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fc54159369
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2415 ebee16cc-31ac-478f-84a7-5cbb03baadba
171 lines
7.1 KiB
C
171 lines
7.1 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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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_MANUAL = 2, /** Manually update object, by calling the updated() function */
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UPDATEMODE_NEVER = 3 /** Object is never updated */
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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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typedef struct {
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uint8_t access; /** Defines the access level for the local transactions (readonly and readwrite) */
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uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
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uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
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uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
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int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
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uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
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uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
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int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
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uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
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uint32_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_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_UPDATE_REQ = 0x08 /** 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)
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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 eventErrors;
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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);
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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 UAVObjGetData(UAVObjHandle obj, void* dataOut);
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int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn);
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int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut);
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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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int8_t UAVObjReadOnly(UAVObjHandle obj);
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int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask);
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int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue);
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int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_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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