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dataman: add DatamanClient with sync functions

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Rework of dataman
This commit is contained in:
Igor Mišić
2023-07-24 13:10:31 +02:00
committed by Beat Küng
parent c67af1479f
commit 208552fdab
27 changed files with 1392 additions and 948 deletions
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src/modules/dataman/dataman.h
+45 -66
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -42,21 +42,29 @@
#include <navigator/navigation.h>
#include <uORB/topics/mission.h>
#ifdef __cplusplus
extern "C" {
#endif
/** Types of items that the data manager can store */
typedef enum {
DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */
DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */
DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */
DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alternate between 0 and 1) */
DM_KEY_MISSION_STATE, /* Persistent mission state */
DM_KEY_SAFE_POINTS = 0, ///< Safe points coordinates, safe point 0 is home point
DM_KEY_FENCE_POINTS, ///< Fence vertex coordinates
DM_KEY_WAYPOINTS_OFFBOARD_0, ///< Mission way point coordinates sent over mavlink
DM_KEY_WAYPOINTS_OFFBOARD_1, ///< (alternate between 0 and 1)
DM_KEY_MISSION_STATE, ///< Persistent mission state
DM_KEY_COMPAT,
DM_KEY_NUM_KEYS /* Total number of item types defined */
DM_KEY_NUM_KEYS ///< Total number of item types defined
} dm_item_t;
/** Types of function calls supported by the worker task */
typedef enum {
DM_GET_ID = 0, ///< Get dataman client ID
DM_WRITE, ///< Write index for given item
DM_READ, ///< Read index for given item
DM_CLEAR, ///< Clear all index for given item
DM_LOCK, ///< Lock all items for given item types
DM_UNLOCK, ///< Unlock all items for given item types
DM_NUMBER_OF_FUNCS
} dm_function_t;
/** The maximum number of instances for each item type */
#if defined(MEMORY_CONSTRAINED_SYSTEM)
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
@@ -67,7 +75,6 @@ enum {
DM_KEY_COMPAT_MAX = 1
};
#else
/** The maximum number of instances for each item type */
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
DM_KEY_FENCE_POINTS_MAX = 64,
@@ -78,6 +85,32 @@ enum {
};
#endif
/* table of maximum number of instances for each item type */
static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = {
DM_KEY_SAFE_POINTS_MAX,
DM_KEY_FENCE_POINTS_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX,
DM_KEY_MISSION_STATE_MAX,
DM_KEY_COMPAT_MAX
};
constexpr uint32_t MISSION_SAFE_POINT_SIZE = sizeof(struct mission_safe_point_s);
constexpr uint32_t MISSION_FENCE_POINT_SIZE = sizeof(struct mission_fence_point_s);
constexpr uint32_t MISSION_ITEM_SIZE = sizeof(struct mission_item_s);
constexpr uint32_t MISSION_SIZE = sizeof(struct mission_s);
constexpr uint32_t DATAMAN_COMPAT_SIZE = sizeof(struct mission_s);
/** The table of the size of each item type */
static constexpr size_t g_per_item_size[DM_KEY_NUM_KEYS] = {
MISSION_SAFE_POINT_SIZE,
MISSION_FENCE_POINT_SIZE,
MISSION_ITEM_SIZE,
MISSION_ITEM_SIZE,
MISSION_SIZE,
DATAMAN_COMPAT_SIZE
};
struct dataman_compat_s {
uint64_t key;
};
@@ -89,57 +122,3 @@ struct dataman_compat_s {
(sizeof(struct mission_s) << 16) + (sizeof(struct mission_stats_entry_s) << 12) + \
(sizeof(struct mission_fence_point_s) << 8) + (sizeof(struct mission_safe_point_s) << 4) + \
sizeof(struct dataman_compat_s))
/** Retrieve from the data manager store */
__EXPORT ssize_t
dm_read(
dm_item_t item, /* The item type to retrieve */
unsigned index, /* The index of the item */
void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
);
/** write to the data manager store */
__EXPORT ssize_t
dm_write(
dm_item_t item, /* The item type to store */
unsigned index, /* The index of the item */
const void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
);
/**
* Lock all items of a type. Can be used for atomic updates of multiple items (single items are always updated
* atomically).
* Note that this lock is independent from dm_read & dm_write calls.
* @return 0 on success and lock taken, -1 on error (lock not taken, errno set)
*/
__EXPORT int
dm_lock(
dm_item_t item /* The item type to lock */
);
/**
* Try to lock all items of a type (@see sem_trywait()).
* @return 0 if lock is taken, -1 otherwise (on error or if already locked. errno is set accordingly)
*/
__EXPORT int
dm_trylock(
dm_item_t item /* The item type to lock */
);
/** Unlock all items of a type */
__EXPORT void
dm_unlock(
dm_item_t item /* The item type to unlock */
);
/** Erase all items of this type */
__EXPORT int
dm_clear(
dm_item_t item /* The item type to clear */
);
#ifdef __cplusplus
}
#endif