mirror of
https://github.com/ArduPilot/ardupilot.git
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Peter BarkerandClaude Sonnet 4.6
d904957481
All callers have been updated to use the replacement functions introduced in the previous commit. Remove the old functions. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
135 lines
3.4 KiB
C++
135 lines
3.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_Common.cpp - common utility functions
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Common.h"
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extern const AP_HAL::HAL& hal;
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/* assert that const vals are float, not double. so 100.0 means 100.0f */
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static_assert(sizeof(1e6) == sizeof(float), "Compilation needs to use single-precision constants");
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/*
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Return true if value is between lower and upper bound inclusive.
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False otherwise.
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*/
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bool is_bounded_int32(int32_t value, int32_t lower_bound, int32_t upper_bound)
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{
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if ((lower_bound <= upper_bound) &&
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(value >= lower_bound) && (value <= upper_bound)) {
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return true;
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}
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return false;
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}
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/**
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* return the numeric value of an ascii hex character
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*
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* @param [in] a Hexa character
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* @param [out] res uint8 value
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* @retval true Conversion OK
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* @retval false Input value error
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* @Note Input character is 0-9, A-F, a-f
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* A 0x41, a 0x61, 0 0x30
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*/
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bool hex_char_to_nibble(uint8_t a, uint8_t &res)
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{
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uint8_t nibble_low = a & 0xf;
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switch (a & 0xf0) {
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case 0x30: // 0-
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if (nibble_low > 9) {
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return false;
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}
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res = nibble_low;
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break;
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case 0x40: // uppercase A-
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case 0x60: // lowercase a-
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if (nibble_low == 0 || nibble_low > 6) {
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return false;
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}
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res = nibble_low + 9;
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break;
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default:
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return false;
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}
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return true;
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}
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/*
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decode two hex characters into a byte.
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e.g. hex_twochars_to_uint8("3F", res) -> res = 0x3F
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*/
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bool hex_twochars_to_uint8(const char s[2], uint8_t &res)
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{
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uint8_t hi, lo;
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if (!hex_char_to_nibble(s[0], hi) || !hex_char_to_nibble(s[1], lo)) {
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return false;
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}
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res = (hi << 4) | lo;
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return true;
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}
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bool hex_charpairs_to_uint8s(const char *s, uint8_t num_pairs, uint8_t *out)
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{
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for (uint8_t i = 0; i < num_pairs; i++) {
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uint8_t hi, lo;
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if (!hex_char_to_nibble(s[i*2], hi) || !hex_char_to_nibble(s[i*2+1], lo)) {
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return false;
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}
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out[i] = (hi << 4) | lo;
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}
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return true;
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}
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/*
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decode len hex characters into a uint32_t, treating each character
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as a nibble (most-significant first).
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e.g. hex_chars_to_uint32("1A2B", 4, out) -> out = 0x1A2B
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*/
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bool hex_chars_to_uint32(const char *s, uint8_t len, uint32_t &out)
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{
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out = 0;
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for (uint8_t i = 0; i < len; i++) {
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uint8_t nibble;
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if (!hex_char_to_nibble(s[i], nibble)) {
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return false;
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}
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out = (out << 4) | nibble;
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}
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return true;
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}
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/*
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strncpy without the warning for not leaving room for nul termination
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*/
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size_t strncpy_noterm(char *dest, const char *src, size_t n)
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{
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size_t len = strnlen(src, n);
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size_t ret = len; // return value is length of src
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if (len < n) {
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// include nul term if it fits
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len++;
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}
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memcpy(dest, src, len);
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return ret;
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}
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