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AP_Param: allow for dynamic var_info tables

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this allows the var_info entry in a table to be a constant pointer,
allowing the selection of a type for a parameter class at runtime.
This commit is contained in:
Andrew Tridgell 2017-02-27 17:39:12 +11:00
parent 50523619b9
commit 47803e73e4
2 changed files with 100 additions and 20 deletions
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104
libraries/AP_Param/AP_Param.cpp
View File

@ -167,13 +167,15 @@ bool AP_Param::check_group_info(const struct AP_Param::GroupInfo * group_info,
}
if (type == AP_PARAM_GROUP) {
// a nested group
const struct GroupInfo *ginfo = group_info[i].group_info;
if (group_shift + _group_level_shift >= _group_bits) {
Debug("double group nesting in %s", group_info[i].name);
return false;
}
if (ginfo == nullptr ||
!check_group_info(ginfo, total_size, group_shift + _group_level_shift, prefix_length + strlen(group_info[i].name))) {
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
if (!check_group_info(ginfo, total_size, group_shift + _group_level_shift, prefix_length + strlen(group_info[i].name))) {
return false;
}
continue;
@ -210,6 +212,28 @@ bool AP_Param::duplicate_key(uint16_t vindex, uint16_t key)
return false;
}
/*
get group_info pointer for a group
*/
const struct AP_Param::GroupInfo *AP_Param::get_group_info(const struct GroupInfo &ginfo)
{
if (ginfo.flags & AP_PARAM_FLAG_INFO_POINTER) {
return *ginfo.group_info_ptr;
}
return ginfo.group_info;
}
/*
get group_info pointer for a group
*/
const struct AP_Param::GroupInfo *AP_Param::get_group_info(const struct Info &info)
{
if (info.flags & AP_PARAM_FLAG_INFO_POINTER) {
return *info.group_info_ptr;
}
return info.group_info;
}
// validate the _var_info[] table
bool AP_Param::check_var_info(void)
{
@ -223,9 +247,11 @@ bool AP_Param::check_var_info(void)
// first element can't be a group, for first() call
return false;
}
const struct GroupInfo *group_info = _var_info[i].group_info;
if (group_info == nullptr ||
!check_group_info(group_info, &total_size, 0, strlen(_var_info[i].name))) {
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
if (!check_group_info(group_info, &total_size, 0, strlen(_var_info[i].name))) {
return false;
}
} else {
@ -343,7 +369,10 @@ const struct AP_Param::Info *AP_Param::find_by_header_group(struct Param_header
// setup() !
return nullptr;
}
const struct GroupInfo *ginfo = group_info[i].group_info;
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
ptrdiff_t new_offset = group_offset;
if (!adjust_group_offset(vindex, group_info[i], new_offset)) {
@ -384,7 +413,10 @@ const struct AP_Param::Info *AP_Param::find_by_header(struct Param_header phdr,
continue;
}
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = _var_info[i].group_info;
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
return find_by_header_group(phdr, ptr, i, group_info, 0, 0, 0);
}
if (type == phdr.type) {
@ -421,7 +453,10 @@ const struct AP_Param::Info *AP_Param::find_var_info_group(const struct GroupInf
i++) {
ptrdiff_t ofs = group_info[i].offset + group_offset;
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *ginfo = group_info[i].group_info;
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
// a nested group
if (group_shift + _group_level_shift >= _group_bits) {
// too deeply nested - this should have been caught by
@ -483,7 +518,10 @@ const struct AP_Param::Info *AP_Param::find_var_info(uint32_t *
continue;
}
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = _var_info[i].group_info;
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
const struct AP_Param::Info *info;
info = find_var_info_group(group_info, i, 0, 0, 0, group_element, group_ret, group_nesting, idx);
if (info != nullptr) {
@ -523,7 +561,10 @@ const struct AP_Param::Info *AP_Param::find_var_info_token(const ParamToken &tok
group_ret = nullptr;
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = _var_info[i].group_info;
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
return nullptr;
}
const struct AP_Param::Info *info;
info = find_var_info_group(group_info, i, 0, 0, 0, group_element, group_ret, group_nesting, idx);
if (info != nullptr) {
@ -705,7 +746,10 @@ AP_Param::find_group(const char *name, uint16_t vindex, ptrdiff_t group_offset,
if (strncasecmp(name, group_info[i].name, strlen(group_info[i].name)) != 0) {
continue;
}
const struct GroupInfo *ginfo = group_info[i].group_info;
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
ptrdiff_t new_offset = group_offset;
if (!adjust_group_offset(vindex, group_info[i], new_offset)) {
@ -764,7 +808,10 @@ AP_Param::find(const char *name, enum ap_var_type *ptype)
if (strncmp(name, _var_info[i].name, len) != 0) {
continue;
}
const struct GroupInfo *group_info = _var_info[i].group_info;
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
AP_Param *ap = find_group(name + len, i, 0, group_info, ptype);
if (ap != nullptr) {
return ap;
@ -828,7 +875,11 @@ bool AP_Param::find_key_by_pointer_group(const void *ptr, uint16_t vindex,
if (!adjust_group_offset(vindex, group_info[i], new_offset)) {
continue;
}
if (find_key_by_pointer_group(ptr, vindex, group_info[i].group_info, new_offset, key)) {
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
if (find_key_by_pointer_group(ptr, vindex, ginfo, new_offset, key)) {
return true;
}
}
@ -851,7 +902,11 @@ bool AP_Param::find_key_by_pointer(const void *ptr, uint16_t &key)
return true;
}
ptrdiff_t offset = 0;
if (find_key_by_pointer_group(ptr, i, _var_info[i].group_info, offset, key)) {
const struct GroupInfo *ginfo = get_group_info(_var_info[i]);
if (ginfo == nullptr) {
continue;
}
if (find_key_by_pointer_group(ptr, i, ginfo, offset, key)) {
return true;
}
}
@ -1258,6 +1313,9 @@ void AP_Param::load_object_from_eeprom(const void *object_pointer, const struct
struct Param_header phdr;
uint16_t key;
// reset cached param counter as we may be loading a dynamic var_info
_parameter_count = 0;
if (!find_key_by_pointer(object_pointer, key)) {
hal.console->printf("ERROR: Unable to find param pointer\n");
return;
@ -1269,8 +1327,10 @@ void AP_Param::load_object_from_eeprom(const void *object_pointer, const struct
if (!adjust_group_offset(key, group_info[i], new_offset)) {
continue;
}
load_object_from_eeprom((void *)(((ptrdiff_t)object_pointer)+new_offset), group_info[i].group_info);
continue;
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo != nullptr) {
load_object_from_eeprom((void *)(((ptrdiff_t)object_pointer)+new_offset), ginfo);
}
}
uint16_t ofs = sizeof(AP_Param::EEPROM_header);
while (ofs < _storage.size()) {
@ -1338,7 +1398,10 @@ AP_Param *AP_Param::next_group(uint16_t vindex, const struct GroupInfo *group_in
}
if (type == AP_PARAM_GROUP) {
// a nested group
const struct GroupInfo *ginfo = group_info[i].group_info;
const struct GroupInfo *ginfo = get_group_info(group_info[i]);
if (ginfo == nullptr) {
continue;
}
AP_Param *ap;
ptrdiff_t new_offset = group_offset;
@ -1421,7 +1484,10 @@ AP_Param *AP_Param::next(ParamToken *token, enum ap_var_type *ptype)
}
type = (enum ap_var_type)_var_info[i].type;
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = _var_info[i].group_info;
const struct GroupInfo *group_info = get_group_info(_var_info[i]);
if (group_info == nullptr) {
continue;
}
AP_Param *ap = next_group(i, group_info, &found_current, 0, 0, 0, token, ptype);
if (ap != nullptr) {
return ap;

16
libraries/AP_Param/AP_Param.h
View File

@ -49,11 +49,14 @@
// no conflict with the parent
#define AP_PARAM_NO_SHIFT 8
// the var_info is a pointer, allowing for dynamic definition of the var_info tree
#define AP_PARAM_FLAG_INFO_POINTER 16
// vehicle and frame type flags, used to hide parameters when not
// relevent to a vehicle type. Use AP_Param::set_frame_type_flags() to
// enable parameters flagged in this way. frame type flags are stored
// in flags field, shifted by AP_PARAM_FRAME_TYPE_SHIFT.
#define AP_PARAM_FRAME_TYPE_SHIFT 4
#define AP_PARAM_FRAME_TYPE_SHIFT 5
// supported frame types for parameters
#define AP_PARAM_FRAME_COPTER (1<<0)
@ -93,6 +96,9 @@
// declare a pointer subgroup entry in a group var_info
#define AP_SUBGROUPPTR(element, name, idx, thisclazz, elclazz) { AP_PARAM_GROUP, idx, name, AP_VAROFFSET(thisclazz, element), { group_info : elclazz::var_info }, AP_PARAM_FLAG_POINTER }
// declare a pointer subgroup entry in a group var_info with a pointer var_info
#define AP_SUBGROUPVARPTR(element, name, idx, thisclazz, var_info) { AP_PARAM_GROUP, idx, name, AP_VAROFFSET(thisclazz, element), { group_info_ptr : &var_info }, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER }
#define AP_GROUPEND { AP_PARAM_NONE, 0xFF, "", 0, { group_info : nullptr } }
#define AP_VAREND { AP_PARAM_NONE, "", 0, nullptr, { group_info : nullptr } }
@ -124,6 +130,7 @@ public:
ptrdiff_t offset; // offset within the object
union {
const struct GroupInfo *group_info;
const struct GroupInfo **group_info_ptr; // when AP_PARAM_FLAG_INFO_POINTER is set in flags
const float def_value;
};
uint16_t flags;
@ -135,6 +142,7 @@ public:
const void *ptr; // pointer to the variable in memory
union {
const struct GroupInfo *group_info;
const struct GroupInfo **group_info_ptr; // when AP_PARAM_FLAG_INFO_POINTER is set in flags
const float def_value;
};
uint16_t flags;
@ -440,6 +448,12 @@ private:
static bool adjust_group_offset(uint16_t vindex, const struct GroupInfo &group_info, ptrdiff_t &new_offset);
static bool get_base(const struct Info &info, ptrdiff_t &base);
/// get group_info pointer based on flags
static const struct GroupInfo *get_group_info(const struct GroupInfo &ginfo);
/// get group_info pointer based on flags
static const struct GroupInfo *get_group_info(const struct Info &ginfo);
const struct Info * find_var_info_group(
const struct GroupInfo * group_info,
uint16_t vindex,