Merge pull request #2 from ConstantRobotics-Ltd/update-getParams

Update getParams

Author: ConstantRobotics

Lens_interface_C++_library_v4.2.0.pdf renamed to Lens_interface_C++_library_v4.3.0.pdf

@@ -4,7 +4,7 @@
 
 # **Lens interface C++ library**
 
-**v4.2.0**
+**v4.3.0**
 
 
 
@@ -66,6 +66,7 @@
 | 4.0.3   | 01.07.2023   | - Documentation updated.<br />- Lens class comments in source code updated. |
 | 4.1.0   | 11.07.2023   | - Added LensParamsMask for lens params masking.<br />- encode(...) method of LensParams class updated.<br />- Documentation updated. |
 | 4.2.0   | 22.09.2023   | - Updated encode(...) and decode(...) methods of LensParams.<br />- Added decodeAndExecuteCommand(...) method.<br />- Added example of lens controller implementation. |
+| 4.3.0   | 26.09.2023   | - Updated getParams methode. |
 
 
 
@@ -135,7 +136,7 @@ public:
     virtual float getParam(LensParam id) = 0;
 
     /// Get the lens controller params.
-    virtual LensParams getParams() = 0;
+    virtual void getParams(LensParams& params) = 0;
 
     /// Execute command.
     virtual bool executeCommand(LensCommand id, float arg = 0) = 0;
@@ -182,7 +183,7 @@ std::cout << "Lens class version: " << Lens::getVersion() << std::endl;
 Console output:
 
 ```bash
-Lens class version: 4.2.0
+Lens class version: 4.3.0
 ```
 
 
@@ -291,10 +292,12 @@ virtual float getParam(LensParam id) = 0;
 **getParams(...)** method designed to obtain lens parameters. The particular implementation of the lens controller must provide thread-safe **getParams(...)** method call. This means that the **getParams(...)** method can be safely called from any thread. Method declaration:
 
 ```cpp
-virtual LensParams getParams() = 0;
+    virtual void getParams(LensParams& params) = 0;
 ```
 
-**Returns:** [**LensParams class**](#LensParams-class-description) class which contains all current lens params.
+| Parameter | Description                                                |
+| --------- | ---------------------------------------------------------- |
+| params    | Reference to LensParams object to store params. |
 
 
 
@@ -352,7 +355,7 @@ static void encodeSetParamCommand(uint8_t* data, int& size, LensParam id, float
 | ---- | ----- | -------------------------------------------------- |
 | 0    | 0x01  | SET_PARAM command header value.                    |
 | 1    | 0x04  | Major version of Lens class.                       |
-| 2    | 0x02  | Minor version of Lens class.                       |
+| 2    | 0x03  | Minor version of Lens class.                       |
 | 3    | id    | Parameter ID **int32_t** in Little-endian format.  |
 | 4    | id    | Parameter ID **int32_t** in Little-endian format.  |
 | 5    | id    | Parameter ID **int32_t** in Little-endian format.  |
@@ -398,7 +401,7 @@ static void encodeCommand(uint8_t* data, int& size, LensCommand id, float arg =
 | ---- | ----- | --------------------------------------------------------- |
 | 0    | 0x00  | SET_PARAM command header value.                           |
 | 1    | 0x04  | Major version of Lens class.                              |
-| 2    | 0x02  | Minor version of Lens class.                              |
+| 2    | 0x03  | Minor version of Lens class.                              |
 | 3    | id    | Command ID **int32_t** in Little-endian format.           |
 | 4    | id    | Command ID **int32_t** in Little-endian format.           |
 | 5    | id    | Command ID **int32_t** in Little-endian format.           |

README.md

@@ -599,9 +599,9 @@ float cr::lens::CustomLens::getParam(cr::lens::LensParam id)
 
 
 
-cr::lens::LensParams cr::lens::CustomLens::getParams()
+void cr::lens::CustomLens::getParams(cr::lens::LensParams& params)
 {
-    return m_params;
+    params = m_params;
 }
 
 

example/CustomLens.cpp

@@ -82,10 +82,9 @@ class CustomLens: public Lens
 
     /**
      * @brief Get the lens controller params.
-     * @param id Param ID.
-     * @return Lens params structure.
+     * @param params Reference to LensParams object.
      */
-    LensParams getParams();
+    void getParams(LensParams& params);
 
     /**
      * @brief Execute command.

example/CustomLens.h

@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.13)
 ## INTERFACE-PROJECT
 ## name and version
 ###############################################################################
-project(Lens VERSION 4.2.0 LANGUAGES CXX)
+project(Lens VERSION 4.3.0 LANGUAGES CXX)
 
 
 

src/CMakeLists.txt

@@ -765,10 +765,9 @@ class Lens
 
     /**
      * @brief Get the lens controller params.
-     * @param id Param ID.
-     * @return Lens params structure.
+     * @param params Reference to LensParams object.
      */
-    virtual LensParams getParams() = 0;
+    virtual void getParams(LensParams& params) = 0;
 
     /**
      * @brief Execute command.

src/Lens.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #define LENS_MAJOR_VERSION 4
-#define LENS_MINOR_VERSION 2
+#define LENS_MINOR_VERSION 3
 #define LENS_PATCH_VERSION 0
 
-#define LENS_VERSION "4.2.0"
+#define LENS_VERSION "4.3.0"