Files
file	eventdispatcher.h
	Event dispatcher, distributes object events as callbacks. Alternative to using tasks and queues. All callbacks are invoked from the event task.

file	uavobjectmanager.c
	Object manager library. This library holds a collection of all objects. It can be used by all modules/libraries to find an object reference.

Data Structures
struct	EventStats

struct	ObjectEventEntry

struct	ObjectEventEntryThrottled

struct	UAVOBase

struct	UAVOMeta

struct	UAVOData

struct	UAVOSingle

struct	UAVOMultiInst

struct	UAVOMulti

Macros
#define	SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) \| (value << shift);

#define	MetaNumBytes sizeof(UAVObjMetadata)

#define	MetaBaseObjectPtr(obj) ((struct UAVOData *)((obj)-offsetof(struct UAVOData, metaObj)))

#define	MetaObjectPtr(obj) (&((obj)->metaObj.base))

#define	MetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->instance0))

#define	LinkedMetaDataPtr(obj) ((UAVObjMetadata*)&((obj)->metaObj.instance0))

#define	MetaObjectId(id) ((id)+1)

#define	ObjSingleInstanceDataOffset(obj) ((void)(&(( (struct UAVOSingle)obj )->instance0)))

#define	InstanceDataOffset(inst) ((void)&(( (struct UAVOMultiInst)inst )->instance))

#define	InstanceData(instance) (void*)instance

#define	UAVO_CB_STACK_SIZE 512

#define	INSTANCE_COPY_ALL 0xffffffff

#define	invokeCallback realInvokeCallback

Typedefs
typedef void *	InstanceHandle

Functions
void	EventGetStats (EventStats *statsOut)

void	EventClearStats ()

int32_t	EventPeriodicCallbackCreate (UAVObjEvent *ev, UAVObjEventCallback cb, uint16_t periodMs)

int32_t	EventPeriodicCallbackUpdate (UAVObjEvent *ev, UAVObjEventCallback cb, uint16_t periodMs)

int32_t	EventPeriodicQueueCreate (UAVObjEvent ev, struct pios_queue queue, uint16_t periodMs)

int32_t	EventPeriodicQueueUpdate (UAVObjEvent ev, struct pios_queue queue, uint16_t periodMs)

struct UAVOBase	__attribute__ ((packed))

static int32_t	sendEvent (struct UAVOBase obj, uint16_t instId, UAVObjEventType event, void obj_data, int len)

static InstanceHandle	createInstance (struct UAVOData *obj, uint16_t instId)

static InstanceHandle	getInstance (struct UAVOData *obj, uint16_t instId)

static int32_t	connectObj (UAVObjHandle obj_handle, struct pios_queue queue, UAVObjEventCallback cb, void cbCtx, uint8_t eventMask, uint16_t interval)

static int32_t	disconnectObj (UAVObjHandle obj_handle, struct pios_queue queue, UAVObjEventCallback cb, void cbCtx)

int32_t	UAVObjInitialize ()

void	UAVObjGetStats (UAVObjStats *statsOut)

void	UAVObjClearStats ()

static void	UAVObjInitMetaData (struct UAVOMeta *obj_meta)

static struct UAVOData *	UAVObjAllocSingle (uint32_t num_bytes)

static struct UAVOData *	UAVObjAllocMulti (uint32_t num_bytes)

UAVObjHandle	UAVObjRegister (uint32_t id, int32_t isSingleInstance, int32_t isSettings, uint32_t num_bytes, UAVObjInitializeCallback initCb)

UAVObjHandle	UAVObjGetByID (uint32_t id)

uint32_t	UAVObjGetID (UAVObjHandle obj_handle)

uint32_t	UAVObjGetNumBytes (UAVObjHandle obj)

UAVObjHandle	UAVObjGetLinkedObj (UAVObjHandle obj_handle)

uint16_t	UAVObjGetNumInstances (UAVObjHandle obj_handle)

uint16_t	UAVObjCreateInstance (UAVObjHandle obj_handle, UAVObjInitializeCallback initCb)

bool	UAVObjIsSingleInstance (UAVObjHandle obj_handle)

bool	UAVObjIsMetaobject (UAVObjHandle obj_handle)

bool	UAVObjIsSettings (UAVObjHandle obj_handle)

int32_t	UAVObjUnpack (UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn)

int32_t	UAVObjPack (UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut)

int32_t	UAVObjSave (UAVObjHandle obj_handle, uint16_t instId)

int32_t	UAVObjLoad (UAVObjHandle obj_handle, uint16_t instId)

int32_t	UAVObjDeleteById (uint32_t obj_id, uint16_t inst_id)

int32_t	UAVObjSaveSettings ()

int32_t	UAVObjLoadSettings ()

int32_t	UAVObjDeleteSettings ()

int32_t	UAVObjSaveMetaobjects ()

int32_t	UAVObjLoadMetaobjects ()

int32_t	UAVObjDeleteMetaobjects ()

int32_t	UAVObjSetData (UAVObjHandle obj_handle, const void *dataIn)

int32_t	UAVObjSetDataField (UAVObjHandle obj_handle, const void *dataIn, uint32_t offset, uint32_t size)

int32_t	UAVObjGetData (UAVObjHandle obj_handle, void *dataOut)

int32_t	UAVObjGetDataField (UAVObjHandle obj_handle, void *dataOut, uint32_t offset, uint32_t size)

int32_t	UAVObjSetInstanceData (UAVObjHandle obj_handle, uint16_t instId, const void *dataIn)

int32_t	UAVObjSetInstanceDataField (UAVObjHandle obj_handle, uint16_t instId, const void *dataIn, uint32_t offset, uint32_t size)

int32_t	UAVObjGetInstanceData (UAVObjHandle obj_handle, uint16_t instId, void *dataOut)

int32_t	UAVObjGetInstanceDataField (UAVObjHandle obj_handle, uint16_t instId, void *dataOut, uint32_t offset, uint32_t size)

int32_t	UAVObjSetMetadata (UAVObjHandle obj_handle, const UAVObjMetadata *dataIn)

int32_t	UAVObjGetMetadata (UAVObjHandle obj_handle, UAVObjMetadata *dataOut)

UAVObjAccessType	UAVObjGetAccess (const UAVObjMetadata *metadata)

void	UAVObjSetAccess (UAVObjMetadata *metadata, UAVObjAccessType mode)

UAVObjAccessType	UAVObjGetGcsAccess (const UAVObjMetadata *metadata)

void	UAVObjSetGcsAccess (UAVObjMetadata *metadata, UAVObjAccessType mode)

uint8_t	UAVObjGetTelemetryAcked (const UAVObjMetadata *metadata)

void	UAVObjSetTelemetryAcked (UAVObjMetadata *metadata, uint8_t val)

uint8_t	UAVObjGetGcsTelemetryAcked (const UAVObjMetadata *metadata)

void	UAVObjSetGcsTelemetryAcked (UAVObjMetadata *metadata, uint8_t val)

UAVObjUpdateMode	UAVObjGetTelemetryUpdateMode (const UAVObjMetadata *metadata)

void	UAVObjSetTelemetryUpdateMode (UAVObjMetadata *metadata, UAVObjUpdateMode val)

UAVObjUpdateMode	UAVObjGetGcsTelemetryUpdateMode (const UAVObjMetadata *metadata)

void	UAVObjSetGcsTelemetryUpdateMode (UAVObjMetadata *metadata, UAVObjUpdateMode val)

int8_t	UAVObjReadOnly (UAVObjHandle obj_handle)

int32_t	UAVObjConnectQueueThrottled (UAVObjHandle obj_handle, struct pios_queue *queue, uint8_t eventMask, uint16_t interval)

int32_t	UAVObjConnectQueue (UAVObjHandle obj_handle, struct pios_queue *queue, uint8_t eventMask)

int32_t	UAVObjDisconnectQueue (UAVObjHandle obj_handle, struct pios_queue *queue)

void	UAVObjCbSetFlag (const UAVObjEvent objEv, void ctx, void *obj, int len)

void	UAVObjCbCopyData (const UAVObjEvent objEv, void ctx, void *obj, int len)

int32_t	UAVObjConnectCallbackThrottled (UAVObjHandle obj_handle, UAVObjEventCallback cb, void *cbCtx, uint8_t eventMask, uint16_t interval)

int32_t	UAVObjConnectCallback (UAVObjHandle obj_handle, UAVObjEventCallback cb, void *cbCtx, uint8_t eventMask)

int32_t	UAVObjDisconnectCallback (UAVObjHandle obj_handle, UAVObjEventCallback cb, void *cbCtx)

void	UAVObjUpdated (UAVObjHandle obj_handle)

void	UAVObjInstanceUpdated (UAVObjHandle obj_handle, uint16_t instId)

void	UAVObjIterate (void(*iterator)(UAVObjHandle obj))

static void	__attribute__ ((used))

static int32_t	pumpOneEvent (UAVObjEvent msg, void obj_data, int len)

int32_t	getEventMask (UAVObjHandle obj_handle, struct pios_queue *queue)

uint8_t	UAVObjCount ()

uint32_t	UAVObjIDByIndex (uint8_t index)

void	UAVObjUnblockThrottle (struct ObjectEventEntryThrottled *throttled)

void	UAVObjRegisterNewInstanceCB (new_uavo_instance_cb_t callback)

Variables
uintptr_t	pios_uavo_settings_fs_id

static struct UAVOData *	uavo_list

static struct ObjectEventEntry *	events_unused

static struct ObjectEventEntry *	events_unused_throttled

static struct pios_recursive_mutex *	mutex

static const UAVObjMetadata	defMetadata

static UAVObjStats	stats

static new_uavo_instance_cb_t	newUavObjInstanceCB

static void *	cb_stack

Detailed Description

Macro Definition Documentation

#define INSTANCE_COPY_ALL 0xffffffff

Definition at line 1114 of file uavobjectmanager.c.

#define InstanceData ( instance ) (void*)instance

Definition at line 176 of file uavobjectmanager.c.

#define InstanceDataOffset ( inst ) ((void*)&(( (struct UAVOMultiInst*)inst )->instance))

Definition at line 175 of file uavobjectmanager.c.

#define invokeCallback realInvokeCallback

Definition at line 1722 of file uavobjectmanager.c.

#define LinkedMetaDataPtr ( obj ) ((UAVObjMetadata*)&((obj)->metaObj.instance0))

Definition at line 170 of file uavobjectmanager.c.

#define MetaBaseObjectPtr ( obj ) ((struct UAVOData *)((obj)-offsetof(struct UAVOData, metaObj)))

Todo:: All this reckless casting needs to die a horrific death!

Definition at line 166 of file uavobjectmanager.c.

#define MetaDataPtr ( obj ) ((UAVObjMetadata*)&((obj)->instance0))

Definition at line 169 of file uavobjectmanager.c.

#define MetaNumBytes sizeof(UAVObjMetadata)

all information about a metaobject are hardcoded constants

Definition at line 163 of file uavobjectmanager.c.

#define MetaObjectId ( id ) ((id)+1)

Definition at line 171 of file uavobjectmanager.c.

#define MetaObjectPtr ( obj ) (&((obj)->metaObj.base))

Definition at line 168 of file uavobjectmanager.c.

#define ObjSingleInstanceDataOffset ( obj ) ((void*)(&(( (struct UAVOSingle*)obj )->instance0)))

all information about instances are dependant on object type

Definition at line 174 of file uavobjectmanager.c.

#define SET_BITS	(	var,
		shift,
		value,
		mask
	)	var = (var & ~(mask << shift)) \| (value << shift);

Definition at line 53 of file uavobjectmanager.c.

#define UAVO_CB_STACK_SIZE 512

Definition at line 209 of file uavobjectmanager.c.

Typedef Documentation

typedef void* InstanceHandle

List of event queues and the eventmask associated with the queue.opaque type for instances

Definition at line 60 of file uavobjectmanager.c.

Function Documentation

struct UAVOBase __attribute__ ( (packed) )

Definition at line 38 of file serial_4way.h.

static void __attribute__ ( (used) )

static

Definition at line 1674 of file uavobjectmanager.c.

static int32_t connectObj	(	UAVObjHandle	obj_handle,
		struct pios_queue *	queue,
		UAVObjEventCallback	cb,
		void *	cbCtx,
		uint8_t	eventMask,
		uint16_t	interval
	)

static

Connect an event queue to the object, if the queue is already connected then the event mask is only updated.

Parameters

[in]	obj	The object handle
[in]	queue	The event queue
[in]	cb	The event callback
[in]	eventMask	The event mask, if EV_MASK_ALL_UPDATES then all events are enabled (e.g. EV_UPDATED \| EV_UPDATED_MANUAL)
[in]	interval	The interval at which to throttle updates; 0 is unthrottled

Returns: 0 if success or -1 if failure

Definition at line 1976 of file uavobjectmanager.c.

static InstanceHandle createInstance	(	struct UAVOData *	obj,
		uint16_t	instId
	)

static

Create a new object instance, return the instance info or NULL if failure.

Definition at line 1876 of file uavobjectmanager.c.

static int32_t disconnectObj	(	UAVObjHandle	obj_handle,
		struct pios_queue *	queue,
		UAVObjEventCallback	cb,
		void *	cbCtx
	)

static

Disconnect an event queue from the object

Parameters

[in]	obj	The object handle
[in]	queue	The event queue
[in]	cb	The event callback

Returns: 0 if success or -1 if failure

Definition at line 2076 of file uavobjectmanager.c.

void EventClearStats ( )

Clear the statistics counters

Definition at line 869 of file systemmod.c.

void EventGetStats ( EventStats * statsOut )

Get the statistics counters

Parameters

[out] statsOut The statistics counters will be copied there

Definition at line 859 of file systemmod.c.

int32_t EventPeriodicCallbackCreate	(	UAVObjEvent *	ev,
		UAVObjEventCallback	cb,
		uint16_t	periodMs
	)

Dispatch an event at periodic intervals.

Parameters

[in]	ev	The event to be dispatched
[in]	cb	The callback to be invoked
[in]	periodMs	The period the event is generated

Returns: Success (0), failure (-1)

Todo:: would be nice to get context record logic in these

Definition at line 884 of file systemmod.c.

int32_t EventPeriodicCallbackUpdate	(	UAVObjEvent *	ev,
		UAVObjEventCallback	cb,
		uint16_t	periodMs
	)

Update the period of a periodic event.

Parameters

[in]	ev	The event to be dispatched
[in]	cb	The callback to be invoked
[in]	periodMs	The period the event is generated

Returns: Success (0), failure (-1)

Definition at line 896 of file systemmod.c.

int32_t EventPeriodicQueueCreate	(	UAVObjEvent *	ev,
		struct pios_queue *	queue,
		uint16_t	periodMs
	)

Dispatch an event at periodic intervals.

Parameters

[in]	ev	The event to be dispatched
[in]	queue	The queue that the event will be pushed in
[in]	periodMs	The period the event is generated

Returns: Success (0), failure (-1)

Definition at line 908 of file systemmod.c.

int32_t EventPeriodicQueueUpdate	(	UAVObjEvent *	ev,
		struct pios_queue *	queue,
		uint16_t	periodMs
	)

Update the period of a periodic event.

Parameters

[in]	ev	The event to be dispatched
[in]	queue	The queue
[in]	periodMs	The period the event is generated

Returns: Success (0), failure (-1)

Definition at line 920 of file systemmod.c.

int32_t getEventMask	(	UAVObjHandle	obj_handle,
		struct pios_queue *	queue
	)

getEventMask Iterates through the connections and returns the event mask

Parameters

[in]	obj	The object handle
[in]	queue	The event queue

Returns: eventMask The event mask, if EV_MASK_ALL then all events are disabled

Definition at line 2112 of file uavobjectmanager.c.

static InstanceHandle getInstance	(	struct UAVOData *	obj,
		uint16_t	instId
	)

static

Get the instance information or NULL if the instance does not exist

Definition at line 1925 of file uavobjectmanager.c.

static int32_t pumpOneEvent	(	UAVObjEvent *	msg,
		void *	obj_data,
		int	len
	)

static

Definition at line 1725 of file uavobjectmanager.c.

static int32_t sendEvent	(	struct UAVOBase *	obj,
		uint16_t	instId,
		UAVObjEventType	triggered_event,
		void *	obj_data,
		int	len
	)

static

Send a triggered event to all event queues registered on the object.

Definition at line 1787 of file uavobjectmanager.c.

static struct UAVOData* UAVObjAllocMulti ( uint32_t num_bytes )

static

Definition at line 308 of file uavobjectmanager.c.

static struct UAVOData* UAVObjAllocSingle ( uint32_t num_bytes )

static

Definition at line 285 of file uavobjectmanager.c.

void UAVObjCbCopyData	(	const UAVObjEvent *	objEv,
		void *	ctx,
		void *	obj,
		int	len
	)

Copies the passed in object to the ctx pointer. Conforms to the UAVObjConnectCallback* signature.

Using UAVObjCbSetFlag is preferred. This should only be used via the wrapper in the individual UAV objects to ensure that objects are not mismatched (wrong registration type -> ctx mapping).

Parameters

[in]	ctx	The event callback context.
[in]	obj	The pointer to the raw object data.
[in]	len	The length of data to copy.

Definition at line 1579 of file uavobjectmanager.c.

void UAVObjCbSetFlag	(	const UAVObjEvent *	objEv,
		void *	ctx,
		void *	obj,
		int	len
	)

Sets a flag passed in the ctx parameter to true. Conforms to the UAVObjConnectCallback* signature.

Using this is a best practice to listen for configuration changes. This sets a volatile flag that you can check at the top of the task main function, and update configuration as appropriate.

Note that the flag is considered a uint8_t, but the width doesn't really matter– it will be "set" as long as it is at least 8 bits wide.

Parameters

[in] ctx The event callback context

Definition at line 1560 of file uavobjectmanager.c.

void UAVObjClearStats ( )

Clear the statistics counters

Definition at line 261 of file uavobjectmanager.c.

int32_t UAVObjConnectCallback	(	UAVObjHandle	obj_handle,
		UAVObjEventCallback	cb,
		void *	cbCtx,
		uint8_t	eventMask
	)

Definition at line 1604 of file uavobjectmanager.c.

int32_t UAVObjConnectCallbackThrottled	(	UAVObjHandle	obj_handle,
		UAVObjEventCallback	cb,
		void *	cbCtx,
		uint8_t	eventMask,
		uint16_t	interval
	)

Connect an event callback to the object, if the callback is already connected then the event mask is only updated. The supplied callback will be invoked on all events matching the event mask.

Parameters

[in]	obj	The object handle
[in]	cb	The event callback
[in]	eventMask	The event mask, if EV_MASK_ALL_UPDATES then all events are enabled (e.g. EV_UPDATED \| EV_UPDATED_MANUAL)
[in]	interval	The interval at which to throttle updates; 0 is unthrottled

Returns: 0 if success or -1 if failure

Definition at line 1593 of file uavobjectmanager.c.

int32_t UAVObjConnectQueue	(	UAVObjHandle	obj_handle,
		struct pios_queue *	queue,
		uint8_t	eventMask
	)

Definition at line 1524 of file uavobjectmanager.c.

int32_t UAVObjConnectQueueThrottled	(	UAVObjHandle	obj_handle,
		struct pios_queue *	queue,
		uint8_t	eventMask,
		uint16_t	interval
	)

Connect an event queue to the object, if the queue is already connected then the event mask is only updated. All events matching the event mask will be pushed to the event queue.

Parameters

[in]	obj	The object handle
[in]	queue	The event queue
[in]	eventMask	The event mask, if EV_MASK_ALL_UPDATES then all events are enabled (e.g. EV_UPDATED \| EV_UPDATED_MANUAL)
[in]	interval	The interval at which to throttle updates; 0 is unthrottled

Returns: 0 if success or -1 if failure

Definition at line 1512 of file uavobjectmanager.c.

uint8_t UAVObjCount ( )

UAVObjCount returns the registered uav objects count

Returns: number of registered uav objects

Definition at line 2136 of file uavobjectmanager.c.

uint16_t UAVObjCreateInstance	(	UAVObjHandle	obj_handle,
		UAVObjInitializeCallback	initCb
	)

Create a new instance in the object.

Parameters

[in] obj The object handle

Returns: The instance ID or 0 if an error

Definition at line 538 of file uavobjectmanager.c.

int32_t UAVObjDeleteById	(	uint32_t	obj_id,
		uint16_t	inst_id
	)

Delete an object from the file system (SD card).

Parameters

[in]	obj_id	The object id
[in]	inst_id	The object instance

Returns: 0 if success or -1 if failure

Definition at line 880 of file uavobjectmanager.c.

int32_t UAVObjDeleteMetaobjects ( )

Delete all metaobjects from the SD card.

Returns: 0 if success or -1 if failure

Definition at line 1045 of file uavobjectmanager.c.

int32_t UAVObjDeleteSettings ( )

Delete all settings objects from the SD card.

Returns: 0 if success or -1 if failure

Definition at line 955 of file uavobjectmanager.c.

int32_t UAVObjDisconnectCallback	(	UAVObjHandle	obj_handle,
		UAVObjEventCallback	cb,
		void *	cbCtx
	)

Disconnect an event callback from the object.

Parameters

[in]	obj	The object handle
[in]	cb	The event callback

Returns: 0 if success or -1 if failure

Definition at line 1616 of file uavobjectmanager.c.

int32_t UAVObjDisconnectQueue	(	UAVObjHandle	obj_handle,
		struct pios_queue *	queue
	)

Disconnect an event queue from the object.

Parameters

[in]	obj	The object handle
[in]	queue	The event queue

Returns: 0 if success or -1 if failure

Definition at line 1536 of file uavobjectmanager.c.

UAVObjAccessType UAVObjGetAccess ( const UAVObjMetadata * metadata )

Get the UAVObject metadata access member

Parameters

[in] metadata The metadata object

Returns: the access type

Definition at line 1367 of file uavobjectmanager.c.

UAVObjHandle UAVObjGetByID ( uint32_t id )

Retrieve an object from the list given its id

Parameters

[in] The object ID

Returns: The object or NULL if not found.

Definition at line 410 of file uavobjectmanager.c.

int32_t UAVObjGetData	(	UAVObjHandle	obj_handle,
		void *	dataOut
	)

Get the object data

Parameters

[in]	obj	The object handle
[out]	dataOut	The object's data structure

Returns: 0 if success or -1 if failure

Definition at line 1098 of file uavobjectmanager.c.

int32_t UAVObjGetDataField	(	UAVObjHandle	obj_handle,
		void *	dataOut,
		uint32_t	offset,
		uint32_t	size
	)

Get the object data

Parameters

[in]	obj	The object handle
[out]	dataOut	The object's data structure

Returns: 0 if success or -1 if failure

Definition at line 1109 of file uavobjectmanager.c.

UAVObjAccessType UAVObjGetGcsAccess ( const UAVObjMetadata * metadata )

Get the UAVObject metadata GCS access member

Parameters

[in] metadata The metadata object

Returns: the GCS access type

Definition at line 1389 of file uavobjectmanager.c.

uint8_t UAVObjGetGcsTelemetryAcked ( const UAVObjMetadata * metadata )

Get the UAVObject metadata GCS telemetry acked member

Parameters

[in] metadata The metadata object

Returns: the telemetry acked boolean

Definition at line 1430 of file uavobjectmanager.c.

UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode ( const UAVObjMetadata * metadata )

Get the UAVObject metadata GCS telemetry update mode

Parameters

[in] metadata The metadata object

Returns: the GCS telemetry update mode

Definition at line 1470 of file uavobjectmanager.c.

uint32_t UAVObjGetID ( UAVObjHandle obj_handle )

Get the object's ID

Parameters

[in] obj The object handle

Returns: The object ID

Definition at line 440 of file uavobjectmanager.c.

int32_t UAVObjGetInstanceData	(	UAVObjHandle	obj_handle,
		uint16_t	instId,
		void *	dataOut
	)

Get the data of a specific object instance

Parameters

[in]	obj	The object handle
[in]	instId	The object instance ID
[out]	dataOut	The object's data structure

Returns: 0 if success or -1 if failure

Definition at line 1211 of file uavobjectmanager.c.

int32_t UAVObjGetInstanceDataField	(	UAVObjHandle	obj_handle,
		uint16_t	instId,
		void *	dataOut,
		uint32_t	offset,
		uint32_t	size
	)

Get the data of a specific object instance

Parameters

[in]	obj	The object handle
[in]	instId	The object instance ID
[out]	dataOut	The object's data structure

Returns: 0 if success or -1 if failure

Definition at line 1258 of file uavobjectmanager.c.

UAVObjHandle UAVObjGetLinkedObj ( UAVObjHandle obj_handle )

Get the object this object is linked to. For regular objects, the linked object is the metaobject. For metaobjects the linked object is the parent object. This function is normally only needed by the telemetry module.

Parameters

[in] obj The object handle

Returns: The object linked object handle

Definition at line 493 of file uavobjectmanager.c.

int32_t UAVObjGetMetadata	(	UAVObjHandle	obj_handle,
		UAVObjMetadata *	dataOut
	)

Get the object metadata

Parameters

[in]	obj	The object handle
[out]	dataOut	The object's metadata structure

Returns: 0 if success or -1 if failure

Definition at line 1338 of file uavobjectmanager.c.

uint32_t UAVObjGetNumBytes ( UAVObjHandle obj )

Get the number of bytes of the object's data (for one instance)

Parameters

[in] obj The object handle

Returns: The number of bytes

Definition at line 465 of file uavobjectmanager.c.

uint16_t UAVObjGetNumInstances ( UAVObjHandle obj_handle )

Get the number of instances contained in the object.

Parameters

[in] obj The object handle

Returns: The number of instances

Definition at line 518 of file uavobjectmanager.c.

void UAVObjGetStats ( UAVObjStats * statsOut )

Get the statistics counters

Parameters

[out] statsOut The statistics counters will be copied there

Definition at line 251 of file uavobjectmanager.c.

uint8_t UAVObjGetTelemetryAcked ( const UAVObjMetadata * metadata )

Get the UAVObject metadata telemetry acked member

Parameters

[in] metadata The metadata object

Returns: the telemetry acked boolean

Definition at line 1410 of file uavobjectmanager.c.

UAVObjUpdateMode UAVObjGetTelemetryUpdateMode ( const UAVObjMetadata * metadata )

Get the UAVObject metadata telemetry update mode

Parameters

[in] metadata The metadata object

Returns: the telemetry update mode

Definition at line 1450 of file uavobjectmanager.c.

uint32_t UAVObjIDByIndex ( uint8_t index )

UAVObjIDByIndex returns the ID of the object with index index

Returns: the ID of the object

Definition at line 2157 of file uavobjectmanager.c.

int32_t UAVObjInitialize ( )

Initialize the object manager

Returns: 0 Success; -1 Failure

Definition at line 218 of file uavobjectmanager.c.

static void UAVObjInitMetaData ( struct UAVOMeta * obj_meta )

static

Definition at line 272 of file uavobjectmanager.c.

void UAVObjInstanceUpdated	(	UAVObjHandle	obj_handle,
		uint16_t	instId
	)

Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).

Parameters

[in]	obj	The object handle
[in]	instId	The object instance ID

Definition at line 1641 of file uavobjectmanager.c.

bool UAVObjIsMetaobject ( UAVObjHandle obj_handle )

Is this a metaobject?

Parameters

[in] obj The object handle

Returns: True (1) if this is metaobject

Definition at line 586 of file uavobjectmanager.c.

bool UAVObjIsSettings ( UAVObjHandle obj_handle )

Is this a settings object?

Parameters

[in] obj The object handle

Returns: True (1) if this is a settings object

Definition at line 601 of file uavobjectmanager.c.

bool UAVObjIsSingleInstance ( UAVObjHandle obj_handle )

Does this object contains a single instance or multiple instances?

Parameters

[in] obj The object handle

Returns: True (1) if this is a single instance object

Definition at line 574 of file uavobjectmanager.c.

void UAVObjIterate ( void(*)(UAVObjHandle obj) iterator )

Iterate through all objects in the list.

Parameters

iterator This function will be called once for each object, the object will be passed as a parameter

Definition at line 1655 of file uavobjectmanager.c.

int32_t UAVObjLoad	(	UAVObjHandle	obj_handle,
		uint16_t	instId
	)

Load an object from the file system (SD card). A file with the name of the object will be opened. The object data can be saved using the UAVObjSave function.

Parameters

[in]	obj	The object handle.
[in]	instId	The object instance

Returns: 0 if success or -1 if failure

Definition at line 823 of file uavobjectmanager.c.

int32_t UAVObjLoadMetaobjects ( )

Load all metaobjects from the SD card.

Returns: 0 if success or -1 if failure

Definition at line 1016 of file uavobjectmanager.c.

int32_t UAVObjLoadSettings ( )

Load all settings objects from the SD card.

Returns: 0 if success or -1 if failure

Definition at line 923 of file uavobjectmanager.c.

int32_t UAVObjPack	(	UAVObjHandle	obj_handle,
		uint16_t	instId,
		uint8_t *	dataOut
	)

Pack an object to a byte array

Parameters

[in]	obj	The object handle
[in]	instId	The instance ID
[out]	dataOut	The byte array

Returns: 0 if success or -1 if failure

Definition at line 682 of file uavobjectmanager.c.

int8_t UAVObjReadOnly ( UAVObjHandle obj_handle )

Check if an object is read only

Parameters

[in] obj The object handle

Returns

0 if not read only
1 if read only
-1 if unable to get meta data

Definition at line 1494 of file uavobjectmanager.c.

UAVObjHandle UAVObjRegister	(	uint32_t	id,
		int32_t	isSingleInstance,
		int32_t	isSettings,
		uint32_t	num_bytes,
		UAVObjInitializeCallback	initCb
	)

Register and new object in the object manager.

Parameters

[in]	id	Unique object ID
[in]	isSingleInstance	Is this a single instance or multi-instance object
[in]	isSettings	Is this a settings object
[in]	numBytes	Number of bytes of object data (for one instance)
[in]	initCb	Default field and metadata initialization function

Returns: Object handle, or NULL if failure.

Definition at line 349 of file uavobjectmanager.c.

void UAVObjRegisterNewInstanceCB ( new_uavo_instance_cb_t callback )

Registers a new UAVO instance created callback

Definition at line 2194 of file uavobjectmanager.c.

int32_t UAVObjSave	(	UAVObjHandle	obj_handle,
		uint16_t	instId
	)

Save the data of the specified object to the file system (SD card). If the object contains multiple instances, all of them will be saved. A new file with the name of the object will be created. The object data can be restored using the UAVObjLoad function.

Parameters

[in]	obj	The object handle.
[in]	instId	The instance ID
[in]	file	File to append to

Returns: 0 if success or -1 if failure

Definition at line 739 of file uavobjectmanager.c.

int32_t UAVObjSaveMetaobjects ( )

Save all metaobjects to the SD card.

Returns: 0 if success or -1 if failure

Definition at line 987 of file uavobjectmanager.c.

int32_t UAVObjSaveSettings ( )

Save all settings objects to the SD card.

Returns: 0 if success or -1 if failure

Definition at line 891 of file uavobjectmanager.c.

void UAVObjSetAccess	(	UAVObjMetadata *	metadata,
		UAVObjAccessType	mode
	)

Set the UAVObject metadata access member

Parameters

[in]	metadata	The metadata object
[in]	mode	The access mode

Definition at line 1378 of file uavobjectmanager.c.

int32_t UAVObjSetData	(	UAVObjHandle	obj_handle,
		const void *	dataIn
	)

Set the object data

Parameters

[in]	obj	The object handle
[in]	dataIn	The object's data structure

Returns: 0 if success or -1 if failure

Definition at line 1076 of file uavobjectmanager.c.

int32_t UAVObjSetDataField	(	UAVObjHandle	obj_handle,
		const void *	dataIn,
		uint32_t	offset,
		uint32_t	size
	)

Set the object data

Parameters

[in]	obj	The object handle
[in]	dataIn	The object's data structure

Returns: 0 if success or -1 if failure

Definition at line 1087 of file uavobjectmanager.c.

void UAVObjSetGcsAccess	(	UAVObjMetadata *	metadata,
		UAVObjAccessType	mode
	)

Set the UAVObject metadata GCS access member

Parameters

[in]	metadata	The metadata object
[in]	mode	The access mode

Definition at line 1400 of file uavobjectmanager.c.

void UAVObjSetGcsTelemetryAcked	(	UAVObjMetadata *	metadata,
		uint8_t	val
	)

Set the UAVObject metadata GCS telemetry acked member

Parameters

[in]	metadata	The metadata object
[in]	val	The GCS telemetry acked boolean

Definition at line 1440 of file uavobjectmanager.c.

void UAVObjSetGcsTelemetryUpdateMode	(	UAVObjMetadata *	metadata,
		UAVObjUpdateMode	val
	)

Set the UAVObject metadata GCS telemetry update mode member

Parameters

[in]	metadata	The metadata object
[in]	val	The GCS telemetry update mode

Definition at line 1480 of file uavobjectmanager.c.

int32_t UAVObjSetInstanceData	(	UAVObjHandle	obj_handle,
		uint16_t	instId,
		const void *	dataIn
	)

Set the data of a specific object instance

Parameters

[in]	obj	The object handle
[in]	instId	The object instance ID
[in]	dataIn	The object's data structure

Returns: 0 if success or -1 if failure

Definition at line 1123 of file uavobjectmanager.c.

int32_t UAVObjSetInstanceDataField	(	UAVObjHandle	obj_handle,
		uint16_t	instId,
		const void *	dataIn,
		uint32_t	offset,
		uint32_t	size
	)

Set the data of a specific object instance

Parameters

[in]	obj	The object handle
[in]	instId	The object instance ID
[in]	dataIn	The object's data structure

Returns: 0 if success or -1 if failure

Definition at line 1137 of file uavobjectmanager.c.

int32_t UAVObjSetMetadata	(	UAVObjHandle	obj_handle,
		const UAVObjMetadata *	dataIn
	)

Set the object metadata

Parameters

[in]	obj	The object handle
[in]	dataIn	The object's metadata structure

Returns: 0 if success or -1 if failure

Definition at line 1315 of file uavobjectmanager.c.

void UAVObjSetTelemetryAcked	(	UAVObjMetadata *	metadata,
		uint8_t	val
	)

Set the UAVObject metadata telemetry acked member

Parameters

[in]	metadata	The metadata object
[in]	val	The telemetry acked boolean

Definition at line 1420 of file uavobjectmanager.c.

void UAVObjSetTelemetryUpdateMode	(	UAVObjMetadata *	metadata,
		UAVObjUpdateMode	val
	)

Set the UAVObject metadata telemetry update mode member

Parameters

[in]	metadata	The metadata object
[in]	val	The telemetry update mode

Definition at line 1460 of file uavobjectmanager.c.

void UAVObjUnblockThrottle ( struct ObjectEventEntryThrottled * throttled )

Unblocks a throttled event– allows it to be inserted into queues once again.

Definition at line 2184 of file uavobjectmanager.c.

int32_t UAVObjUnpack	(	UAVObjHandle	obj_handle,
		uint16_t	instId,
		const uint8_t *	dataIn
	)

Unpack an object from a byte array

Parameters

[in]	obj	The object handle
[in]	instId	The instance ID
[in]	dataIn	The byte array

Returns: 0 if success or -1 if failure

Definition at line 618 of file uavobjectmanager.c.

void UAVObjUpdated ( UAVObjHandle obj_handle )

Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).

Parameters

[in] obj The object handle

Definition at line 1631 of file uavobjectmanager.c.

Variable Documentation

void* cb_stack

static

Definition at line 211 of file uavobjectmanager.c.

const UAVObjMetadata defMetadata

static

Initial value:

= {
        .flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
                ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
                1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
                1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
                UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
                UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT),
        .telemetryUpdatePeriod    = 0,
        .gcsTelemetryUpdatePeriod = 0,
        .loggingUpdatePeriod      = 0,
}

Definition at line 194 of file uavobjectmanager.c.

struct ObjectEventEntry* events_unused

static

Definition at line 191 of file uavobjectmanager.c.

struct ObjectEventEntry* events_unused_throttled

static

Definition at line 192 of file uavobjectmanager.c.

struct pios_recursive_mutex* mutex

static

Definition at line 193 of file uavobjectmanager.c.

new_uavo_instance_cb_t newUavObjInstanceCB

static

Definition at line 207 of file uavobjectmanager.c.

uintptr_t pios_uavo_settings_fs_id

Simulation of the flash filesystem

Todo:: something nicer about these

Definition at line 50 of file pios_board.c.

UAVObjStats stats

static

Definition at line 206 of file uavobjectmanager.c.

struct UAVOData* uavo_list

static

Definition at line 190 of file uavobjectmanager.c.

Files

Data Structures

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Functions

Variables

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation

Variable Documentation