Add command_float block (derived from command_bool).

A lot simpler than the 1d and 3d setpoint generator and perfect for
temperature settings ;)
Add test for command_float block.

controller/block/block_command_float.c

+/*
+	Copyright Jeroen Vreeken (jeroen@vreken.net), 2015
+
+	This program is free software: you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation, either version 3 of the License, or
+	(at your option) any later version.
+
+	This program is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+	GNU General Public License for more details.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <log/log.h>
+
+#include <controller/controller_block.h>
+#include <controller/controller_command.h>
+
+
+struct controller_block_private {
+	float value;
+	uint32_t id;
+
+	struct controller_command *command;
+};
+
+static void command_calculate(struct controller_block *cmd)
+{
+	struct controller_block_private *priv = cmd->private;
+	struct command_entry c_entry;
+
+	if (!controller_command_queue_read(priv->command, &c_entry)) {
+		priv->value = c_entry.value.f;
+		priv->id = c_entry.id;
+	} else {
+		priv->id = COMMAND_ID_NONE;
+	}
+}
+
+
+static struct controller_block_outterm_list outterms[] = {
+	{ "value", CONTROLLER_BLOCK_TERM_FLOAT,  offsetof(struct controller_block_private, value) },
+	{ "id",    CONTROLLER_BLOCK_TERM_UINT32, offsetof(struct controller_block_private, id) },
+	{ NULL },
+};
+
+
+static struct controller_block * block_command_float_create(char *name, int argc, va_list val)
+{
+	struct controller_block *cmd;
+	
+	if (!(cmd = controller_block_alloc("command_float", name, sizeof(struct controller_block_private))))
+		return NULL;
+
+	cmd->private->value = false;
+	cmd->private->id = COMMAND_ID_NONE;
+
+	if (controller_block_outterm_list_init(cmd, outterms))
+		goto err_block;
+
+	cmd->calculate = command_calculate;
+
+	if (controller_block_add(cmd))
+		goto err_block;
+
+	cmd->private->command = controller_command_create(cmd, name, "Float");
+	cmd->private->command->value_type = COMMAND_VALUE_TYPE_FLOAT;
+	cmd->private->command->command_types[0] = COMMAND_PTYPE_SETPOINT;
+
+	return cmd;
+
+err_block:
+	controller_block_free(cmd);
+	return NULL;
+}
+
+BLOCK_CREATE(command_float) = {
+	.create = block_command_float_create,
+	.args = { NULL },
+};

controller/block/block_command_float.test.ctrl

+
+trigger {
+	{ "immediate" }
+}
+
+blocks (10.0, 0.0) {
+	{ "command_float", "command_float" }
+
+	{ "test_output_float", "value"      }
+	{ "test_output_uint32", "id"      }
+
+	{ "test_command", "command" }
+}
+
+links {
+	{ "command_float", "value", "value", "value", true }
+	{ "command_float", "id",    "id", "value",    true }
+}
+
+set SETPOINT		4
+set SPEED		5
+set SETPOINT_TIME 	6
+
+set COMMAND_ID_NONE	(int)0xffffffff
+
+params {
+	{ "command", "command", "command_float", $[SETPOINT_TIME], 123,   1.0, 0, 500000000 }
+	{ "command", "command", "command_float", $[SETPOINT],      234,   2.0 }
+	{ "command", "command", "command_float", $[SETPOINT],      567,   -1.0 }
+	{ "command", "command", "command_float", $[SETPOINT],      666,   0.0 }
+	{ "command", "command", "command_float", $[SETPOINT],      777,   -10.0 }
+	
+	{ "value", "value", 10,
+		(float) { 0.0, 1.0, 2.0, -1.0, 0.0, -10.0, -10.0, -10.0, -10.0, -10.0 },
+		(float) { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
+	}
+
+	{ "id",   "value", 10, 
+		(int)   { $[COMMAND_ID_NONE], 123, 234, 567, 666, 777, $[COMMAND_ID_NONE], $[COMMAND_ID_NONE], $[COMMAND_ID_NONE], $[COMMAND_ID_NONE] }
+	}
+}

controller/block/build.mk

@@ -7,6 +7,7 @@ BLOCKS := \
 	add \
 	bridge_pwm \
 	command_bool \
+	command_float \
 	counter \
 	debug \
 	decoder_uint32_bool \
@@ -85,6 +86,7 @@ SRCS += $(BLOCK_SRCS)
 CTRL_TESTS += \
 	$(DIR)/block_bridge_pwm.test.ctrl \
 	$(DIR)/block_command_bool.test.ctrl \
+	$(DIR)/block_command_float.test.ctrl \
 	$(DIR)/block_gain.test.ctrl \
 	$(DIR)/block_limit.test.ctrl \
 	$(DIR)/block_limit_var.test.ctrl \