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bizhang_-obav/src/lib/mixer/SimpleMixer.hpp
2019-11-22 15:00:25 -05:00

138 lines
4.9 KiB
C++

/****************************************************************************
*
* Copyright (C) 2012-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name PX4 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" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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****************************************************************************/
#pragma once
/** mixer input */
struct mixer_control_s {
uint8_t control_group; /**< group from which the input reads */
uint8_t control_index; /**< index within the control group */
struct mixer_scaler_s scaler; /**< scaling applied to the input before use */
};
#define MIXER_SIMPLE_SIZE(_icount) (sizeof(struct mixer_simple_s) + (_icount) * sizeof(struct mixer_control_s))
/** simple mixer */
struct mixer_simple_s {
uint8_t control_count; /**< number of inputs */
struct mixer_scaler_s output_scaler; /**< scaling for the output */
struct mixer_control_s controls[0]; /**< actual size of the array is set by control_count */
};
/**
* Simple summing mixer.
*
* Collects zero or more inputs and mixes them to a single output.
*/
class SimpleMixer : public Mixer
{
public:
/**
* Constructor
*
* @param mixinfo Mixer configuration. The pointer passed
* becomes the property of the mixer and
* will be freed when the mixer is deleted.
*/
SimpleMixer(ControlCallback control_cb, uintptr_t cb_handle, mixer_simple_s *mixinfo);
virtual ~SimpleMixer();
// no copy, assignment, move, move assignment
SimpleMixer(const SimpleMixer &) = delete;
SimpleMixer &operator=(const SimpleMixer &) = delete;
SimpleMixer(SimpleMixer &&) = delete;
SimpleMixer &operator=(SimpleMixer &&) = delete;
/**
* Factory method with full external configuration.
*
* Given a pointer to a buffer containing a text description of the mixer,
* returns a pointer to a new instance of the mixer.
*
* @param control_cb The callback to invoke when fetching a
* control value.
* @param cb_handle Handle passed to the control callback.
* @param buf Buffer containing a text description of
* the mixer.
* @param buflen Length of the buffer in bytes, adjusted
* to reflect the bytes consumed.
* @return A new SimpleMixer instance, or nullptr
* if the text format is bad.
*/
static SimpleMixer *from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf,
unsigned &buflen);
unsigned mix(float *outputs, unsigned space) override;
void groups_required(uint32_t &groups) override;
/**
* Check that the mixer configuration as loaded is sensible.
*
* Note that this function will call control_cb, but only cares about
* error returns, not the input value.
*
* @return Zero if the mixer makes sense, nonzero otherwise.
*/
int check();
unsigned set_trim(float trim) override;
unsigned get_trim(float *trim) override;
private:
/**
* Perform simpler linear scaling.
*
* @param scaler The scaler configuration.
* @param input The value to be scaled.
* @return The scaled value.
*/
static float scale(const mixer_scaler_s &scaler, float input);
/**
* Validate a scaler
*
* @param scaler The scaler to be validated.
* @return Zero if good, nonzero otherwise.
*/
static int scale_check(struct mixer_scaler_s &scaler);
static int parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler);
static int parse_control_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler, uint8_t &control_group,
uint8_t &control_index);
mixer_simple_s *_pinfo{nullptr};
};