Refactored to remove param listener

rosflight · Nov 27, 2024 · 918c4f9 · 918c4f9
1 parent b391037
commit 918c4f9
Show file tree

Hide file tree

Showing 13 changed files with 50 additions and 141 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,12 +1,18 @@
 ### project settings ###
 
-# reminders:
-# cmake . -DBOARD_TO_BUILD=varmint
-# cmake --build . --target clean -j
-# cmake --build . -j
-# to run test:
-#   cmake . -DBOARD_TO_BUILD=test -DCMAKE_BUILD_TYPE=Release
-#   make
+# Building the projects:
+# mkdir varmint_build      && cd varmint_build      && cmake .. -DBOARD_TO_BUILD=varmint      && make -j
+# mkdir pixracer_pro_build && cd pixracer_pro_build && cmake .. -DBOARD_TO_BUILD=pixracer_pro && make -j
+#
+# alternate for make -j above is cmake --build . -j (note only one .)
+# make -j OR cmake --build . -j
+# to clean:
+# make clean -j  OR  make --build . --target clean -j
+#
+# unit test:
+# build:
+# mkdir test_build         && cd test_build         && cmake .. -DBOARD_TO_BUILD=test -DCMAKE_BUILD_TYPE=Release && make -j
+# test:
 #   ./test/unit_tests
 
 cmake_minimum_required(VERSION 3.8)

diff --git a/include/comm_manager.h b/include/comm_manager.h
@@ -33,7 +33,6 @@
 #define ROSFLIGHT_FIRMWARE_COMM_MANAGER_H
 
 #include "interface/comm_link.h"
-#include "param_listener.h"
 
 #include <stdarg.h>
 #include <stdio.h>
@@ -45,7 +44,7 @@ namespace rosflight_firmware
 {
 class ROSflight;
 
-class CommManager : public ParamListenerInterface
+class CommManager
 {
 private:
   enum StreamId
@@ -151,7 +150,7 @@ class CommManager : public ParamListenerInterface
   CommManager(ROSflight & rf, CommLinkInterface & comm_link);
 
   void init();
-  void param_change_callback(uint16_t param_id) override;
+  void param_change_callback(uint16_t param_id);
   void receive(void);
   void transmit(got_flags got);
   void send_param_value(uint16_t param_id);

diff --git a/include/command_manager.h b/include/command_manager.h
@@ -32,8 +32,6 @@
 #ifndef ROSFLIGHT_FIRMWARE_COMMAND_MANAGER_H
 #define ROSFLIGHT_FIRMWARE_COMMAND_MANAGER_H
 
-#include "param_listener.h"
-
 #include "rc.h"
 
 #include <cstdbool>
@@ -67,7 +65,7 @@ typedef struct
   control_channel_t F;
 } control_t;
 
-class CommandManager : public ParamListenerInterface
+class CommandManager
 {
 private:
   typedef struct
@@ -152,7 +150,7 @@ class CommandManager : public ParamListenerInterface
   bool stick_deviated(MuxChannel channel);
 
 public:
-  void param_change_callback(uint16_t param_id) override;
+  void param_change_callback(uint16_t param_id);
   CommandManager(ROSflight & _rf);
   void init();
   bool run();

diff --git a/include/controller.h b/include/controller.h
@@ -32,8 +32,6 @@
 #ifndef ROSFLIGHT_FIRMWARE_CONTROLLER_H
 #define ROSFLIGHT_FIRMWARE_CONTROLLER_H
 
-#include "param_listener.h"
-
 #include "command_manager.h"
 #include "estimator.h"
 
@@ -46,7 +44,7 @@ namespace rosflight_firmware
 {
 class ROSflight;
 
-class Controller : public ParamListenerInterface
+class Controller
 {
 public:
   struct Output
@@ -65,7 +63,7 @@ class Controller : public ParamListenerInterface
   void run();
 
   void calculate_equilbrium_torque_from_rc();
-  void param_change_callback(uint16_t param_id) override;
+  void param_change_callback(uint16_t param_id);
 
 private:
   class PID

diff --git a/include/estimator.h b/include/estimator.h
@@ -32,8 +32,6 @@
 #ifndef ROSFLIGHT_FIRMWARE_ESTIMATOR_H
 #define ROSFLIGHT_FIRMWARE_ESTIMATOR_H
 
-#include "param_listener.h"
-
 #include "turbomath/turbomath.h"
 
 #include <cmath>
@@ -47,7 +45,7 @@ namespace rosflight_firmware
 class ROSflight;
 
 
-class Estimator : public ParamListenerInterface
+class Estimator
 {
 
 public:
@@ -73,7 +71,7 @@ class Estimator : public ParamListenerInterface
   inline const turbomath::Vector & gyroLPF() { return gyro_LPF_; }
 
   void init();
-  void param_change_callback(uint16_t param_id) override;
+  void param_change_callback(uint16_t param_id);
   void run();
   void reset_state();
   void reset_adaptive_bias();

diff --git a/include/mixer.h b/include/mixer.h
@@ -32,8 +32,6 @@
 #ifndef ROSFLIGHT_FIRMWARE_MIXER_H
 #define ROSFLIGHT_FIRMWARE_MIXER_H
 
-#include "param_listener.h"
-
 #include <cstdbool>
 #include <cstdint>
 
@@ -46,7 +44,7 @@ class ROSflight;
 
 typedef RcStruct MixerStruct;
 
-class Mixer : public ParamListenerInterface
+class Mixer
 {
 
 public:
@@ -264,7 +262,7 @@ class Mixer : public ParamListenerInterface
   void init_PWM();
   void init_mixing();
   void mix_output();
-  void param_change_callback(uint16_t param_id) override;
+  void param_change_callback(uint16_t param_id);
   void set_new_aux_command(aux_command_t new_aux_command);
   float * raw_outputs() { return raw_outputs_; }
   MixerStruct * get_output_raw(void) { return &output_raw_; }

diff --git a/include/param.h b/include/param.h
@@ -47,8 +47,6 @@
 // #pragma message( "GIT_VERSION_HASH: " STRINGIFY(GIT_VERSION_HASH))
 // #pragma message( "GIT_VERSION_STRING: " GIT_VERSION_STRING)
 
-#include "param_listener.h"
-
 #include <cstddef>
 #include <cstdint>
 
@@ -260,9 +258,6 @@ class Params
   void init_param_float(uint16_t id, const char name[PARAMS_NAME_LENGTH], float value);
   uint8_t compute_checksum(void);
 
-  ParamListenerInterface * const * listeners_;
-  size_t num_listeners_;
-
 public:
   Params(ROSflight & _rf);
 
@@ -278,14 +273,6 @@ class Params
    */
   void set_defaults(void);
 
-  /**
-   * @brief Specify listeners for parameter changes
-   * @param listeners An array of pointers to objects that implement the ParamListenerInterface
-   * interface
-   * @param num_listeners The length of the array passed as the listeners parameter
-   */
-  void set_listeners(ParamListenerInterface * const listeners[], size_t num_listeners);
-
   /**
    * @brief Read parameter values from non-volatile memory
    * @return True if successful, false otherwise
@@ -358,22 +345,22 @@ class Params
    */
   bool set_param_float(uint16_t id, float value);
 
-  /**
-   * @brief Sets the value of a parameter by name and calls the parameter change callback
-   * @param name The name of the parameter
-   * @param value The new value
-   * @return True if a parameter value was changed, false otherwise
-   */
-  bool set_param_by_name_int(const char name[PARAMS_NAME_LENGTH], int32_t value);
-
-  /**
-   * @brief Sets the value of a floating point parameter by name and calls the parameter change
-   * callback
-   * @param name The name of the parameter
-   * @param value The new value
-   * @return True if a parameter value was changed, false otherwise
-   */
-  bool set_param_by_name_float(const char name[PARAMS_NAME_LENGTH], float value);
+//  /**
+//   * @brief Sets the value of a parameter by name and calls the parameter change callback
+//   * @param name The name of the parameter
+//   * @param value The new value
+//   * @return True if a parameter value was changed, false otherwise
+//   */
+//  bool set_param_by_name_int(const char name[PARAMS_NAME_LENGTH], int32_t value);
+//
+//  /**
+//   * @brief Sets the value of a floating point parameter by name and calls the parameter change
+//   * callback
+//   * @param name The name of the parameter
+//   * @param value The new value
+//   * @return True if a parameter value was changed, false otherwise
+//   */
+//  bool set_param_by_name_float(const char name[PARAMS_NAME_LENGTH], float value);
 };
 
 } // namespace rosflight_firmware

diff --git a/include/param_listener.h b/include/param_listener.h
diff --git a/include/rc.h b/include/rc.h
@@ -32,8 +32,6 @@
 #ifndef ROSFLIGHT_FIRMWARE_RC_H
 #define ROSFLIGHT_FIRMWARE_RC_H
 
-#include "param_listener.h"
-
 #include <cstdbool>
 #include <cstdint>
 
@@ -43,7 +41,7 @@ namespace rosflight_firmware
 {
 class ROSflight;
 
-class RC : public ParamListenerInterface
+class RC
 {
 public:
   enum Stick
@@ -72,7 +70,7 @@ class RC : public ParamListenerInterface
   bool switch_mapped(Switch channel);
   bool run();
   bool new_command();
-  void param_change_callback(uint16_t param_id) override;
+  void param_change_callback(uint16_t param_id);
 
   RcStruct * get_rc(void);
   float read_chan(uint8_t chan);

diff --git a/include/rosflight.h b/include/rosflight.h
@@ -33,7 +33,6 @@
 #define ROSFLIGHT_FIRMWARE_ROSFLIGHT_H
 
 #include "interface/comm_link.h"
-#include "param_listener.h"
 
 #include "board.h"
 #include "comm_manager.h"
@@ -82,10 +81,6 @@ class ROSflight
 
   uint32_t get_loop_time_us();
 
-private:
-  static constexpr size_t num_param_listeners_ = 7;
-  ParamListenerInterface * const param_listeners_[num_param_listeners_] = {
-    &comm_manager_, &command_manager_, &controller_, &estimator_, &mixer_, &rc_, &sensors_};
 };
 
 } // namespace rosflight_firmware

diff --git a/include/sensors.h b/include/sensors.h
@@ -33,7 +33,6 @@
 #ifndef ROSFLIGHT_FIRMWARE_SENSORS_H
 #define ROSFLIGHT_FIRMWARE_SENSORS_H
 
-#include "param_listener.h"
 
 #include "turbomath/turbomath.h"
 
@@ -49,7 +48,7 @@ namespace rosflight_firmware
 {
 class ROSflight;
 
-class Sensors : public ParamListenerInterface
+class Sensors
 {
 public:
   PressureStruct * get_diff_pressure(void) { return &diff_pressure_; }
@@ -64,7 +63,7 @@ class Sensors : public ParamListenerInterface
 
   void init();
   got_flags run();
-  void param_change_callback(uint16_t param_id) override;
+  void param_change_callback(uint16_t param_id);
 
   // Calibration Functions
   bool start_imu_calibration(void);