ardupilot/libraries/AP_HAL/utility/Print.cpp

223 lines
4.6 KiB
C++

/*
Print.cpp - Base class that provides print() and println()
Copyright (c) 2008 David A. Mellis. All right reserved.
This library 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.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Modified 23 November 2006 by David A. Mellis
*/
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include <AP_Math/AP_Math.h>
#include <AP_HAL/AP_HAL_Namespace.h>
#include "Print.h"
using namespace AP_HAL;
size_t Print::print(const char str[])
{
return write(str);
}
size_t Print::print(char c)
{
return write(c);
}
size_t Print::print(unsigned char b, int base)
{
return print((unsigned long) b, base);
}
size_t Print::print(int n, int base)
{
return print((long) n, base);
}
size_t Print::print(unsigned int n, int base)
{
return print((unsigned long) n, base);
}
size_t Print::print(long n, int base)
{
if (base == 0) {
return write(n);
} else if (base == 10) {
if (n < 0) {
int t = print('-');
n = -n;
return printNumber(n, 10) + t;
}
return printNumber(n, 10);
} else {
return printNumber(n, base);
}
}
size_t Print::print(unsigned long n, int base)
{
if (base == 0) return write(n);
else return printNumber(n, base);
}
size_t Print::print(float n, int digits)
{
return printFloat(n, digits);
}
// the compiler promotes to double if we do arithmetic in the
// argument, but we only actually want float precision, so just wrap
// it with a double method
size_t Print::print(double n, int digits)
{
return print((float)n, digits);
}
size_t Print::println(void)
{
size_t n = print('\r');
n += print('\n');
return n;
}
size_t Print::println(const char c[])
{
size_t n = print(c);
n += println();
return n;
}
size_t Print::println(char c)
{
size_t n = print(c);
n += println();
return n;
}
size_t Print::println(unsigned char b, int base)
{
size_t n = print(b, base);
n += println();
return n;
}
size_t Print::println(int num, int base)
{
size_t n = print(num, base);
n += println();
return n;
}
size_t Print::println(unsigned int num, int base)
{
size_t n = print(num, base);
n += println();
return n;
}
size_t Print::println(long num, int base)
{
size_t n = print(num, base);
n += println();
return n;
}
size_t Print::println(unsigned long num, int base)
{
size_t n = print(num, base);
n += println();
return n;
}
size_t Print::println(float num, int digits)
{
size_t n = print(num, digits);
n += println();
return n;
}
// the compiler promotes to double if we do arithmetic in the
// argument, but we only actually want float precision, so just wrap
// it with a double method
size_t Print::println(double num, int digits)
{
return println((float)num, digits);
}
// Private Methods /////////////////////////////////////////////////////////////
size_t Print::printNumber(unsigned long n, uint8_t base) {
char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte.
char *str = &buf[sizeof(buf) - 1];
*str = '\0';
// prevent crash if called with base == 1
if (base < 2) base = 10;
do {
unsigned long m = n;
n /= base;
char c = m - base * n;
*--str = c < 10 ? c + '0' : c + 'A' - 10;
} while(n);
return write(str);
}
size_t Print::printFloat(float number, uint8_t digits)
{
size_t n = 0;
// Handle negative numbers
if (number < 0.0f)
{
n += print('-');
number = -number;
}
// Round correctly so that print(1.999, 2) prints as "2.00"
float rounding = 0.5;
for (uint8_t i=0; i<digits; ++i)
rounding /= 10.0f;
number += rounding;
// Extract the integer part of the number and print it
unsigned long int_part = (unsigned long)number;
float remainder = number - (float )int_part;
n += print(int_part);
// Print the decimal point, but only if there are digits beyond
if (digits > 0) {
n += print(".");
}
// Extract digits from the remainder one at a time
while (digits-- > 0)
{
remainder *= 10.0f;
int toPrint = int(remainder);
n += print(toPrint);
remainder -= toPrint;
}
return n;
}