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b1b8fe4b37
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@196 ebee16cc-31ac-478f-84a7-5cbb03baadba
98 lines
4.8 KiB
C
98 lines
4.8 KiB
C
/**
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******************************************************************************
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*
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* @file uavobject.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Interface implemented by all UAVObjects.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef UAVOBJECT_H
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#define UAVOBJECT_H
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#include <stdint.h>
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#include "FreeRTOS.h"
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#include "queue.h"
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/**
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* Object update mode, used by multiple modules (e.g. telemetry and logger)
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*/
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typedef enum {
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UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
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UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
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UPDATEMODE_MANUAL, /** Manually update object, by calling the updated() function */
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UPDATEMODE_NEVER /** Object is never updated */
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} UAVObjectUpdateMode;
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/**
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* Object metadata, each object has a meta object that holds its metadata. The metadata define
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* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
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*/
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typedef struct {
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int8_t ackRequired; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
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UAVObjectUpdateMode telemetryUpdateMode; /** Update mode used by the telemetry module */
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int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
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UAVObjectUpdateMode gcsTelemetryUpdateMode; /** Update mode used by the GCS */
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int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
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UAVObjectUpdateMode loggingUpdateMode; /** Update mode used by the logging module */
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int32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
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} UAVObjectMetadata;
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/**
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* Interface implemented by all UAVObjects.
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*/
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struct UAVObjectStruct {
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uint32_t objectID; /** Unique object ID */
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uint32_t metadataID; /** ID of the metadata object */
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int32_t isMetadata; /** Defines if this object is a meta object (1:meta, 0:regular object) */
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int32_t numBytes; /** Number of bytes of object's data */
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const char* name; /** Object name */
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struct UAVObjectStruct* linkedObj; /** Link between regular objects and metaobject, for regular objects this is the metaobject, for metadata objects this is the parent object */
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int32_t (*pack)(uint32_t objId, uint8_t* data, int32_t maxLength); /** Pack object data in a byte buffer */
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int32_t (*unpack)(uint32_t objId, uint8_t* data, int32_t length); /** Unpack object data from a byte buffer */
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int32_t (*initializeData)(const char* init); /** Initialize object data from a string, this is used by settings objects, the settings string is parsed and fields initialized */
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void (*getMetadata)(UAVObjectMetadata* dataOut); /** Get the object's metadata */
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void (*setMetadata)(const UAVObjectMetadata* dataIn); /** Set the object's metadata */
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void (*requestUpdate)(); /** Request that this object is updated with the latest value from the GCS */
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void (*updated)(); /** Trigger an update event, used when the update mode is set to UPDATEMODE_MANUAL */
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int32_t (*connect)(xQueueHandle queue, int32_t eventMask); /** Connect an event queue (from a module) to this object, the eventMask defines which events are enabled (or'ed UAVObjectQMsgEvent or 0 for all events) */
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int32_t (*disconnect)(xQueueHandle queue); /** Disconnect an event queue from this object */
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};
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typedef struct UAVObjectStruct UAVObject;
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/**
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* Event types generated by the objects.
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*/
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typedef enum {
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QMSG_UNPACKED = 1, /** Object data updated by unpacking */
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QMSG_UPDATED = 2, /** Object data updated by changing the data structure */
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QMSG_UPDATED_MANUAL = 4, /** Object update event manually generated */
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QMSG_UPDATE_REQ = 8 /** Request to update object data */
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} UAVObjectQMsgEvent;
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/**
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* Event message, this structure is send in the event queue each time an event is generated
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*/
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typedef struct {
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UAVObject* obj;
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UAVObjectQMsgEvent event;
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} UAVObjectQMsg;
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#endif // UAVOBJECT_H
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