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add ctx, hook current controller bandwidth

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This commit is contained in:
Oskar Weigl
2018-09-25 20:23:03 -07:00
parent d679817289
commit 66a717f929
2 changed files with 24 additions and 19 deletions
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Firmware/MotorControl/motor.hpp
+7 -4
View File
@@ -211,10 +211,13 @@ public:
make_protocol_property("motor_type", &config_.motor_type),
make_protocol_property("current_lim", &config_.current_lim),
make_protocol_property("requested_current_range", &config_.requested_current_range),
make_protocol_ro_property("current_control_bandwidth", &config_.current_control_bandwidth)
),
make_protocol_function("set_current_control_bandwidth", *this, &Motor::set_current_control_bandwidth,
"current_control_bandwidth")
// make_protocol_ro_property("current_control_bandwidth", &config_.current_control_bandwidth)
make_protocol_property("current_control_bandwidth", &config_.current_control_bandwidth,
[](void* ctx) { static_cast<Motor*>(ctx)->update_current_controller_gains(); }, this)
)
// ),
// make_protocol_function("set_current_control_bandwidth", *this, &Motor::set_current_control_bandwidth,
// "current_control_bandwidth")
);
}
};
Firmware/fibre/cpp/include/fibre/protocol.hpp
+17 -15
View File
@@ -804,8 +804,9 @@ public:
static constexpr const char * json_modifier = get_default_json_modifier<TProperty>();
static constexpr size_t endpoint_count = 1;
ProtocolProperty(const char * name, TProperty* property, void (*written_hook)(void))
: name_(name), property_(property), written_hook_(written_hook)
ProtocolProperty(const char * name, TProperty* property,
void (*written_hook)(void*), void* ctx)
: name_(name), property_(property), written_hook_(written_hook), ctx_(ctx)
{}
/* TODO: find out why the move constructor is not used when it could be
@@ -889,37 +890,38 @@ public:
const char* name_;
TProperty* property_;
void (*written_hook_)(void);
void (*written_hook_)(void*);
void* ctx_;
};
// Non-const non-enum types
template<typename TProperty, ENABLE_IF(!std::is_enum<TProperty>::value)>
ProtocolProperty<TProperty> make_protocol_property(
const char * name, TProperty* property, void (*written_hook)(void) = nullptr) {
return ProtocolProperty<TProperty>(name, property, written_hook);
ProtocolProperty<TProperty> make_protocol_property(const char * name, TProperty* property,
void (*written_hook)(void*) = nullptr, void* ctx = nullptr) {
return ProtocolProperty<TProperty>(name, property, written_hook, ctx);
};
// Const non-enum types
template<typename TProperty, ENABLE_IF(!std::is_enum<TProperty>::value)>
ProtocolProperty<const TProperty> make_protocol_ro_property(
const char * name, TProperty* property, void (*written_hook)(void) = nullptr) {
return ProtocolProperty<const TProperty>(name, property, written_hook);
ProtocolProperty<const TProperty> make_protocol_ro_property(const char * name, TProperty* property,
void (*written_hook)(void*) = nullptr, void* ctx = nullptr) {
return ProtocolProperty<const TProperty>(name, property, written_hook, ctx);
};
// Non-const enum types
template<typename TProperty, ENABLE_IF(std::is_enum<TProperty>::value)>
ProtocolProperty<std::underlying_type_t<TProperty>> make_protocol_property(
const char * name, TProperty* property, void (*written_hook)(void) = nullptr) {
ProtocolProperty<std::underlying_type_t<TProperty>> make_protocol_property(const char * name, TProperty* property,
void (*written_hook)(void*) = nullptr, void* ctx = nullptr) {
return ProtocolProperty<std::underlying_type_t<TProperty>>(
name, reinterpret_cast<std::underlying_type_t<TProperty>*>(property), written_hook);
name, reinterpret_cast<std::underlying_type_t<TProperty>*>(property), written_hook, ctx);
};
// Const enum types
template<typename TProperty, ENABLE_IF(std::is_enum<TProperty>::value)>
ProtocolProperty<const std::underlying_type_t<TProperty>> make_protocol_ro_property(
const char * name, TProperty* property, void (*written_hook)(void) = nullptr) {
ProtocolProperty<const std::underlying_type_t<TProperty>> make_protocol_ro_property(const char * name, TProperty* property,
void (*written_hook)(void*) = nullptr, void* ctx = nullptr) {
return ProtocolProperty<const std::underlying_type_t<TProperty>>(
name, reinterpret_cast<const std::underlying_type_t<TProperty>*>(property), written_hook);
name, reinterpret_cast<const std::underlying_type_t<TProperty>*>(property), written_hook, ctx);
};