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AP_Param: move complex AP_ParamT functions to cpp

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Iampete1 2022-07-20 10:15:55 +01:00 committed by Andrew Tridgell
parent 5ad860a22d
commit 3d98122179
2 changed files with 147 additions and 70 deletions
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80
libraries/AP_Param/AP_Param.h
View File

@ -820,70 +820,30 @@ public:
}
// set a parameter that is an ENABLE param
void set_enable(const T &v) {
if (v != _value) {
invalidate_count();
}
_value = v;
}
void set_enable(const T &v);
/// Sets if the parameter is unconfigured
///
void set_default(const T &v) {
#if AP_PARAM_DEFAULTS_ENABLED
add_default(this, (float)v);
#endif
if (!configured()) {
set(v);
}
}
void set_default(const T &v);
/// Sets parameter and default
///
void set_and_default(const T &v) {
#if AP_PARAM_DEFAULTS_ENABLED
add_default(this, (float)v);
#endif
set(v);
}
void set_and_default(const T &v);
/// Value setter - set value, tell GCS
///
void set_and_notify(const T &v) {
// We do want to compare each value, even floats, since it being the same here
// is the result of previously setting it.
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
if (v != _value) {
#pragma GCC diagnostic pop
set(v);
notify();
}
}
void set_and_notify(const T &v);
/// Combined set and save
///
void set_and_save(const T &v) {
bool force = fabsf((float)(_value - v)) < FLT_EPSILON;
set(v);
save(force);
}
void set_and_save(const T &v);
/// Combined set and save, but only does the save if the value if
/// different from the current ram value, thus saving us a
/// scan(). This should only be used where we have not set() the
/// value separately, as otherwise the value in EEPROM won't be
/// updated correctly.
void set_and_save_ifchanged(const T &v) {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
if (v == _value) {
#pragma GCC diagnostic pop
return;
}
set(v);
save(true);
}
void set_and_save_ifchanged(const T &v);
/// Conversion to T returns a reference to the value.
///
@ -895,9 +855,7 @@ public:
/// AP_ParamT types can implement AP_Param::cast_to_float
///
float cast_to_float(void) const {
return (float)_value;
}
float cast_to_float(void) const;
protected:
T _value;
@ -933,36 +891,18 @@ public:
/// Value setter - set value, tell GCS
///
void set_and_notify(const T &v) {
if (v != _value) {
set(v);
notify();
}
}
void set_and_notify(const T &v);
/// Combined set and save
///
void set_and_save(const T &v) {
bool force = (_value != v);
set(v);
save(force);
}
void set_and_save(const T &v);
/// Combined set and save, but only does the save if the value is
/// different from the current ram value, thus saving us a
/// scan(). This should only be used where we have not set() the
/// value separately, as otherwise the value in EEPROM won't be
/// updated correctly.
void set_and_save_ifchanged(const T &v) {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
if (_value == v) {
#pragma GCC diagnostic pop
return;
}
set(v);
save(true);
}
void set_and_save_ifchanged(const T &v);
/// Conversion to T returns a reference to the value.

137
libraries/AP_Param/AP_ParamT.cpp Normal file
View File

@ -0,0 +1,137 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_Param.h"
#include <AP_Math/AP_Math.h>
// Param type template functions
// set a parameter that is an ENABLE param
template<typename T, ap_var_type PT>
void AP_ParamT<T, PT>::set_enable(const T &v) {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
if (v != _value) {
#pragma GCC diagnostic pop
invalidate_count();
}
_value = v;
}
// Sets if the parameter is unconfigured
template<typename T, ap_var_type PT>
void AP_ParamT<T, PT>::set_default(const T &v) {
#if AP_PARAM_DEFAULTS_ENABLED
add_default(this, (float)v);
#endif
if (!configured()) {
set(v);
}
}
// Sets parameter and default
template<typename T, ap_var_type PT>
void AP_ParamT<T, PT>::set_and_default(const T &v) {
#if AP_PARAM_DEFAULTS_ENABLED
add_default(this, (float)v);
#endif
set(v);
}
// Value setter - set value, tell GCS
template<typename T, ap_var_type PT>
void AP_ParamT<T, PT>::set_and_notify(const T &v) {
// We do want to compare each value, even floats, since it being the same here
// is the result of previously setting it.
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
if (v != _value) {
#pragma GCC diagnostic pop
set(v);
notify();
}
}
// Combined set and save
template<typename T, ap_var_type PT>
void AP_ParamT<T, PT>::set_and_save(const T &v) {
bool force = fabsf((float)(_value - v)) < FLT_EPSILON;
set(v);
save(force);
}
// Combined set and save, but only does the save if the value if
// different from the current ram value, thus saving us a
// scan(). This should only be used where we have not set() the
// value separately, as otherwise the value in EEPROM won't be
// updated correctly.
template<typename T, ap_var_type PT>
void AP_ParamT<T, PT>::set_and_save_ifchanged(const T &v) {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
if (v == _value) {
#pragma GCC diagnostic pop
return;
}
set(v);
save(true);
}
// AP_ParamT types can implement AP_Param::cast_to_float
template<typename T, ap_var_type PT>
float AP_ParamT<T, PT>::cast_to_float(void) const {
return (float)_value;
}
template class AP_ParamT<float, AP_PARAM_FLOAT>;
template class AP_ParamT<int8_t, AP_PARAM_INT8>;
template class AP_ParamT<int16_t, AP_PARAM_INT16>;
template class AP_ParamT<int32_t, AP_PARAM_INT32>;
// Value setter - set value, tell GCS
template<typename T, ap_var_type PT>
void AP_ParamV<T, PT>::set_and_notify(const T &v) {
if (v != _value) {
set(v);
notify();
}
}
/// Combined set and save
template<typename T, ap_var_type PT>
void AP_ParamV<T, PT>::set_and_save(const T &v) {
bool force = (_value != v);
set(v);
save(force);
}
// Combined set and save, but only does the save if the value is
// different from the current ram value, thus saving us a
// scan(). This should only be used where we have not set() the
// value separately, as otherwise the value in EEPROM won't be
// updated correctly.
template<typename T, ap_var_type PT>
void AP_ParamV<T, PT>::set_and_save_ifchanged(const T &v) {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wfloat-equal"
if (_value == v) {
#pragma GCC diagnostic pop
return;
}
set(v);
save(true);
}
template class AP_ParamV<Vector3f, AP_PARAM_VECTOR3F>;