The base class for all modules. More...
#include <module.h>
Public Member Functions | |
| Module () | |
| Constructor. | |
| virtual void | Init () |
| perform your initialization here | |
| virtual void | Reference () |
| Reference. | |
| virtual void | ParamChanged (Socket *param) |
| A parameter has changed. | |
| virtual void | Loop (const unsigned long &interval) |
| The module's main loop. | |
| virtual const char * | GetName () |
| The rest of this stuff is used by the module manager and diagnostics. | |
| virtual void | PrintName (HardwareSerial &port) |
| Print the module class name. | |
| bool | Poll (const long &time) |
| Check if Loop() needs to be called. | |
| Socket * | GetSocket (const char *name, const char *type=NULL) |
| Find a socket of the given name. | |
| bool | ReplaceSocket (Socket *oldSocket, Socket *newSocket) |
| Replace an existing socket with a new one. | |
| SocketArray & | GetSockets () |
| Get this module's sockets. | |
| bool | IsRunning () |
| Return true is this module is running it's Loop() function. | |
| int8_t | GetPriority () |
| Get this module's priority. | |
| long | GetMaxTime () |
| Get the maximum execution time in us. | |
| int | GetInterval () |
| Get the interval in ms. | |
| void | CheckTime (long time) |
| Check and possibly update the maximum execution time. | |
Protected Member Functions | |
| void | SetInterval (unsigned int time) |
| Set how often you want Loop() to be called (in ms). | |
| void | SetPriority (const int8_t priority) |
| Set our priority. | |
| void | AddSocket (const char *name, Socket *socket) |
| Add a socket/parameter to the sockets table. | |
| void | AddSocketArray (const char *names[], Socket8 sockets[], int n) |
| Add an array of sockets. | |
| void | AddSocketArray (const char *names[], Socket16 sockets[], int n) |
| Add an array of sockets. | |
| void | AddSocketArray (const char *names[], SocketF sockets[], int n) |
| Add an array of sockets. | |
| void | ConnectPlugArray (const char *names[], PlugF plugs[], int n) |
| Connect an array of plugs. | |
| float | GetTime (const unsigned long &interval) |
| Calculate the time since we were last called in seconds. | |
The base class for all modules.
| Module::Module | ( | ) |
Constructor.
Only expose variables and parameters in your constructor. Do your initialisation in Init()
| void Module::AddSocket | ( | const char * | name, | |
| Socket * | socket | |||
| ) | [inline, protected] |
Add a socket/parameter to the sockets table.
NOTE: name must be static. It MUST NOT be created on the stack.
| void Module::AddSocketArray | ( | const char * | names[], | |
| Socket8 | sockets[], | |||
| int | n | |||
| ) | [protected] |
Add an array of sockets.
names and sockets must point to arrays of strings and sockets respectively. n defines how many sockets.
| void Module::AddSocketArray | ( | const char * | names[], | |
| Socket16 | sockets[], | |||
| int | n | |||
| ) | [protected] |
Add an array of sockets.
names and sockets must point to arrays of strings and sockets respectively. n defines how many sockets.
| void Module::AddSocketArray | ( | const char * | names[], | |
| SocketF | sockets[], | |||
| int | n | |||
| ) | [protected] |
Add an array of sockets.
names and sockets must point to arrays of strings and sockets respectively .n defines how many sockets.
| void Module::CheckTime | ( | long | time | ) | [inline] |
Check and possibly update the maximum execution time.
| void Module::ConnectPlugArray | ( | const char * | names[], | |
| PlugF | plugs[], | |||
| int | n | |||
| ) | [protected] |
Connect an array of plugs.
names and plugs must point to arrays of strings and sockets respectively. n defines how many plugs.
| int Module::GetInterval | ( | ) | [inline] |
Get the interval in ms.
The interval defines how often Loop() is run
| long Module::GetMaxTime | ( | ) | [inline] |
Get the maximum execution time in us.
| virtual const char* Module::GetName | ( | ) | [inline, virtual] |
The rest of this stuff is used by the module manager and diagnostics.
Get the module class name. Automatically created by DECLARE_MODULE()
| int8_t Module::GetPriority | ( | ) | [inline] |
Get this module's priority.
| Socket* Module::GetSocket | ( | const char * | name, | |
| const char * | type = NULL | |||
| ) | [inline] |
Find a socket of the given name.
Returns a pointer if this module has the socket. Otherwise returns false
| SocketArray& Module::GetSockets | ( | ) | [inline] |
Get this module's sockets.
| float Module::GetTime | ( | const unsigned long & | interval | ) | [inline, protected] |
Calculate the time since we were last called in seconds.
| virtual void Module::Init | ( | ) | [inline, virtual] |
perform your initialization here
This includes connecting plugs and general initialization
Reimplemented in AnalogGyro, DcmAHRS, HMC5843, RotaryWing, SCP1000, SerialComms, and Servo50Hz.
| bool Module::IsRunning | ( | ) | [inline] |
Return true is this module is running it's Loop() function.
| virtual void Module::Loop | ( | const unsigned long & | interval | ) | [inline, virtual] |
The module's main loop.
This function is called at the rate specified by SetInterval()
Do most of your work here. Try to keep this code fast
Reimplemented in AnalogGyro, DcmAHRS, HMC5843, RotaryWing, SCP1000, SerialComms, and Servo50Hz.
| virtual void Module::ParamChanged | ( | Socket * | param | ) | [inline, virtual] |
A parameter has changed.
Called when a parameter has been changed (read from EEPROM or via the comms link)
param points to the parameter that has changed.
Reimplemented in AnalogGyro, DcmAHRS, HMC5843, RotaryWing, SCP1000, and Servo50Hz.
| bool Module::Poll | ( | const long & | time | ) |
| virtual void Module::PrintName | ( | HardwareSerial & | port | ) | [inline, virtual] |
Print the module class name.
Automatically created by DECLARE_MODULE()
| virtual void Module::Reference | ( | ) | [inline, virtual] |
Reference.
Called when we are stationary and it is safe to re-reference sensors and clear PID accumulators etc. If at all possible, return fairly quickly from this, just in case we are in the air and reference has been called by mistake (e.g it may have been connected to a transmitter switch that was operated at the wrong moment.
Reimplemented in AnalogGyro, DcmAHRS, RotaryWing, and SCP1000.
Replace an existing socket with a new one.
Returns true if the socket was found and replaced
| void Module::SetInterval | ( | unsigned int | time | ) | [protected] |
Set how often you want Loop() to be called (in ms).
Must be greather than 0
| void Module::SetPriority | ( | const int8_t | priority | ) | [inline, protected] |
Set our priority.
0 is lowest, max 100
Priority -1 means never execute
Try to avoid having too many different priority levels. Increasing the number of priority levels increases the number of threads and memory usage. The theoretical maximum number of threads used is the number of different levels + 1. In practice it is generally lower.
1.7.0
