Beispiel #1
0
/// Returns the next variable in a group, recursing into groups
/// as needed
AP_Param *AP_Param::next_group(uint8_t vindex, const struct GroupInfo *group_info,
                               bool *found_current,
                               uint8_t group_base,
                               uint8_t group_shift,
                               ParamToken *token,
                               enum ap_var_type *ptype)
{
    enum ap_var_type type;
    for (uint8_t i=0;
         (type=(enum ap_var_type)PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
         i++) {
#ifdef AP_NESTED_GROUPS_ENABLED
        if (type == AP_PARAM_GROUP) {
            // a nested group
            const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
            AP_Param *ap;
            ap = next_group(vindex, ginfo, found_current, GROUP_ID(group_info, group_base, i, group_shift),
                            group_shift + _group_level_shift, token, ptype);
            if (ap != NULL) {
                return ap;
            }
        } else
#endif // AP_NESTED_GROUPS_ENABLED
        {
            if (*found_current) {
                // got a new one
                token->key = vindex;
                token->group_element = GROUP_ID(group_info, group_base, i, group_shift);
                token->idx = 0;
                if (ptype != NULL) {
                    *ptype = type;
                }
                return (AP_Param*)(PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset));
            }
            if (GROUP_ID(group_info, group_base, i, group_shift) == token->group_element) {
                *found_current = true;
                if (type == AP_PARAM_VECTOR3F && token->idx < 3) {
                    // return the next element of the vector as a
                    // float
                    token->idx++;
                    if (ptype != NULL) {
                        *ptype = AP_PARAM_FLOAT;
                    }
                    uintptr_t ofs = (uintptr_t)PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset);
                    ofs += sizeof(float)*(token->idx-1);
                    return (AP_Param *)ofs;
                }
            }
        }
    }
    return NULL;
}
Beispiel #2
0
// Load the variable from EEPROM, if supported
//
bool AP_Param::load(void)
{
    uint32_t group_element = 0;
    const struct GroupInfo *ginfo;
    uint8_t idx;
    const struct AP_Param::Info *info = find_var_info(&group_element, &ginfo, &idx);
    if (info == NULL) {
        // we don't have any info on how to load it
        return false;
    }

    struct Param_header phdr;

    // create the header we will use to match the variable
    if (ginfo != NULL) {
        phdr.type = PGM_UINT8(&ginfo->type);
    } else {
        phdr.type = PGM_UINT8(&info->type);
    }
    phdr.key  = PGM_UINT8(&info->key);
    phdr.group_element = group_element;

    // scan EEPROM to find the right location
    uint16_t ofs;
    if (!scan(&phdr, &ofs)) {
        // if the value isn't stored in EEPROM then set the default value
        if (ginfo != NULL) {
            uintptr_t base = PGM_POINTER(&info->ptr);
            set_value((enum ap_var_type)phdr.type, (void*)(base + PGM_UINT16(&ginfo->offset)),
                      get_default_value(&ginfo->def_value));
        } else {
            set_value((enum ap_var_type)phdr.type, (void*)PGM_POINTER(&info->ptr), 
                      get_default_value(&info->def_value));
        }
        return false;
    }

    if (phdr.type != AP_PARAM_VECTOR3F && idx != 0) {
        // only vector3f can have non-zero idx for now
        return false;
    }

    AP_Param *ap;
    ap = this;
    if (idx != 0) {
        ap = (AP_Param *)((uintptr_t)ap) - (idx*sizeof(float));
    }

    // found it
    _storage.read_block(ap, ofs+sizeof(phdr), type_size((enum ap_var_type)phdr.type));
    return true;
}
Beispiel #3
0
// load default values for scalars in a group. This does not recurse
// into other objects. This is a static function that should be called
// in the objects constructor
void AP_Param::setup_object_defaults(const void *object_pointer, const struct GroupInfo *group_info)
{
    uintptr_t base = (uintptr_t)object_pointer;
    uint8_t type;
    for (uint8_t i=0;
         (type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
         i++) {
        if (type <= AP_PARAM_FLOAT) {
            void *ptr = (void *)(base + PGM_UINT16(&group_info[i].offset));
            set_value((enum ap_var_type)type, ptr, PGM_FLOAT(&group_info[i].def_value));
        }
    }
}
Beispiel #4
0
// set a value directly in an object. This should only be used by
// example code, not by mainline vehicle code
void AP_Param::set_object_value(const void *object_pointer, 
                                const struct GroupInfo *group_info, 
                                const char *name, float value)
{
    uintptr_t base = (uintptr_t)object_pointer;
    uint8_t type;
    for (uint8_t i=0;
         (type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
         i++) {
        if (strcmp(name, group_info[i].name) == 0 && type <= AP_PARAM_FLOAT) {
            void *ptr = (void *)(base + PGM_UINT16(&group_info[i].offset));
            set_value((enum ap_var_type)type, ptr, value);
        }
    }
}
Beispiel #5
0
// find the info structure given a header and a group_info table
// return the Info structure and a pointer to the variables storage
const struct AP_Param::Info *AP_Param::find_by_header_group(struct Param_header phdr, void **ptr,
                                                            uint8_t vindex,
                                                            const struct GroupInfo *group_info,
                                                            uint8_t group_base,
                                                            uint8_t group_shift)
{
    uint8_t type;
    for (uint8_t i=0;
         (type=PGM_UINT8(&group_info[i].type)) != AP_PARAM_NONE;
         i++) {
#ifdef AP_NESTED_GROUPS_ENABLED
        if (type == AP_PARAM_GROUP) {
            // a nested group
            if (group_shift + _group_level_shift >= _group_bits) {
                // too deeply nested - this should have been caught by
                // setup() !
                return NULL;
            }
            const struct GroupInfo *ginfo = (const struct GroupInfo *)PGM_POINTER(&group_info[i].group_info);
            const struct AP_Param::Info *ret = find_by_header_group(phdr, ptr, vindex, ginfo,
                                                                    GROUP_ID(group_info, group_base, i, group_shift),
                                                                    group_shift + _group_level_shift);
            if (ret != NULL) {
                return ret;
            }
            continue;
        }
#endif // AP_NESTED_GROUPS_ENABLED
        if (GROUP_ID(group_info, group_base, i, group_shift) == phdr.group_element) {
            // found a group element
            *ptr = (void*)(PGM_POINTER(&_var_info[vindex].ptr) + PGM_UINT16(&group_info[i].offset));
            return &_var_info[vindex];
        }
    }
    return NULL;
}