AP_Param: simplify g2 object conversion

ArduPilot · Feb 21, 2024 · 7ed0382 · 7ed0382
1 parent e01e697
commit 7ed0382
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diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
@@ -2074,6 +2074,20 @@ void AP_Param::convert_class(uint16_t param_key, void *object_pointer,
     flush();
 }
 
+void AP_Param::convert_g2_objects(const void *g2, const G2ObjectConversion g2_conversions[], uint8_t num_conversions)
+{
+    // Find G2's Top Level Key
+    ConversionInfo info;
+    if (!find_top_level_key_by_pointer(g2, info.old_key)) {
+        return;
+    }
+    for (uint8_t i=0; i<num_conversions; i++) {
+        const auto &c { g2_conversions[i] };
+        convert_class(info.old_key, c.object_pointer, c.var_info, c.old_index, c.old_top_element, false);
+    }
+}
+
+
 /*
  convert width of a parameter, allowing update to wider scalar values
  without changing the parameter indexes

diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
@@ -33,6 +33,8 @@
 
 #include "float.h"
 
+#include <array>
+
 #define AP_MAX_NAME_SIZE 16
 
 // optionally enable debug code for dumping keys
@@ -472,6 +474,14 @@ class AP_Param
     // convert old vehicle parameters to new object parameters with scaling - assumes we use the same scaling factor for all values in the table
     static void         convert_old_parameters_scaled(const ConversionInfo *conversion_table, uint8_t table_size, float scaler, uint8_t flags);
 
+    struct G2ObjectConversion {
+        void *object_pointer;
+        const struct AP_Param::GroupInfo *var_info;
+        uint16_t old_index;  // Old parameter index in g
+        uint16_t old_top_element;  // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+    };
+    static void         convert_g2_objects(const void *g2, const G2ObjectConversion g2_conversions[], uint8_t num_conversions);
+
     /*
       convert width of a parameter, allowing update to wider scalar
       values without changing the parameter indexes. This will return