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2139dee574
Saves a further 8 bytes of RAM per object. Saves 1.5KB of flash by removing all of the const strings for all of the object names and the corresponding meta object names. This leaves room for more code.
215 lines
9.5 KiB
C
215 lines
9.5 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_MANUAL = 0, /** Manually update object, by calling the updated() function */
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UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
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UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
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UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
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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=1 and readwrite=0)
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* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=1 and readwrite=0), 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_handle, 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,
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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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uint32_t UAVObjGetID(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_handle, UAVObjInitializeCallback initCb);
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bool UAVObjIsSingleInstance(UAVObjHandle obj);
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bool UAVObjIsMetaobject(UAVObjHandle obj);
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bool UAVObjIsSettings(UAVObjHandle obj);
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int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t* dataIn);
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int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t* dataOut);
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int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
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int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
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int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);
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int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, 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_handle, const void* dataIn);
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int32_t UAVObjSetDataField(UAVObjHandle obj_handle, const void* dataIn, uint32_t offset, uint32_t size);
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int32_t UAVObjGetData(UAVObjHandle obj_handle, void* dataOut);
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int32_t UAVObjGetDataField(UAVObjHandle obj_handle, void* dataOut, uint32_t offset, uint32_t size);
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int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId, const void* dataIn);
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int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, const void* dataIn, uint32_t offset, uint32_t size);
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int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId, void* dataOut);
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int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size);
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int32_t UAVObjSetMetadata(UAVObjHandle obj_handle, const UAVObjMetadata* dataIn);
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int32_t UAVObjGetMetadata(UAVObjHandle obj_handle, UAVObjMetadata* dataOut);
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uint8_t UAVObjGetMetadataAccess(const 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_handle, xQueueHandle queue, uint8_t eventMask);
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int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue);
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int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb, uint8_t eventMask);
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int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb);
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void UAVObjRequestUpdate(UAVObjHandle obj);
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void UAVObjRequestInstanceUpdate(UAVObjHandle obj_handle, uint16_t instId);
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void UAVObjUpdated(UAVObjHandle obj);
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void UAVObjInstanceUpdated(UAVObjHandle obj_handle, 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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