Block.hpp

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#pragma once

#include <containers/List.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <controllib/block/BlockParam.hpp>

namespace control
{

static constexpr uint8_t maxChildrenPerBlock = 100;
static constexpr uint8_t maxParamsPerBlock = 110;
static constexpr uint8_t maxSubscriptionsPerBlock = 100;
static constexpr uint8_t maxPublicationsPerBlock = 100;
static constexpr uint8_t blockNameLengthMax = 40;

// forward declaration
class BlockParamBase;
class SuperBlock;

class __EXPORT Block : public ListNode<Block *>
{
public:
    friend class BlockParamBase;

    Block(SuperBlock *parent, const char *name);
    virtual ~Block() = default;

    // no copy, assignment, move, move assignment
    Block(const Block &) = delete;
    Block &operator=(const Block &) = delete;
    Block(Block &&) = delete;
    Block &operator=(Block &&) = delete;

    void getName(char *name, size_t n);

    virtual void updateParams();
    virtual void updateSubscriptions();
    virtual void updatePublications();

    virtual void setDt(float dt) { _dt = dt; }
    float getDt() { return _dt; }

protected:

    virtual void updateParamsSubclass() {}

    SuperBlock *getParent() { return _parent; }
    List<uORB::SubscriptionNode *> &getSubscriptions() { return _subscriptions; }
    List<uORB::PublicationNode *> &getPublications() { return _publications; }
    List<BlockParamBase *> &getParams() { return _params; }

    const char *_name;
    SuperBlock *_parent;
    float _dt{0.0f};

    List<uORB::SubscriptionNode *> _subscriptions;
    List<uORB::PublicationNode *> _publications;
    List<BlockParamBase *> _params;
};

class __EXPORT SuperBlock :
    public Block
{
public:
    friend class Block;

    SuperBlock(SuperBlock *parent, const char *name) : Block(parent, name) {}
    ~SuperBlock() = default;

    // no copy, assignment, move, move assignment
    SuperBlock(const SuperBlock &) = delete;
    SuperBlock &operator=(const SuperBlock &) = delete;
    SuperBlock(SuperBlock &&) = delete;
    SuperBlock &operator=(SuperBlock &&) = delete;

    void setDt(float dt) override;

    void updateParams() override
    {
        Block::updateParams();

        if (getChildren().getHead() != nullptr) { updateChildParams(); }
    }

    void updateSubscriptions() override
    {
        Block::updateSubscriptions();

        if (getChildren().getHead() != nullptr) { updateChildSubscriptions(); }
    }
    void updatePublications() override
    {
        Block::updatePublications();

        if (getChildren().getHead() != nullptr) { updateChildPublications(); }
    }

protected:
    List<Block *> &getChildren() { return _children; }
    void updateChildParams();
    void updateChildSubscriptions();
    void updateChildPublications();

    List<Block *> _children;
};


} // namespace control