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https://github.com/ArduPilot/ardupilot
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76dd412f7d
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
81 lines
1.8 KiB
C++
81 lines
1.8 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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#include "AP_Var.h"
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const AP_Float AP_GainUnity(1.0);
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const AP_Float AP_GainNegativeUnity(-1.0);
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const AP_Float AP_Zero(0);
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//
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// Lookup interface for variables.
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//
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AP_VarBase *AP_VarBase::_variables = NULL;
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AP_VarBase *AP_VarBase::_lookupHint = NULL;
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int AP_VarBase::_lookupHintIndex = 0;
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AP_VarBase *
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AP_VarBase::lookup(int index)
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{
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AP_VarBase *p;
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int i;
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// establish initial search state
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if (_lookupHintIndex && // we have a cached hint
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(index >= _lookupHintIndex)) { // the desired index is at or after the hint
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p = _lookupHint; // start at the hint point
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i = index - _lookupHintIndex; // count only the distance from the hint to the index
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} else {
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p = _variables; // start at the beginning of the list
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i = index; // count to the index
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}
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// search
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while (index-- && p) // count until we hit the index or the end of the list
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p = p->_link;
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// update the cache on hit
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if (p) {
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_lookupHintIndex = i;
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_lookupHint = p;
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}
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return(p);
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}
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// Save all variables that have an identity.
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//
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void
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AP_VarBase::save_all(void)
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{
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AP_VarBase *p = _variables;
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while (p) {
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p->save();
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p = p->_link;
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}
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}
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// Load all variables that have an identity.
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//
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void
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AP_VarBase::load_all(void)
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{
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AP_VarBase *p = _variables;
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while (p) {
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p->load();
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p = p->_link;
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}
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}
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