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refactor simulator: replace BlockParam* with Param* classes

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This commit is contained in:
Beat Küng
2018-03-20 11:14:53 +01:00
parent 7937f9e82c
commit 0fdd53f4c2
1 changed files with 9 additions and 8 deletions
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src/modules/simulator/simulator.h
+9 -8
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@@ -39,6 +39,7 @@
#pragma once #pragma once
#include <px4_posix.h> #include <px4_posix.h>
#include <px4_module_params.h>
#include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude.h>
@@ -55,8 +56,6 @@
#include <drivers/drv_rc_input.h> #include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
#include <systemlib/battery.h> #include <systemlib/battery.h>
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/optical_flow.h> #include <uORB/topics/optical_flow.h>
#include <uORB/topics/distance_sensor.h> #include <uORB/topics/distance_sensor.h>
@@ -188,7 +187,7 @@ protected:
}; };
class Simulator : public control::SuperBlock class Simulator : public ModuleParams
{ {
public: public:
static Simulator *getInstance(); static Simulator *getInstance();
@@ -226,7 +225,7 @@ public:
bool isInitialized() { return _initialized; } bool isInitialized() { return _initialized; }
private: private:
Simulator() : SuperBlock(nullptr, "SIM"), Simulator() : ModuleParams(nullptr),
_accel(1), _accel(1),
_mpu(1), _mpu(1),
_baro(1), _baro(1),
@@ -274,8 +273,7 @@ private:
_actuators{}, _actuators{},
_attitude{}, _attitude{},
_manual{}, _manual{},
_vehicle_status{}, _vehicle_status{}
_battery_drain_interval_s(this, "BAT_DRAIN")
#endif #endif
{ {
// We need to know the type for the correct mapping from // We need to know the type for the correct mapping from
@@ -283,7 +281,8 @@ private:
param_t param_system_type = param_find("MAV_TYPE"); param_t param_system_type = param_find("MAV_TYPE");
param_get(param_system_type, &_system_type); param_get(param_system_type, &_system_type);
for (unsigned i = 0; i < (sizeof(_actuator_outputs_sub) / sizeof(_actuator_outputs_sub[0])); i++) { for (unsigned i = 0; i < (sizeof(_actuator_outputs_sub) / sizeof(_actuator_outputs_sub[0])); i++)
{
_actuator_outputs_sub[i] = -1; _actuator_outputs_sub[i] = -1;
} }
@@ -386,7 +385,9 @@ private:
struct manual_control_setpoint_s _manual; struct manual_control_setpoint_s _manual;
struct vehicle_status_s _vehicle_status; struct vehicle_status_s _vehicle_status;
control::BlockParamFloat _battery_drain_interval_s; ///< battery drain interval DEFINE_PARAMETERS(
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _battery_drain_interval_s ///< battery drain interval
)
void poll_topics(); void poll_topics();
void handle_message(mavlink_message_t *msg, bool publish); void handle_message(mavlink_message_t *msg, bool publish);