Erik van de Coevering / quadV3

This is my quadcopter prototype software, still in development!

quadv3/mbed/Base.h@1:ac68f0368a77, 2013-07-23 (annotated)

Committer:
Anaesthetix
Date:
Tue Jul 23 14:01:42 2013 +0000
Revision:
1:ac68f0368a77
Parent:
0:978110f7f027 
Other accelerometer added

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Anaesthetix 0:978110f7f027 1 /* mbed Microcontroller Library - Base
Anaesthetix 0:978110f7f027 2 * Copyright (c) 2006-2008 ARM Limited. All rights reserved.
Anaesthetix 0:978110f7f027 3 */
Anaesthetix 0:978110f7f027 4
Anaesthetix 0:978110f7f027 5 #ifndef MBED_BASE_H
Anaesthetix 0:978110f7f027 6 #define MBED_BASE_H
Anaesthetix 0:978110f7f027 7
Anaesthetix 0:978110f7f027 8 #include "platform.h"
Anaesthetix 0:978110f7f027 9 #include "PinNames.h"
Anaesthetix 0:978110f7f027 10 #include "PeripheralNames.h"
Anaesthetix 0:978110f7f027 11 #include <cstdlib>
Anaesthetix 0:978110f7f027 12 #include "DirHandle.h"
Anaesthetix 0:978110f7f027 13
Anaesthetix 0:978110f7f027 14 namespace mbed {
Anaesthetix 0:978110f7f027 15
Anaesthetix 0:978110f7f027 16 #ifdef MBED_RPC
Anaesthetix 0:978110f7f027 17 struct rpc_function {
Anaesthetix 0:978110f7f027 18 const char *name;
Anaesthetix 0:978110f7f027 19 void (*caller)(const char*, char*);
Anaesthetix 0:978110f7f027 20 };
Anaesthetix 0:978110f7f027 21
Anaesthetix 0:978110f7f027 22 struct rpc_class {
Anaesthetix 0:978110f7f027 23 const char *name;
Anaesthetix 0:978110f7f027 24 const rpc_function *static_functions;
Anaesthetix 0:978110f7f027 25 struct rpc_class *next;
Anaesthetix 0:978110f7f027 26 };
Anaesthetix 0:978110f7f027 27 #endif
Anaesthetix 0:978110f7f027 28
Anaesthetix 0:978110f7f027 29 /* Class Base
Anaesthetix 0:978110f7f027 30 * The base class for most things
Anaesthetix 0:978110f7f027 31 */
Anaesthetix 0:978110f7f027 32 class Base {
Anaesthetix 0:978110f7f027 33
Anaesthetix 0:978110f7f027 34 public:
Anaesthetix 0:978110f7f027 35
Anaesthetix 0:978110f7f027 36 Base(const char *name = NULL);
Anaesthetix 0:978110f7f027 37
Anaesthetix 0:978110f7f027 38 virtual ~Base();
Anaesthetix 0:978110f7f027 39
Anaesthetix 0:978110f7f027 40 /* Function register_object
Anaesthetix 0:978110f7f027 41 * Registers this object with the given name, so that it can be
Anaesthetix 0:978110f7f027 42 * looked up with lookup. If this object has already been
Anaesthetix 0:978110f7f027 43 * registered, then this just changes the name.
Anaesthetix 0:978110f7f027 44 *
Anaesthetix 0:978110f7f027 45 * Variables
Anaesthetix 0:978110f7f027 46 * name - The name to give the object. If NULL we do nothing.
Anaesthetix 0:978110f7f027 47 */
Anaesthetix 0:978110f7f027 48 void register_object(const char *name);
Anaesthetix 0:978110f7f027 49
Anaesthetix 0:978110f7f027 50 /* Function name
Anaesthetix 0:978110f7f027 51 * Returns the name of the object, or NULL if it has no name.
Anaesthetix 0:978110f7f027 52 */
Anaesthetix 0:978110f7f027 53 const char *name();
Anaesthetix 0:978110f7f027 54
Anaesthetix 0:978110f7f027 55 #ifdef MBED_RPC
Anaesthetix 0:978110f7f027 56
Anaesthetix 0:978110f7f027 57 /* Function rpc
Anaesthetix 0:978110f7f027 58 * Call the given method with the given arguments, and write the
Anaesthetix 0:978110f7f027 59 * result into the string pointed to by result. The default
Anaesthetix 0:978110f7f027 60 * implementation calls rpc_methods to determine the supported
Anaesthetix 0:978110f7f027 61 * methods.
Anaesthetix 0:978110f7f027 62 *
Anaesthetix 0:978110f7f027 63 * Variables
Anaesthetix 0:978110f7f027 64 * method - The name of the method to call.
Anaesthetix 0:978110f7f027 65 * arguments - A list of arguments separated by spaces.
Anaesthetix 0:978110f7f027 66 * result - A pointer to a string to write the result into. May
Anaesthetix 0:978110f7f027 67 * be NULL, in which case nothing is written.
Anaesthetix 0:978110f7f027 68 *
Anaesthetix 0:978110f7f027 69 * Returns
Anaesthetix 0:978110f7f027 70 * true if method corresponds to a valid rpc method, or
Anaesthetix 0:978110f7f027 71 * false otherwise.
Anaesthetix 0:978110f7f027 72 */
Anaesthetix 0:978110f7f027 73 virtual bool rpc(const char *method, const char *arguments, char *result);
Anaesthetix 0:978110f7f027 74
Anaesthetix 0:978110f7f027 75 /* Function get_rpc_methods
Anaesthetix 0:978110f7f027 76 * Returns a pointer to an array describing the rpc methods
Anaesthetix 0:978110f7f027 77 * supported by this object, terminated by either
Anaesthetix 0:978110f7f027 78 * RPC_METHOD_END or RPC_METHOD_SUPER(Superclass).
Anaesthetix 0:978110f7f027 79 *
Anaesthetix 0:978110f7f027 80 * Example
Anaesthetix 0:978110f7f027 81 * > class Example : public Base {
Anaesthetix 0:978110f7f027 82 * > int foo(int a, int b) { return a + b; }
Anaesthetix 0:978110f7f027 83 * > virtual const struct rpc_method *get_rpc_methods() {
Anaesthetix 0:978110f7f027 84 * > static const rpc_method rpc_methods[] = {
Anaesthetix 0:978110f7f027 85 * > { "foo", generic_caller<int, Example, int, int, &Example::foo> },
Anaesthetix 0:978110f7f027 86 * > RPC_METHOD_SUPER(Base)
Anaesthetix 0:978110f7f027 87 * > };
Anaesthetix 0:978110f7f027 88 * > return rpc_methods;
Anaesthetix 0:978110f7f027 89 * > }
Anaesthetix 0:978110f7f027 90 * > };
Anaesthetix 0:978110f7f027 91 */
Anaesthetix 0:978110f7f027 92 virtual const struct rpc_method *get_rpc_methods();
Anaesthetix 0:978110f7f027 93
Anaesthetix 0:978110f7f027 94 /* Function rpc
Anaesthetix 0:978110f7f027 95 * Use the lookup function to lookup an object and, if
Anaesthetix 0:978110f7f027 96 * successful, call its rpc method
Anaesthetix 0:978110f7f027 97 *
Anaesthetix 0:978110f7f027 98 * Variables
Anaesthetix 0:978110f7f027 99 * returns - false if name does not correspond to an object,
Anaesthetix 0:978110f7f027 100 * otherwise the return value of the call to the object's rpc
Anaesthetix 0:978110f7f027 101 * method.
Anaesthetix 0:978110f7f027 102 */
Anaesthetix 0:978110f7f027 103 static bool rpc(const char *name, const char *method, const char *arguments, char *result);
Anaesthetix 0:978110f7f027 104
Anaesthetix 0:978110f7f027 105 #endif
Anaesthetix 0:978110f7f027 106
Anaesthetix 0:978110f7f027 107 /* Function lookup
Anaesthetix 0:978110f7f027 108 * Lookup and return the object that has the given name.
Anaesthetix 0:978110f7f027 109 *
Anaesthetix 0:978110f7f027 110 * Variables
Anaesthetix 0:978110f7f027 111 * name - the name to lookup.
Anaesthetix 0:978110f7f027 112 * len - the length of name.
Anaesthetix 0:978110f7f027 113 */
Anaesthetix 0:978110f7f027 114 static Base *lookup(const char *name, unsigned int len);
Anaesthetix 0:978110f7f027 115
Anaesthetix 0:978110f7f027 116 static DirHandle *opendir();
Anaesthetix 0:978110f7f027 117 friend class BaseDirHandle;
Anaesthetix 0:978110f7f027 118
Anaesthetix 0:978110f7f027 119 protected:
Anaesthetix 0:978110f7f027 120
Anaesthetix 0:978110f7f027 121 static Base *_head;
Anaesthetix 0:978110f7f027 122 Base *_next;
Anaesthetix 0:978110f7f027 123 const char *_name;
Anaesthetix 0:978110f7f027 124 bool _from_construct;
Anaesthetix 0:978110f7f027 125
Anaesthetix 0:978110f7f027 126 private:
Anaesthetix 0:978110f7f027 127
Anaesthetix 0:978110f7f027 128 #ifdef MBED_RPC
Anaesthetix 0:978110f7f027 129 static rpc_class *_classes;
Anaesthetix 0:978110f7f027 130
Anaesthetix 0:978110f7f027 131 static const rpc_function _base_funcs[];
Anaesthetix 0:978110f7f027 132 static rpc_class _base_class;
Anaesthetix 0:978110f7f027 133 #endif
Anaesthetix 0:978110f7f027 134
Anaesthetix 0:978110f7f027 135 void delete_self();
Anaesthetix 0:978110f7f027 136 static void list_objs(const char *arguments, char *result);
Anaesthetix 0:978110f7f027 137 static void clear(const char*,char*);
Anaesthetix 0:978110f7f027 138
Anaesthetix 0:978110f7f027 139 static char *new_name(Base *p);
Anaesthetix 0:978110f7f027 140
Anaesthetix 0:978110f7f027 141 public:
Anaesthetix 0:978110f7f027 142
Anaesthetix 0:978110f7f027 143 #ifdef MBED_RPC
Anaesthetix 0:978110f7f027 144 /* Function add_rpc_class
Anaesthetix 0:978110f7f027 145 * Add the class to the list of classes which can have static
Anaesthetix 0:978110f7f027 146 * methods called via rpc (the static methods which can be called
Anaesthetix 0:978110f7f027 147 * are defined by that class' get_rpc_class() static method).
Anaesthetix 0:978110f7f027 148 */
Anaesthetix 0:978110f7f027 149 template<class C>
Anaesthetix 0:978110f7f027 150 static void add_rpc_class() {
Anaesthetix 0:978110f7f027 151 rpc_class *c = C::get_rpc_class();
Anaesthetix 0:978110f7f027 152 c->next = _classes;
Anaesthetix 0:978110f7f027 153 _classes = c;
Anaesthetix 0:978110f7f027 154 }
Anaesthetix 0:978110f7f027 155
Anaesthetix 0:978110f7f027 156 template<class C>
Anaesthetix 0:978110f7f027 157 static const char *construct() {
Anaesthetix 0:978110f7f027 158 Base *p = new C();
Anaesthetix 0:978110f7f027 159 p->_from_construct = true;
Anaesthetix 0:978110f7f027 160 if(p->_name==NULL) {
Anaesthetix 0:978110f7f027 161 p->register_object(new_name(p));
Anaesthetix 0:978110f7f027 162 }
Anaesthetix 0:978110f7f027 163 return p->_name;
Anaesthetix 0:978110f7f027 164 }
Anaesthetix 0:978110f7f027 165
Anaesthetix 0:978110f7f027 166 template<class C, typename A1>
Anaesthetix 0:978110f7f027 167 static const char *construct(A1 arg1) {
Anaesthetix 0:978110f7f027 168 Base *p = new C(arg1);
Anaesthetix 0:978110f7f027 169 p->_from_construct = true;
Anaesthetix 0:978110f7f027 170 if(p->_name==NULL) {
Anaesthetix 0:978110f7f027 171 p->register_object(new_name(p));
Anaesthetix 0:978110f7f027 172 }
Anaesthetix 0:978110f7f027 173 return p->_name;
Anaesthetix 0:978110f7f027 174 }
Anaesthetix 0:978110f7f027 175
Anaesthetix 0:978110f7f027 176 template<class C, typename A1, typename A2>
Anaesthetix 0:978110f7f027 177 static const char *construct(A1 arg1, A2 arg2) {
Anaesthetix 0:978110f7f027 178 Base *p = new C(arg1,arg2);
Anaesthetix 0:978110f7f027 179 p->_from_construct = true;
Anaesthetix 0:978110f7f027 180 if(p->_name==NULL) {
Anaesthetix 0:978110f7f027 181 p->register_object(new_name(p));
Anaesthetix 0:978110f7f027 182 }
Anaesthetix 0:978110f7f027 183 return p->_name;
Anaesthetix 0:978110f7f027 184 }
Anaesthetix 0:978110f7f027 185
Anaesthetix 0:978110f7f027 186 template<class C, typename A1, typename A2, typename A3>
Anaesthetix 0:978110f7f027 187 static const char *construct(A1 arg1, A2 arg2, A3 arg3) {
Anaesthetix 0:978110f7f027 188 Base *p = new C(arg1,arg2,arg3);
Anaesthetix 0:978110f7f027 189 p->_from_construct = true;
Anaesthetix 0:978110f7f027 190 if(p->_name==NULL) {
Anaesthetix 0:978110f7f027 191 p->register_object(new_name(p));
Anaesthetix 0:978110f7f027 192 }
Anaesthetix 0:978110f7f027 193 return p->_name;
Anaesthetix 0:978110f7f027 194 }
Anaesthetix 0:978110f7f027 195
Anaesthetix 0:978110f7f027 196 template<class C, typename A1, typename A2, typename A3, typename A4>
Anaesthetix 0:978110f7f027 197 static const char *construct(A1 arg1, A2 arg2, A3 arg3, A4 arg4) {
Anaesthetix 0:978110f7f027 198 Base *p = new C(arg1,arg2,arg3,arg4);
Anaesthetix 0:978110f7f027 199 p->_from_construct = true;
Anaesthetix 0:978110f7f027 200 if(p->_name==NULL) {
Anaesthetix 0:978110f7f027 201 p->register_object(new_name(p));
Anaesthetix 0:978110f7f027 202 }
Anaesthetix 0:978110f7f027 203 return p->_name;
Anaesthetix 0:978110f7f027 204 }
Anaesthetix 0:978110f7f027 205 #endif
Anaesthetix 0:978110f7f027 206
Anaesthetix 0:978110f7f027 207 };
Anaesthetix 0:978110f7f027 208
Anaesthetix 0:978110f7f027 209 /* Macro MBED_OBJECT_NAME_MAX
Anaesthetix 0:978110f7f027 210 * The maximum size of object name (including terminating null byte)
Anaesthetix 0:978110f7f027 211 * that will be recognised when using fopen to open a FileLike
Anaesthetix 0:978110f7f027 212 * object, or when using the rpc function.
Anaesthetix 0:978110f7f027 213 */
Anaesthetix 0:978110f7f027 214 #define MBED_OBJECT_NAME_MAX 32
Anaesthetix 0:978110f7f027 215
Anaesthetix 0:978110f7f027 216 /* Macro MBED_METHOD_NAME_MAX
Anaesthetix 0:978110f7f027 217 * The maximum size of rpc method name (including terminating null
Anaesthetix 0:978110f7f027 218 * byte) that will be recognised by the rpc function (in rpc.h).
Anaesthetix 0:978110f7f027 219 */
Anaesthetix 0:978110f7f027 220 #define MBED_METHOD_NAME_MAX 32
Anaesthetix 0:978110f7f027 221
Anaesthetix 0:978110f7f027 222 } // namespace mbed
Anaesthetix 0:978110f7f027 223
Anaesthetix 0:978110f7f027 224 #endif
Anaesthetix 0:978110f7f027 225