1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-05 13:24:11 +01:00
LibrePilot/flight/UAVObjects/inc/uavobjectmanager.h

218 lines
9.6 KiB
C
Raw Normal View History

/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup UAV Object Manager
* @brief The core UAV Objects functions, most of which are wrappered by
* autogenerated defines
* @{
*
* @file uavobjectmanager.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include files of the uavobjectlist library
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef UAVOBJECTMANAGER_H
#define UAVOBJECTMANAGER_H
#define UAVOBJ_ALL_INSTANCES 0xFFFF
#define UAVOBJ_MAX_INSTANCES 1000
/*
* Shifts and masks used to read/write metadata flags.
*/
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
// FIXME: All this typedef for SDCARD needs to be abstracted away
#if !defined(PIOS_INCLUDE_SDCARD)
typedef struct {} FILEINFO;
#endif
typedef void* UAVObjHandle;
/**
* Object update mode, used by multiple modules (e.g. telemetry and logger)
*/
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
} UAVObjUpdateMode;
/**
* Object metadata, each object has a meta object that holds its metadata. The metadata define
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*
* The object metadata flags are packed into a single 16 bit integer.
* The bits in the flag field are defined as:
*
* Bit(s) Name Meaning
* ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=1 and readwrite=0)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=1 and readwrite=0), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) UAVObjMetadata;
/**
* Event types generated by the objects.
*/
typedef enum {
EV_NONE = 0x00, /** No event */
EV_UNPACKED = 0x01, /** Object data updated by unpacking */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATED_PERIODIC = 0x08, /** Object update from periodic event */
EV_UPDATE_REQ = 0x10 /** Request to update object data */
} UAVObjEventType;
/**
* Helper macros for event masks
*/
#define EV_MASK_ALL 0
#define EV_MASK_ALL_UPDATES (EV_UNPACKED | EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATED_PERIODIC)
/**
* Access types
*/
typedef enum {
ACCESS_READWRITE = 0,
ACCESS_READONLY = 1
} UAVObjAccessType;
/**
* Event message, this structure is sent in the event queue each time an event is generated
*/
typedef struct {
UAVObjHandle obj;
uint16_t instId;
UAVObjEventType event;
} UAVObjEvent;
/**
* Event callback, this function is called when an event is invoked. The function
* will be executed in the event task. The ev parameter should be copied if needed
* after the function returns.
*/
typedef void (*UAVObjEventCallback)(UAVObjEvent* ev);
/**
* Callback used to initialize the object fields to their default values.
*/
typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj, uint16_t instId);
/**
* Event manager statistics
*/
typedef struct {
uint32_t eventQueueErrors;
uint32_t eventCallbackErrors;
uint32_t lastCallbackErrorID;
uint32_t lastQueueErrorID;
} UAVObjStats;
int32_t UAVObjInitialize();
void UAVObjGetStats(UAVObjStats* statsOut);
void UAVObjClearStats();
UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb);
UAVObjHandle UAVObjGetByID(uint32_t id);
UAVObjHandle UAVObjGetByName(char* name);
uint32_t UAVObjGetID(UAVObjHandle obj);
const char* UAVObjGetName(UAVObjHandle obj);
uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
uint16_t UAVObjGetNumInstances(UAVObjHandle obj);
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj);
uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb);
int32_t UAVObjIsSingleInstance(UAVObjHandle obj);
int32_t UAVObjIsMetaobject(UAVObjHandle obj);
int32_t UAVObjIsSettings(UAVObjHandle obj);
int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn);
int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut);
int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId);
int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId);
int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId);
int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file);
UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
int32_t UAVObjSaveSettings();
int32_t UAVObjLoadSettings();
int32_t UAVObjDeleteSettings();
int32_t UAVObjSaveMetaobjects();
int32_t UAVObjLoadMetaobjects();
int32_t UAVObjDeleteMetaobjects();
int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn);
int32_t UAVObjSetDataField(UAVObjHandle obj, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut);
int32_t UAVObjGetDataField(UAVObjHandle obj, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn);
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut);
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn);
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut);
uint8_t UAVObjGetMetadataAccess(const UAVObjMetadata* dataOut);
void UAVObjMetadataInitialize(UAVObjMetadata* dataOut);
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* dataOut);
void UAVObjSetAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* dataOut);
void UAVObjSetGcsAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryAcked( UAVObjMetadata* dataOut, uint8_t val);
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* dataOut, uint8_t val);
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryGcsUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb);
void UAVObjRequestUpdate(UAVObjHandle obj);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId);
void UAVObjUpdated(UAVObjHandle obj);
void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId);
void UAVObjIterate(void (*iterator)(UAVObjHandle obj));
#endif // UAVOBJECTMANAGER_H
/**
* @}
* @}
*/