/** ****************************************************************************** * * @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 #include #include "FreeRTOS.h" #include "queue.h" #define UAVOBJ_ALL_INSTANCES 0xFFFF typedef uint32_t 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, /** Only update object when its data changes */ UPDATEMODE_MANUAL, /** Manually update object, by calling the updated() function */ UPDATEMODE_NEVER /** Object is never updated */ } 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) */ typedef struct { int8_t ackRequired; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */ UAVObjUpdateMode telemetryUpdateMode; /** Update mode used by the telemetry module */ int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */ UAVObjUpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS */ int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */ UAVObjUpdateMode loggingUpdateMode; /** Update mode used by the logging module */ int32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */ } UAVObjMetadata; /** * Event types generated by the objects. */ typedef enum { 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_UPDATE_REQ = 0x08 /** 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) /** * 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); int32_t UAVObjInitialize(); UAVObjHandle UAVObjRegister(uint32_t id, const char* name, int32_t isMetaobject, int32_t isSingleInstance, uint32_t numBytes); UAVObjHandle UAVObjGetByID(uint32_t id); UAVObjHandle UAVObjGetByName(char* name); uint32_t UAVObjGetID(UAVObjHandle obj); const char* UAVObjGetName(UAVObjHandle obj); uint32_t UAVObjGetNumBytes(UAVObjHandle obj); uint32_t UAVObjGetNumInstances(UAVObjHandle obj); UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj); int32_t UAVObjCreateInstance(UAVObjHandle obj); int32_t UAVObjIsSingleInstance(UAVObjHandle obj); int32_t UAVObjIsMetaobject(UAVObjHandle obj); int32_t UAVObjInitData(UAVObjHandle obj, const char* init); 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 UAVObjSetData(UAVObjHandle obj, const void* dataIn); int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut); int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn); int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut); int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn); int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut); int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask); int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue); int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_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