px4-firmware/apps/controllib/block/Block.hpp

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/**
 * @file Block.h
 *
 * Controller library code
 */

#pragma once

#include <stdint.h>
#include <inttypes.h>

#include "List.hpp"

namespace control
{

static const uint16_t maxChildrenPerBlock = 100;
static const uint16_t maxParamsPerBlock = 100;
static const uint16_t maxSubscriptionsPerBlock = 100;
static const uint16_t maxPublicationsPerBlock = 100;
static const uint8_t blockNameLengthMax = 80;

// forward declaration
class BlockParamBase;
class UOrbSubscriptionBase;
class UOrbPublicationBase;
class SuperBlock;

/**
 */
class __EXPORT Block :
	public ListNode<Block *>
{
public:
	friend class BlockParamBase;
// methods
	Block(SuperBlock *parent, const char *name);
	void getName(char *name, size_t n);
	virtual ~Block() {};
	virtual void updateParams();
	virtual void updateSubscriptions();
	virtual void updatePublications();
	virtual void setDt(float dt) { _dt = dt; }
// accessors
	float getDt() { return _dt; }
protected:
// accessors
	SuperBlock *getParent() { return _parent; }
	List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
	List<UOrbPublicationBase *> & getPublications() { return _publications; }
	List<BlockParamBase *> & getParams() { return _params; }
// attributes
	const char *_name;
	SuperBlock *_parent;
	float _dt;
	List<UOrbSubscriptionBase *> _subscriptions;
	List<UOrbPublicationBase *> _publications;
	List<BlockParamBase *> _params;
};

class __EXPORT SuperBlock :
	public Block
{
public:
	friend class Block;
// methods
	SuperBlock(SuperBlock *parent, const char *name) :
		Block(parent, name),
		_children() {
	}
	virtual ~SuperBlock() {};
	virtual void setDt(float dt);
	virtual void updateParams() {
		Block::updateParams();

		if (getChildren().getHead() != NULL) updateChildParams();
	}
	virtual void updateSubscriptions() {
		Block::updateSubscriptions();

		if (getChildren().getHead() != NULL) updateChildSubscriptions();
	}
	virtual void updatePublications() {
		Block::updatePublications();

		if (getChildren().getHead() != NULL) updateChildPublications();
	}
protected:
// methods
	List<Block *> & getChildren() { return _children; }
	void updateChildParams();
	void updateChildSubscriptions();
	void updateChildPublications();
// attributes
	List<Block *> _children;
};

} // namespace control