uavobjectmanager.c File Reference

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

#include "openpilot.h"
#include <utlist.h>
#include "pios_struct_helper.h"
#include "pios_heap.h"
#include "pios_mutex.h"
#include "pios_queue.h"
#include "pios_thread.h"
#include "misc_math.h"

Go to the source code of this file.

Data Structures
struct	ObjectEventEntry
struct	ObjectEventEntryThrottled
struct	UAVOBase
struct	UAVOBase::UAVOInfo
struct	UAVOInfo
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
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
struct ObjectEventEntry *	next_event
struct UAVOInfo	flags
struct UAVOBase	base
UAVObjMetadata	instance0
uint32_t	id
struct UAVOMeta	metaObj
struct UAVOData *	next
uint16_t	instance_size
struct UAVOData	uavo
uint8_t	instance []
uint16_t	num_instances
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

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

Author

The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.

Tau Labs, http://taulabs.org, Copyright (C) 2012-2014

dRonin, http://dronin.org Copyright (C) 2015-2016

See Also

The GNU Public License (GPL) Version 3

Definition in file uavobjectmanager.c.

Variable Documentation

struct UAVOBase base

Definition at line 61 of file uavobjectmanager.c.

struct UAVOInfo flags

uint32_t id

Definition at line 62 of file uavobjectmanager.c.

uint8_t instance[]

Definition at line 62 of file uavobjectmanager.c.

struct UAVOMultiInst instance0

Definition at line 62 of file uavobjectmanager.c.

uint16_t instance_size

Definition at line 69 of file uavobjectmanager.c.

struct UAVOMeta metaObj

Definition at line 67 of file uavobjectmanager.c.

struct UAVOMultiInst * next

Definition at line 68 of file uavobjectmanager.c.

struct ObjectEventEntry* next_event

Definition at line 62 of file uavobjectmanager.c.

uint16_t num_instances

Definition at line 63 of file uavobjectmanager.c.

struct UAVOData uavo

Definition at line 61 of file uavobjectmanager.c.