/**
******************************************************************************
* @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_LOGGING_UPDATE_MODE_SHIFT 8
#define UAVOBJ_UPDATE_MODE_MASK 0x3
typedef void *UAVObjHandle;
#define MetaObjectId(id) ((id) + 1)
/**
* helper macro to access multi-element fields as array
*/
#define UAVObjectFieldToArray(type, var) \
(*({ type *const dummy = &(var); \
&(((type##Array *)dummy)->array); } \
))
// we have limited trust in our compiler
// make sure this macro actually works on all platforms
typedef struct __attribute__((__packed__)) {
uint16_t element1;
uint16_t element2;
uint16_t element3;
}
__DummyUAVObjectFieldData;
typedef struct __attribute__((__packed__)) {
uint16_t array[3];
}
__DummyUAVObjectFieldDataArray;
#define __DummyTA(var) UAVObjectFieldToArray(__DummyUAVObjectFieldData, var)
__attribute__((unused)) static void __DummyTAtest(void)
{
__DummyUAVObjectFieldData t;
PIOS_STATIC_ASSERT(sizeof(t) == sizeof(__DummyTA(t)));
PIOS_STATIC_ASSERT(sizeof(t.element1) == sizeof(__DummyTA(t)[0]));
PIOS_STATIC_ASSERT((void *)&t == (void *)&__DummyTA(t));
PIOS_STATIC_ASSERT((void *)&t.element1 == (void *)&__DummyTA(t)[0]);
PIOS_STATIC_ASSERT((void *)&t.element2 == (void *)&__DummyTA(t)[1]);
PIOS_STATIC_ASSERT((void *)&t.element3 == (void *)&__DummyTA(t)[2]);
}
/**
* Object update mode, used by multiple modules (e.g. telemetry and logger)
*/
typedef enum {
UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
} 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)
* 8-9 loggingUpdateMode Update mode used by the logging module (UAVObjUpdateMode)
*/
typedef struct {
uint16_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_LOGGING_MANUAL = 0x10, /** Object update event manually generated */
EV_LOGGING_PERIODIC = 0x20, /** Object update from periodic event */
EV_UPDATE_REQ = 0x40 /** 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 | EV_LOGGING_MANUAL | EV_LOGGING_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;
bool lowPriority; /* if true prevents raising warnings */
} 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_handle, 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, bool isSingleInstance, bool isSettings, bool isPriority, uint32_t num_bytes, UAVObjInitializeCallback initCb);
UAVObjHandle UAVObjGetByID(uint32_t id);
uint32_t UAVObjGetID(UAVObjHandle obj);
uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
uint16_t UAVObjGetNumInstances(UAVObjHandle obj);
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj);
uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle, UAVObjInitializeCallback initCb);
bool UAVObjIsSingleInstance(UAVObjHandle obj);
bool UAVObjIsMetaobject(UAVObjHandle obj);
bool UAVObjIsSettings(UAVObjHandle obj);
bool UAVObjIsPriority(UAVObjHandle obj);
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn);
int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut);
uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc);
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);
int32_t UAVObjSaveSettings();
int32_t UAVObjLoadSettings();
int32_t UAVObjDeleteSettings();
int32_t UAVObjSaveMetaobjects();
int32_t UAVObjLoadMetaobjects();
int32_t UAVObjDeleteMetaobjects();
int32_t UAVObjSetData(UAVObjHandle obj_handle, const void *dataIn);
int32_t UAVObjSetDataField(UAVObjHandle obj_handle, const void *dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetData(UAVObjHandle obj_handle, void *dataOut);
int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void *dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId, const void *dataIn);
int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, const void *dataIn, uint32_t offset, uint32_t size);
int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId, void *dataOut);
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, void *dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetMetadata(UAVObjHandle obj_handle, const UAVObjMetadata *dataIn);
int32_t UAVObjGetMetadata(UAVObjHandle obj_handle, UAVObjMetadata *dataOut);
uint8_t UAVObjGetMetadataAccess(const 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);
UAVObjUpdateMode UAVObjGetLoggingUpdateMode(const UAVObjMetadata *dataOut);
void UAVObjSetLoggingUpdateMode(UAVObjMetadata *dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb);
void UAVObjRequestUpdate(UAVObjHandle obj);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj_handle, uint16_t instId);
void UAVObjUpdated(UAVObjHandle obj);
void UAVObjInstanceUpdated(UAVObjHandle obj_handle, uint16_t instId);
void UAVObjLogging(UAVObjHandle obj);
void UAVObjInstanceLogging(UAVObjHandle obj_handle, uint16_t instId);
void UAVObjIterate(void (*iterator)(UAVObjHandle obj));
void UAVObjInstanceWriteToLog(UAVObjHandle obj_handle, uint16_t instId);
#endif // UAVOBJECTMANAGER_H
/**
* @}
* @}
*/