Make registration of terminals simpler for most blocks

Ghost terminals still need special attention, but most blocks don't
use them and use the same malloc + initialize pattern.

controller/controller/.gitignore

 il2c/il2c
+block_and2.c
+block_not.c
+block_or2.c
+block_or3.c
+block_or4.c
+block_register.c
+block_setreset.c

controller/controller/block_and2.c

-/* Automaticly generated block 'and2' */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <malloc.h>
-#include <math.h>
-#include <controller/controller_block.h>
-
-
-struct controller_block_private {
-	/* Input variables: */
-	bool	*a;
-	bool	*b;
-
-	/* Output variables: */
-	bool	q;
-
-	/* Local variables: */
-
-	/* Param variables: */
-};
-
-
-static void calculate(struct controller_block *block)
-{
-	bool	a = *block->private->a;
-	bool	b = *block->private->b;
-	bool	q = block->private->q;
-	uint32_t	_il2c_acc_ui32 __attribute__ ((__unused__));
-	double	_il2c_acc_double __attribute__ ((__unused__));
-
-	_il2c_acc_ui32 = a;
-	_il2c_acc_ui32 = ((bool)_il2c_acc_ui32) & b;
-	q = (bool)(_il2c_acc_ui32 & 0x1);
-
-	block->private->q = q;
-}
-
-struct controller_block * block_and2_create(char *name)
-{
-	struct controller_block *block;
-
-	if (!(block = malloc(sizeof(struct controller_block))))
-		return NULL;
-
-	block->type = "and2";
-	if (!(block->name = strdup(name)))
-		return NULL;
-
-	if (!(block->private = malloc(sizeof(struct controller_block_private))))
-		return NULL;
-
-
-	block->inputs = 2;
-	if (!(block->input = malloc(sizeof(struct controller_block_interm) * 2)))
-		return NULL;
-	block->input[0].name = "a";
-	block->input[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[0].value.v = (void*)&block->private->a;
-	block->input[0].ghostof = NULL;
-	block->input[1].name = "b";
-	block->input[1].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[1].value.v = (void*)&block->private->b;
-	block->input[1].ghostof = NULL;
-
-	block->outputs = 1;
-	if (!(block->output = malloc(sizeof(struct controller_block_outterm) * 1)))
-		return NULL;
-	block->output[0].name = "q";
-	block->output[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->output[0].value.v = (void*)&block->private->q;
-	block->output[0].source = block;
-
-	block->calculate = calculate;
-
-	block->params = 0;
-	block->param = NULL;
-	block->param_get = NULL;
-	block->param_set = NULL;
-
-
-	controller_block_add(block);
-	return block;
-}

controller/controller/block_not.c

-/* Automaticly generated block 'not' */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <malloc.h>
-#include <math.h>
-#include <controller/controller_block.h>
-
-
-struct controller_block_private {
-	/* Input variables: */
-	bool	*input;
-
-	/* Output variables: */
-	bool	output;
-
-	/* Local variables: */
-
-	/* Param variables: */
-};
-
-
-static void calculate(struct controller_block *block)
-{
-	bool	input = *block->private->input;
-	bool	output = block->private->output;
-	uint32_t	_il2c_acc_ui32 __attribute__ ((__unused__));
-	double	_il2c_acc_double __attribute__ ((__unused__));
-
-	_il2c_acc_ui32 = input;
-	_il2c_acc_ui32 = ~ _il2c_acc_ui32;
-	output = (bool)(_il2c_acc_ui32 & 0x1);
-
-	block->private->output = output;
-}
-
-struct controller_block * block_not_create(char *name)
-{
-	struct controller_block *block;
-
-	if (!(block = malloc(sizeof(struct controller_block))))
-		return NULL;
-
-	block->type = "not";
-	if (!(block->name = strdup(name)))
-		return NULL;
-
-	if (!(block->private = malloc(sizeof(struct controller_block_private))))
-		return NULL;
-
-
-	block->inputs = 1;
-	if (!(block->input = malloc(sizeof(struct controller_block_interm) * 1)))
-		return NULL;
-	block->input[0].name = "input";
-	block->input[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[0].value.v = (void*)&block->private->input;
-	block->input[0].ghostof = NULL;
-
-	block->outputs = 1;
-	if (!(block->output = malloc(sizeof(struct controller_block_outterm) * 1)))
-		return NULL;
-	block->output[0].name = "output";
-	block->output[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->output[0].value.v = (void*)&block->private->output;
-	block->output[0].source = block;
-
-	block->calculate = calculate;
-
-	block->params = 0;
-	block->param = NULL;
-	block->param_get = NULL;
-	block->param_set = NULL;
-
-
-	controller_block_add(block);
-	return block;
-}

controller/controller/block_or2.c

-/* Automaticly generated block 'or2' */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <malloc.h>
-#include <math.h>
-#include <controller/controller_block.h>
-
-
-struct controller_block_private {
-	/* Input variables: */
-	bool	*a;
-	bool	*b;
-
-	/* Output variables: */
-	bool	q;
-
-	/* Local variables: */
-
-	/* Param variables: */
-};
-
-
-static void calculate(struct controller_block *block)
-{
-	bool	a = *block->private->a;
-	bool	b = *block->private->b;
-	bool	q = block->private->q;
-	uint32_t	_il2c_acc_ui32 __attribute__ ((__unused__));
-	double	_il2c_acc_double __attribute__ ((__unused__));
-
-	_il2c_acc_ui32 = a;
-	_il2c_acc_ui32 = ((bool)_il2c_acc_ui32) | b;
-	q = (bool)(_il2c_acc_ui32 & 0x1);
-
-	block->private->q = q;
-}
-
-struct controller_block * block_or2_create(char *name)
-{
-	struct controller_block *block;
-
-	if (!(block = malloc(sizeof(struct controller_block))))
-		return NULL;
-
-	block->type = "or2";
-	if (!(block->name = strdup(name)))
-		return NULL;
-
-	if (!(block->private = malloc(sizeof(struct controller_block_private))))
-		return NULL;
-
-
-	block->inputs = 2;
-	if (!(block->input = malloc(sizeof(struct controller_block_interm) * 2)))
-		return NULL;
-	block->input[0].name = "a";
-	block->input[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[0].value.v = (void*)&block->private->a;
-	block->input[0].ghostof = NULL;
-	block->input[1].name = "b";
-	block->input[1].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[1].value.v = (void*)&block->private->b;
-	block->input[1].ghostof = NULL;
-
-	block->outputs = 1;
-	if (!(block->output = malloc(sizeof(struct controller_block_outterm) * 1)))
-		return NULL;
-	block->output[0].name = "q";
-	block->output[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->output[0].value.v = (void*)&block->private->q;
-	block->output[0].source = block;
-
-	block->calculate = calculate;
-
-	block->params = 0;
-	block->param = NULL;
-	block->param_get = NULL;
-	block->param_set = NULL;
-
-
-	controller_block_add(block);
-	return block;
-}

controller/controller/block_or3.c

-/* Automaticly generated block 'or3' */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <malloc.h>
-#include <math.h>
-#include <controller/controller_block.h>
-
-
-struct controller_block_private {
-	/* Input variables: */
-	bool	*a;
-	bool	*b;
-	bool	*c;
-
-	/* Output variables: */
-	bool	q;
-
-	/* Local variables: */
-
-	/* Param variables: */
-};
-
-
-static void calculate(struct controller_block *block)
-{
-	bool	a = *block->private->a;
-	bool	b = *block->private->b;
-	bool	c = *block->private->c;
-	bool	q = block->private->q;
-	uint32_t	_il2c_acc_ui32 __attribute__ ((__unused__));
-	double	_il2c_acc_double __attribute__ ((__unused__));
-
-	_il2c_acc_ui32 = a;
-	_il2c_acc_ui32 = ((bool)_il2c_acc_ui32) | b;
-	_il2c_acc_ui32 = ((bool)_il2c_acc_ui32) | c;
-	q = (bool)(_il2c_acc_ui32 & 0x1);
-
-	block->private->q = q;
-}
-
-struct controller_block * block_or3_create(char *name)
-{
-	struct controller_block *block;
-
-	if (!(block = malloc(sizeof(struct controller_block))))
-		return NULL;
-
-	block->type = "or3";
-	if (!(block->name = strdup(name)))
-		return NULL;
-
-	if (!(block->private = malloc(sizeof(struct controller_block_private))))
-		return NULL;
-
-
-	block->inputs = 3;
-	if (!(block->input = malloc(sizeof(struct controller_block_interm) * 3)))
-		return NULL;
-	block->input[0].name = "a";
-	block->input[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[0].value.v = (void*)&block->private->a;
-	block->input[0].ghostof = NULL;
-	block->input[1].name = "b";
-	block->input[1].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[1].value.v = (void*)&block->private->b;
-	block->input[1].ghostof = NULL;
-	block->input[2].name = "c";
-	block->input[2].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[2].value.v = (void*)&block->private->c;
-	block->input[2].ghostof = NULL;
-
-	block->outputs = 1;
-	if (!(block->output = malloc(sizeof(struct controller_block_outterm) * 1)))
-		return NULL;
-	block->output[0].name = "q";
-	block->output[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->output[0].value.v = (void*)&block->private->q;
-	block->output[0].source = block;
-
-	block->calculate = calculate;
-
-	block->params = 0;
-	block->param = NULL;
-	block->param_get = NULL;
-	block->param_set = NULL;
-
-
-	controller_block_add(block);
-	return block;
-}

controller/controller/block_or4.c

-/* Automaticly generated block 'or4' */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <malloc.h>
-#include <math.h>
-#include <controller/controller_block.h>
-
-
-struct controller_block_private {
-	/* Input variables: */
-	bool	*a;
-	bool	*b;
-	bool	*c;
-	bool	*d;
-
-	/* Output variables: */
-	bool	q;
-
-	/* Local variables: */
-
-	/* Param variables: */
-};
-
-
-static void calculate(struct controller_block *block)
-{
-	bool	a = *block->private->a;
-	bool	b = *block->private->b;
-	bool	c = *block->private->c;
-	bool	d = *block->private->d;
-	bool	q = block->private->q;
-	uint32_t	_il2c_acc_ui32 __attribute__ ((__unused__));
-	double	_il2c_acc_double __attribute__ ((__unused__));
-
-	_il2c_acc_ui32 = a;
-	_il2c_acc_ui32 = ((bool)_il2c_acc_ui32) | b;
-	_il2c_acc_ui32 = ((bool)_il2c_acc_ui32) | c;
-	_il2c_acc_ui32 = ((bool)_il2c_acc_ui32) | d;
-	q = (bool)(_il2c_acc_ui32 & 0x1);
-
-	block->private->q = q;
-}
-
-struct controller_block * block_or4_create(char *name)
-{
-	struct controller_block *block;
-
-	if (!(block = malloc(sizeof(struct controller_block))))
-		return NULL;
-
-	block->type = "or4";
-	if (!(block->name = strdup(name)))
-		return NULL;
-
-	if (!(block->private = malloc(sizeof(struct controller_block_private))))
-		return NULL;
-
-
-	block->inputs = 4;
-	if (!(block->input = malloc(sizeof(struct controller_block_interm) * 4)))
-		return NULL;
-	block->input[0].name = "a";
-	block->input[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[0].value.v = (void*)&block->private->a;
-	block->input[0].ghostof = NULL;
-	block->input[1].name = "b";
-	block->input[1].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[1].value.v = (void*)&block->private->b;
-	block->input[1].ghostof = NULL;
-	block->input[2].name = "c";
-	block->input[2].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[2].value.v = (void*)&block->private->c;
-	block->input[2].ghostof = NULL;
-	block->input[3].name = "d";
-	block->input[3].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[3].value.v = (void*)&block->private->d;
-	block->input[3].ghostof = NULL;
-
-	block->outputs = 1;
-	if (!(block->output = malloc(sizeof(struct controller_block_outterm) * 1)))
-		return NULL;
-	block->output[0].name = "q";
-	block->output[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->output[0].value.v = (void*)&block->private->q;
-	block->output[0].source = block;
-
-	block->calculate = calculate;
-
-	block->params = 0;
-	block->param = NULL;
-	block->param_get = NULL;
-	block->param_set = NULL;
-
-
-	controller_block_add(block);
-	return block;
-}

controller/controller/block_register.c

-/* Automaticly generated block 'register' */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <malloc.h>
-#include <math.h>
-#include <controller/controller_block.h>
-
-
-struct controller_block_private {
-	/* Input variables: */
-	bool	*input;
-
-	/* Output variables: */
-	bool	output;
-
-	/* Local variables: */
-
-	/* Param variables: */
-};
-
-
-static void calculate(struct controller_block *block)
-{
-	bool	input = *block->private->input;
-	bool	output = block->private->output;
-	uint32_t	_il2c_acc_ui32 __attribute__ ((__unused__));
-	double	_il2c_acc_double __attribute__ ((__unused__));
-
-	_il2c_acc_ui32 = input;
-	output = (bool)(_il2c_acc_ui32 & 0x1);
-
-	block->private->output = output;
-}
-
-struct controller_block * block_register_create(char *name)
-{
-	struct controller_block *block;
-
-	if (!(block = malloc(sizeof(struct controller_block))))
-		return NULL;
-
-	block->type = "register";
-	if (!(block->name = strdup(name)))
-		return NULL;
-
-	if (!(block->private = malloc(sizeof(struct controller_block_private))))
-		return NULL;
-
-
-	block->inputs = 1;
-	if (!(block->input = malloc(sizeof(struct controller_block_interm) * 1)))
-		return NULL;
-	block->input[0].name = "input";
-	block->input[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->input[0].value.v = (void*)&block->private->input;
-	block->input[0].ghostof = NULL;
-
-	block->outputs = 1;
-	if (!(block->output = malloc(sizeof(struct controller_block_outterm) * 1)))
-		return NULL;
-	block->output[0].name = "output";
-	block->output[0].type = CONTROLLER_BLOCK_TERM_BOOL;
-	block->output[0].value.v = (void*)&block->private->output;
-	block->output[0].source = block;
-
-	block->calculate = calculate;
-
-	block->params = 0;
-	block->param = NULL;
-	block->param_get = NULL;
-	block->param_set = NULL;
-
-
-	controller_block_add(block);
-	return block;
-}

controller/controller/block_servo_state.c

@@ -216,6 +216,23 @@ static struct controller_block_param_list params[] = {
 	{ NULL },
 };
 
+static struct controller_block_interm_list interms[] = {
+	{ "spg_x", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, spg_x) },
+	{ "spg_v", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, spg_v) },
+	{ "spg_a", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, spg_a) },
+	{ "safe",  CONTROLLER_BLOCK_TERM_BOOL,  offsetof(struct controller_block_private, safe)  },
+	{ NULL },
+};
+
+static struct controller_block_outterm_list outterms[] = {
+	{ "out_x",  CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, out_x)  },
+	{ "out_v",  CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, out_v)  },
+	{ "out_a",  CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, out_a)  },
+	{ "reset",  CONTROLLER_BLOCK_TERM_BOOL,  offsetof(struct controller_block_private, reset)  },
+	{ "enable", CONTROLLER_BLOCK_TERM_BOOL,  offsetof(struct controller_block_private, enable) },
+	{ NULL },
+};
+
 static void param_get(struct controller_block *servo_state, int param, void *val)
 {
 	switch (param) {
@@ -309,51 +326,11 @@ struct controller_block * block_servo_state_create(char *name)
 	servo_state->private->state = SERVO_STATE_DISABLED;
 	servo_state->private->override = false;
 
-	servo_state->inputs = 4;
-	servo_state->input = malloc(sizeof(struct controller_block_interm) * 4);
-	if (!servo_state->input)
+	if (controller_block_interm_list_init(servo_state, interms))
 		goto err_private;
-	servo_state->input[0].name = "spg_x";
-	servo_state->input[0].type = CONTROLLER_BLOCK_TERM_FLOAT;
-	servo_state->input[0].value.f = &servo_state->private->spg_x;
-	servo_state->input[0].ghostof = NULL;
-	servo_state->input[1].name = "spg_v";
-	servo_state->input[1].type = CONTROLLER_BLOCK_TERM_FLOAT;
-	servo_state->input[1].value.f = &servo_state->private->spg_v;
-	servo_state->input[1].ghostof = NULL;
-	servo_state->input[2].name = "spg_a";
-	servo_state->input[2].type = CONTROLLER_BLOCK_TERM_FLOAT;
-	servo_state->input[2].value.f = &servo_state->private->spg_a;
-	servo_state->input[2].ghostof = NULL;
-	servo_state->input[3].name = "safe";
-	servo_state->input[3].type = CONTROLLER_BLOCK_TERM_BOOL;
-	servo_state->input[3].value.b = &servo_state->private->safe;
-	servo_state->input[3].ghostof = NULL;
-
-	servo_state->outputs = 5;
-	servo_state->output = malloc(sizeof(struct controller_block_outterm) * 5);
-	if (!servo_state->output)
+
+	if (controller_block_outterm_list_init(servo_state, outterms))
 		goto err_input;
-	servo_state->output[0].name = "out_x";
-	servo_state->output[0].type = CONTROLLER_BLOCK_TERM_FLOAT;
-	servo_state->output[0].value.f = &servo_state->private->out_x;
-	servo_state->output[0].source = servo_state;
-	servo_state->output[1].name = "out_v";
-	servo_state->output[1].type = CONTROLLER_BLOCK_TERM_FLOAT;
-	servo_state->output[1].value.f = &servo_state->private->out_v;
-	servo_state->output[1].source = servo_state;