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