name will be prepended to the variable name
    ///							by ::copy_name.
    ///
    AP_Var(Address address = k_no_address, const prog_char *name = NULL, const AP_Var_scope *scope = NULL,
           Flags flags = k_no_flags);

    /// Destructor
    ///
    /// Note that the linked-list removal can be inefficient when variables
    /// are destroyed in an order other than the reverse of the order in which
    /// they are created.  This is not a major issue for variables created
    /// and destroyed automatically at block boundaries, and the creation and
    /// destruction of variables by hand is generally discouraged.
    ///
    ~AP_Var(void);

    /// Set the variable to its default value
    ///
    virtual void set_default(void);

    /// Copy the variable's name, prefixed by any parent class names, to a buffer.
    ///
    /// If the variable has no name, the buffer will contain an empty string.
    ///
    /// Note that if the combination of names is larger than the buffer, the
    /// result in the buffer will be truncated.
    ///
    /// @param	buffer			The destination buffer
    /// @param	bufferSize		Total size of the destination buffer.
    ///
    void copy_name(char *buffer, size_t bufferSize) const;

    /// Return a pointer to the n'th known variable.
    ///
    /// This function is used to iterate the set of variables that are considered
    /// interesting; i.e. those that may be saved to EEPROM, or that have a name.
    ///
    /// Note that variable index numbers are not constant, they depend on the
    /// the static construction order.
    ///
    /// @param	index			enumerator for the variable to be returned
    ///
    static AP_Var *lookup(int index);

    /// Save the current value of the variable to EEPROM.
    ///
    /// This interface works for any subclass that implements
    /// serialize.
    ///
    void save(void) const;

    /// Load the variable from EEPROM.
    ///
    /// This interface works for any subclass that implements
    /// unserialize.
    ///
    void load(void);

    /// Save all variables to EEPROM
    ///
    static void save_all(void);

    /// Load all variables from EEPROM
    ///
    static void load_all(void);

    /// Test for flags that may be set.
    ///
    /// @param	flagval			Flag or flags to be tested
    /// @returns				True if all of the bits in flagval are set in the flags.
    ///
    bool has_flags(Flags flagval) const {
        return (_flags & flagval) == flagval;
    }

private:
    const Address       _address;
    const prog_char     *_name;
    const AP_Var_scope  *const _scope;
    AP_Var              *_link;
    uint8_t             _flags;

    /// Do the arithmetic required to compute the variable's address in EEPROM
    ///
    /// @returns		The address at which the variable is stored in EEPROM,
    ///					or k_no_address if it is not saved.
    ///
    Address _get_address(void) const;

    // static state used by ::lookup
    static AP_Var       *_variables;
    static AP_Var       *_lookup_hint;      /// pointer to the last variable that was looked up by ::lookup
    static int          _lookup_hint_index; /// index of the last variable that was looked up by ::lookup
};

/// Nestable scopes for variable names.
///
///	This provides a mechanism for scoping variable names and their
/// EEPROM addresses.
///
/// When AP_Var is asked for the name of a variable, it will
/// prepend the names of all enclosing scopes.  This provides a way
/// of grouping variables and saving memory when many share a large
/// common prefix.
///
/// When AP_var computes the address of a variable, it will take
/// into account the address offsets of each of the variable's
/// enclosing scopes.
///
class AP_Var_scope
{
public:
    /// Constructor
    ///
    /// @param	name			The name of the scope.
    /// @param	address			An EEPROM address offset to be added to the address assigned to
    ///							any variables within the scope.
    ///	@param	parent			Optional parent scope to nest within.
    ///
    AP_Var_scope(const prog_char *name, AP_Var::Address address = 0, AP_Var_scope *parent = NULL) :
        _name(name), _parent(parent), _address(address) {
    }

    /// Copy the scope name, prefixed by any parent scope names, to a buffer.
    ///
    /// Note that if the combination of names is larger than the buffer, the
    /// result in the buffer will be truncated.
    ///
    /// @param	buffer			The destination buffer
    /// @param	bufferSize		Total size of the destination buffer.
    ///
    void copy_name(char *buffer, size_t bufferSize) const {
        if (_parent) {
            _parent->copy_name(buffer, bufferSize);
        }
        strlcat_P(buffer, _name, bufferSize);
    }

    /// Compute the address offset that this and any parent scope might apply
    /// to variables inside the scope.
    ///
    /// This provides a way for variables to be grouped into collections whose
    /// EEPROM addresses can be more easily managed.
    ///
    AP_Var::Address get_address(void) const;

private:
    const prog_char *_name;     /// pointer to the scope name in program memory
    AP_Var_scope    *_parent;   /// pointer to a parent scope, if one exists
    AP_Var::Address _address;   /// container base address, offsets contents
};

/// Template class for scalar variables.
///
/// Objects of this type have a value, and can be treated in many ways as though they
/// were the value.
///
/// @tparam T			The scalar type of the variable
///
template<typename T>
class AP_VarT : public AP_Var
{
public:
    /// Constructor
    ///
    /// @note		Constructors for AP_Var are specialised so that they can
    ///				pass the correct typeCode argument to the AP_Var ctor.
    ///
    /// @param	initialValue	Value the variable should have at startup.
    /// @param	identity		A unique token used when saving the variable to EEPROM.
    ///							Note that this token must be unique, and should only be
    ///							changed for a variable if the EEPROM version is updated
    ///							to prevent the accidental unserialisation of old data
    ///							into the wrong variable.
    /// @param	name			An optional name by which the variable may be known.
    /// @param	varClass		An optional class that the variable may be a member of.
    ///
    AP_VarT<T> (T default_value = 0, Address address = k_no_address, const prog_char *name = NULL,
                AP_Var_scope *scope = NULL, Flags flags = k_no_flags) :
        AP_Var(address, name, scope, flags), _value(default_value), _default_value(default_value) {
    }

    // serialize _value into the buffer, but only if it is big enough.
    //
    virtual size_t serialize(void *buf, size_t size) const {
        if (size >= sizeof(T)) {
            *(T *)buf = _value;
        }
        return sizeof(T);
    }

    // Unserialize from the buffer, but only if it is big enough.
    //
    virtual size_t unserialize(void *buf, size_t size) {
        if (size >= sizeof(T)) {
            _value = *(T *)buf;
        }
        return sizeof(T);
    }

    /// Restore the variable to its default value
    virtual void set_default(void) {
        _value = _default_value;
    }

    /// Value getter
    ///
    T get(void) const {
        return _value;
    }

    /// Value setter
    ///
    void set(T v) {
        _value = v;
    }

    /// Conversion to T returns a reference to the value.
    ///
    /// This allows the class to be used in many situations where the value would be legal.
    ///
    operator T &() {
        return _value;
    }

    /// Copy assignment from self does nothing.
    ///
    AP_VarT<T>& operator=(AP_VarT<T>& v) {
        return v;
    }

    /// Copy assignment from T
    AP_VarT<T>& operator=(T v) {
        _value = v;
        return *this;
    }

protected:
    T _value;
    T _default_value;
};
/// Convenience macro for defining instances of the AP_Var template
///
#define AP_VARDEF(_t, _n)   typedef AP_VarT<_t> AP_##_n;
AP_VARDEF(float, Float);    // defines AP_Float
AP_VARDEF(int8_t, Int8);    // defines AP_Int8
AP_VARDEF(int16_t, Int16);  // defines AP_Int16
AP_VARDEF(int32_t, Int32);  // defines AP_Int32

/// Rely on built in casting for other variable types
/// to minimize template creation and save memory
#define AP_Uint8 AP_Int8
#define AP_Uint16 AP_Int16
#define AP_Uint32 AP_Int32
#define AP_Bool AP_Int8

/// Many float values can be saved as 16-bit fixed-point values, reducing EEPROM
/// consumption.  AP_Float16 subclasses AP_Float and overloads serialize/unserialize
/// to achieve this.
///
/// Note that any protocol transporting serialized data should be aware that the
/// encoding used is effectively Q5.10 (one sign bit, 5 integer bits, 10 fractional bits).
///
class AP_Float16 : public AP_Float
{
public:
    /// Constructor mimics AP_Float::AP_Float()
    ///
    AP_Float16(float default_value = 0,
               Address address = k_no_address,
               const prog_char *name = NULL,
               AP_Var_scope *scope = NULL,
               Flags flags = k_no_flags) :
        AP_Float(default_value, address, name, scope, flags) {
    }

    // Serialize _value as Q5.10.
    //
    virtual size_t serialize(void *buf, size_t size) const {
        uint16_t *sval = (uint16_t *)buf;

        if (size >= sizeof(*sval)) {
            *sval = _value / 1024.0;    // scale by power of 2, may be more efficient
        }
        return sizeof(*sval);
    }

    // Unserialize _value from Q5.10.
    //
    virtual size_t unserialize(void *buf, size_t size) {
        uint16_t *sval = (uint16_t *)buf;

        if (size >= sizeof(*sval)) {
            _value = *sval * 1024.0;    // scale by power of 2, may be more efficient
        }
        return sizeof(*sval);
    }

    // copy operators must be redefined in subclasses to get correct behaviour
    AP_Float16 &operator=(AP_Float16 &v) {
        return v;
    }
    AP_Float16 &operator=(float v) {
        _value = v;
        return *this;
    }

};

/// Some convenient constant AP_Vars.
///
/// @todo	Work out why these can't be const and fix if possible.
///
/// @todo   Work out how to get these into a namespace and name them properly.
///
extern AP_Float AP_Float_unity;
extern AP_Float AP_Float_negative_unity;
extern AP_Float AP_Float_zero;

#endif // AP_VAR_H