param.h

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/*
 * Copyright (c) 2017 Daniel Koch and James Jackson, BYU MAGICC Lab.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef MAVROSFLIGHT_PARAM_H
#define MAVROSFLIGHT_PARAM_H

#include <rosflight/mavrosflight/mavlink_bridge.h>
#include <rosflight/mavrosflight/mavlink_serial.h>

#include <yaml-cpp/yaml.h>

namespace mavrosflight
{

class Param
{
public:
  Param();
  Param(mavlink_param_value_t msg);
  Param(std::string name, int index, MAV_PARAM_TYPE type, float raw_value);

  uint16_t pack_param_set_msg(uint8_t system, uint8_t component, mavlink_message_t *msg,
                              uint8_t target_system, uint8_t target_component);

  std::string getName() const;
  int getIndex() const;
  MAV_PARAM_TYPE getType() const;
  double getValue() const;

  void requestSet(double value, mavlink_message_t *msg);
  bool handleUpdate(const mavlink_param_value_t &msg);

private:
  void init(std::string name, int index, MAV_PARAM_TYPE type, float raw_value);

  void setFromRawValue(float raw_value);
  float getRawValue();
  float getRawValue(double value);
  double getCastValue(double value);

  template<typename T>
  double fromRawValue(float value)
  {
    T t_value = *(T*) &value;
    return (double) t_value;
  }

  template<typename T>
  float toRawValue(double value)
  {
    T t_value = (T) value;
    return *(float*) &t_value;
  }

  template<typename T>
  double toCastValue(double value)
  {
    return (double) ((T) value);
  }

  MavlinkSerial *serial_;

  std::string name_;
  int index_;
  MAV_PARAM_TYPE type_;
  double value_;

  bool set_in_progress_;
  double new_value_;
  float expected_raw_value_;
};

} // namespace mavrosflight

#endif // MAVROSFLIGHT_PARAM_H