uavobjectmanager.h

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/******************************************************************************
 * @addtogroup FlightCore Core components
 * @{
 * @addtogroup UAVObjectHandling UAVObject handling code
 * @{
 *
 * @file       uavobjectmanager.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @author     Tau Labs, http://taulabs.org, Copyright (C) 2012-2014
 * @author     dRonin, http://dronin.org Copyright (C) 2015-2016
 * @brief      Object manager library. This library holds a collection of all objects.
 *             It can be used by all modules/libraries to find an object reference.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 *
 * Additional note on redistribution: The copyright and license notices above
 * must be maintained in each individual source file that is a derivative work
 * of this source file; otherwise redistribution is prohibited.
 */

#ifndef UAVOBJECTMANAGER_H
#define UAVOBJECTMANAGER_H

#include "pios_queue.h"

#define UAVOBJ_ALL_INSTANCES 0xFFFF
#define UAVOBJ_MAX_INSTANCES 1000

/*
 * Shifts and masks used to read/write metadata flags.
 */
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3

typedef struct UAVOBase * UAVObjHandle;

typedef enum {
        UPDATEMODE_MANUAL = 0, 
        UPDATEMODE_PERIODIC = 1, 
        UPDATEMODE_ONCHANGE = 2, 
        UPDATEMODE_THROTTLED = 3 
} UAVObjUpdateMode;

typedef struct {
        uint8_t flags; 
        uint16_t telemetryUpdatePeriod; 
        uint16_t gcsTelemetryUpdatePeriod; 
        uint16_t loggingUpdatePeriod; 
} __attribute__((packed)) UAVObjMetadata;

typedef enum {
        EV_NONE = 0x00, 
        EV_UNPACKED = 0x01, 
        EV_UPDATED = 0x02, 
        EV_UPDATED_MANUAL = 0x04, 
        EV_UPDATED_PERIODIC = 0x08, 
} UAVObjEventType;

#define EV_MASK_ALL 0
#define EV_MASK_ALL_UPDATES (EV_UNPACKED | EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATED_PERIODIC)

typedef enum {
        ACCESS_READWRITE = 0,
        ACCESS_READONLY = 1
} UAVObjAccessType;

typedef struct {
        UAVObjHandle obj;
        UAVObjEventType event;
        struct ObjectEventEntryThrottled *throttle;

        uint16_t instId;
} UAVObjEvent;

typedef void (*UAVObjEventCallback)(const UAVObjEvent *ev, void* cb_ctx,
        void *uavo_data, int uavo_len);

typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj_handle, uint16_t instId);

typedef struct {
        uint32_t eventQueueErrors;
        uint32_t eventCallbackErrors;
        uint32_t lastCallbackErrorID;
        uint32_t lastQueueErrorID;
} UAVObjStats;

typedef void (*new_uavo_instance_cb_t)(uint32_t,uint32_t);
void UAVObjRegisterNewInstanceCB(new_uavo_instance_cb_t callback);

int32_t UAVObjInitialize();
void UAVObjGetStats(UAVObjStats* statsOut);
void UAVObjClearStats();
UAVObjHandle UAVObjRegister(uint32_t id,
                int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb);
UAVObjHandle UAVObjGetByID(uint32_t id);
uint32_t UAVObjGetID(UAVObjHandle obj);
uint32_t UAVObjGetNumBytes(UAVObjHandle obj);
uint16_t UAVObjGetNumInstances(UAVObjHandle obj);
UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj);
uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle, UAVObjInitializeCallback initCb);
bool UAVObjIsSingleInstance(UAVObjHandle obj);
bool UAVObjIsMetaobject(UAVObjHandle obj);
bool UAVObjIsSettings(UAVObjHandle obj);
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);
#if defined(PIOS_INCLUDE_SDCARD)
int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId, FILEINFO* file);
UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
#endif
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);
uint8_t UAVObjGetMetadataAccess(const UAVObjMetadata* dataOut);
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* dataOut);
void UAVObjSetAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* dataOut);
void UAVObjSetGcsAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryAcked( UAVObjMetadata* dataOut, uint8_t val);
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* dataOut, uint8_t val);
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryGcsUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, struct pios_queue *queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, struct pios_queue *queue);
int32_t UAVObjConnectQueueThrottled(UAVObjHandle obj_handle, struct pios_queue *queue, uint8_t eventMask, uint16_t interval);
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb, void *cbCtx, uint8_t eventMask);
int32_t UAVObjConnectCallbackThrottled(UAVObjHandle obj_handle, UAVObjEventCallback cb, void *cbCtx, uint8_t eventMask, uint16_t interval);
void UAVObjUnblockThrottle(struct ObjectEventEntryThrottled *throttled);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb, void *cbCtx);
void UAVObjUpdated(UAVObjHandle obj);
void UAVObjInstanceUpdated(UAVObjHandle obj_handle, uint16_t instId);
void UAVObjIterate(void (*iterator)(UAVObjHandle obj));
int32_t getEventMask(UAVObjHandle obj_handle, struct pios_queue *queue);
uint8_t UAVObjCount();
uint32_t UAVObjIDByIndex(uint8_t index);
void UAVObjCbSetFlag(const UAVObjEvent *objEv, void *ctx, void *obj, int len);
void UAVObjCbCopyData(const UAVObjEvent *objEv, void *ctx, void *obj, int len);

#endif // UAVOBJECTMANAGER_H