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MP Calibrations are now copies of the servo's one, rather than references that could get GC'ed

This commit is contained in:
ZodiusInfuser 2022-03-08 17:11:35 +00:00
parent 59014f1e86
commit cf810b7b7f
1 changed files with 6 additions and 18 deletions
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24
micropython/modules/servo/servo.cpp
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@ -23,7 +23,6 @@ const mp_obj_float_t const_float_1 = {{&mp_type_float}, 1.0f};
typedef struct _Calibration_obj_t {
mp_obj_base_t base;
Calibration *calibration;
bool owner;
} _Calibtration_obj_t;
@ -41,7 +40,7 @@ void Calibration_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_
mp_print_str(print, ", points = {");
for(uint i = 0; i < size; i++) {
Calibration::Point *point = calib->point_at(i);
mp_print_str(print, "\n\t{");
mp_print_str(print, "{");
mp_obj_print_helper(print, mp_obj_new_float(point->pulse), PRINT_REPR);
mp_print_str(print, ", ");
mp_obj_print_helper(print, mp_obj_new_float(point->value), PRINT_REPR);
@ -49,9 +48,6 @@ void Calibration_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_
if(i < size - 1)
mp_print_str(print, ", ");
}
if(size > 0) {
mp_print_str(print, "\n");
}
mp_print_str(print, "}, limit_lower = ");
mp_obj_print_helper(print, calib->has_lower_limit() ? mp_const_true : mp_const_false, PRINT_REPR);
mp_print_str(print, ", limit_upper = ");
@ -79,7 +75,6 @@ mp_obj_t Calibration_make_new(const mp_obj_type_t *type, size_t n_args, size_t n
self->base.type = &Calibration_type;
self->calibration = new Calibration(calibration_type);
self->owner = true;
return MP_OBJ_FROM_PTR(self);
}
@ -87,8 +82,7 @@ mp_obj_t Calibration_make_new(const mp_obj_type_t *type, size_t n_args, size_t n
/***** Destructor ******/
mp_obj_t Calibration___del__(mp_obj_t self_in) {
_Calibtration_obj_t *self = MP_OBJ_TO_PTR2(self_in, _Calibtration_obj_t);
if(self->owner)
delete self->calibration;
delete self->calibration;
return mp_const_none;
}
@ -851,14 +845,11 @@ extern mp_obj_t Servo_calibration(size_t n_args, const mp_obj_t *pos_args, mp_ma
_Servo_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Servo_obj_t);
// NOTE This seems to work, in that it give MP access to the calibration object
// Could very easily mess up in weird ways once object deletion is considered
// Create a new MP Calibration instance and assign a copy of the servo's calibration to it
_Calibration_obj_t *calib = m_new_obj_with_finaliser(_Calibration_obj_t);
calib->base.type = &Calibration_type;
calib->calibration = &self->servo->calibration();
calib->owner = false;
calib->calibration = new Calibration(self->servo->calibration());
return MP_OBJ_FROM_PTR(calib);
}
else {
@ -1609,14 +1600,11 @@ extern mp_obj_t ServoCluster_calibration(size_t n_args, const mp_obj_t *pos_args
else if(servo < 0 || servo >= servo_count)
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("servo out of range. Expected 0 to %d"), servo_count);
else {
// NOTE This seems to work, in that it give MP access to the calibration object
// Could very easily mess up in weird ways once object deletion is considered
// Create a new MP Calibration instance and assign a copy of the servo's calibration to it
_Calibration_obj_t *calib = m_new_obj_with_finaliser(_Calibration_obj_t);
calib->base.type = &Calibration_type;
calib->calibration = &self->cluster->calibration((uint)servo);
calib->owner = false;
calib->calibration = new Calibration(self->cluster->calibration((uint)servo));
return MP_OBJ_FROM_PTR(calib);
}
}