mirror of https://github.com/ArduPilot/ardupilot
138 lines
3.9 KiB
C++
138 lines
3.9 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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#include "AP_Param.h"
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#include <AP_Math/AP_Math.h>
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// Param type template functions
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// set a parameter that is an ENABLE param
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template<typename T, ap_var_type PT>
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void AP_ParamT<T, PT>::set_enable(const T &v) {
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wfloat-equal"
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if (v != _value) {
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#pragma GCC diagnostic pop
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invalidate_count();
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}
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_value = v;
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}
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// Sets if the parameter is unconfigured
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template<typename T, ap_var_type PT>
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void AP_ParamT<T, PT>::set_default(const T &v) {
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#if AP_PARAM_DEFAULTS_ENABLED
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add_default(this, (float)v);
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#endif
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if (!configured()) {
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set(v);
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}
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}
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// Sets parameter and default
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template<typename T, ap_var_type PT>
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void AP_ParamT<T, PT>::set_and_default(const T &v) {
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#if AP_PARAM_DEFAULTS_ENABLED
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add_default(this, (float)v);
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#endif
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set(v);
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}
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// Value setter - set value, tell GCS
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template<typename T, ap_var_type PT>
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void AP_ParamT<T, PT>::set_and_notify(const T &v) {
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// We do want to compare each value, even floats, since it being the same here
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// is the result of previously setting it.
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wfloat-equal"
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if (v != _value) {
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#pragma GCC diagnostic pop
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set(v);
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notify();
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}
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}
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// Combined set and save
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template<typename T, ap_var_type PT>
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void AP_ParamT<T, PT>::set_and_save(const T &v) {
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bool force = fabsf((float)(_value - v)) < FLT_EPSILON;
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set(v);
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save(force);
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}
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// Combined set and save, but only does the save if the value if
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// different from the current ram value, thus saving us a
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// scan(). This should only be used where we have not set() the
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// value separately, as otherwise the value in EEPROM won't be
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// updated correctly.
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template<typename T, ap_var_type PT>
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void AP_ParamT<T, PT>::set_and_save_ifchanged(const T &v) {
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wfloat-equal"
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if (v == _value) {
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#pragma GCC diagnostic pop
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return;
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}
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set(v);
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save(true);
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}
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// AP_ParamT types can implement AP_Param::cast_to_float
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template<typename T, ap_var_type PT>
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float AP_ParamT<T, PT>::cast_to_float(void) const {
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return (float)_value;
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}
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template class AP_ParamT<float, AP_PARAM_FLOAT>;
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template class AP_ParamT<int8_t, AP_PARAM_INT8>;
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template class AP_ParamT<int16_t, AP_PARAM_INT16>;
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template class AP_ParamT<int32_t, AP_PARAM_INT32>;
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// Value setter - set value, tell GCS
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template<typename T, ap_var_type PT>
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void AP_ParamV<T, PT>::set_and_notify(const T &v) {
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if (v != _value) {
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set(v);
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notify();
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}
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}
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/// Combined set and save
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template<typename T, ap_var_type PT>
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void AP_ParamV<T, PT>::set_and_save(const T &v) {
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bool force = (_value != v);
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set(v);
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save(force);
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}
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// Combined set and save, but only does the save if the value is
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// different from the current ram value, thus saving us a
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// scan(). This should only be used where we have not set() the
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// value separately, as otherwise the value in EEPROM won't be
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// updated correctly.
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template<typename T, ap_var_type PT>
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void AP_ParamV<T, PT>::set_and_save_ifchanged(const T &v) {
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wfloat-equal"
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if (_value == v) {
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#pragma GCC diagnostic pop
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return;
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}
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set(v);
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save(true);
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}
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template class AP_ParamV<Vector3f, AP_PARAM_VECTOR3F>;
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