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dataman: rename SYSTEM_STATE section to MISSION_STATE

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This commit is contained in:
Anton Babushkin
2014-06-12 13:11:45 +02:00
parent 3f1f015fe0
commit 2951962c21
4 changed files with 15 additions and 15 deletions
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src/modules/dataman/dataman.c
+3 -3
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@@ -116,7 +116,7 @@ static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = {
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX,
DM_KEY_WAYPOINTS_ONBOARD_MAX,
DM_KEY_SYSTEM_STATE_MAX
DM_KEY_MISSION_STATE_MAX
};
/* Table of offset for index 0 of each item type */
@@ -642,11 +642,11 @@ task_main(int argc, char *argv[])
for (unsigned i = 0; i < dm_number_of_funcs; i++)
g_func_counts[i] = 0;
/* Initialize the item type locks, for now only DM_KEY_SYSTEM_STATE supports locking */
/* Initialize the item type locks, for now only DM_KEY_MISSION_STATE supports locking */
sem_init(&g_sys_state_mutex, 1, 1); /* Initially unlocked */
for (unsigned i = 0; i < DM_KEY_NUM_KEYS; i++)
g_item_locks[i] = NULL;
g_item_locks[DM_KEY_SYSTEM_STATE] = &g_sys_state_mutex;
g_item_locks[DM_KEY_MISSION_STATE] = &g_sys_state_mutex;
g_task_should_exit = false;
src/modules/dataman/dataman.h
+2 -2
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@@ -53,7 +53,7 @@ extern "C" {
DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */
DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alernate between 0 and 1) */
DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */
DM_KEY_SYSTEM_STATE, /* Persistent system state storage */
DM_KEY_MISSION_STATE, /* Persistent mission state */
DM_KEY_NUM_KEYS /* Total number of item types defined */
} dm_item_t;
@@ -64,7 +64,7 @@ extern "C" {
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_SYSTEM_STATE_MAX = 1
DM_KEY_MISSION_STATE_MAX = 1
};
/** Data persistence levels */
src/modules/mavlink/mavlink_main.cpp
+9 -9
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@@ -969,7 +969,7 @@ void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
state->action_timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->retry_timeout = MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT;
int sys_state_size = dm_read(DM_KEY_SYSTEM_STATE, 0, &sys_state, sizeof(sys_state));
int sys_state_size = dm_read(DM_KEY_MISSION_STATE, 0, &sys_state, sizeof(sys_state));
if (sys_state_size == sizeof(sys_state)) {
if ((sys_state.offboard_waypoint_id >= 0) && (sys_state.offboard_waypoint_id <= 1)) {
state->dataman_id = sys_state.offboard_waypoint_id;
@@ -990,11 +990,11 @@ void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
state->size = seq;
} else {
if (_verbose) { warnx("WPM init: invalid dataman ID %d stored in SYSTEM_STATE", sys_state.offboard_waypoint_id); }
if (_verbose) { warnx("WPM init: invalid dataman ID %d stored in MISSION_STATE", sys_state.offboard_waypoint_id); }
}
} else {
if (_verbose) { warnx("WPM init: dataman SYSTEM_STATE item has wrong size (%i, should be %u), ignoring", sys_state_size, sizeof(sys_state)); }
if (_verbose) { warnx("WPM init: dataman MISSION_STATE item has wrong size (%i, should be %u), ignoring", sys_state_size, sizeof(sys_state)); }
}
/* init mission topic */
@@ -1467,25 +1467,25 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
bool dm_result;
/* since we are doing a read-modify-write we must lock the item type */
dm_lock(DM_KEY_SYSTEM_STATE);
dm_lock(DM_KEY_MISSION_STATE);
/* first read in the current state data, there may eventually be data other than the offboard index
* and we must preserve it */
ssize_t dm_state_size = dm_read(DM_KEY_SYSTEM_STATE, 0, &state, sizeof(state));
ssize_t dm_state_size = dm_read(DM_KEY_MISSION_STATE, 0, &state, sizeof(state));
if (dm_state_size != sizeof(state)) {
warnx("dataman SYSTEM_STATE size invalid: %d, should be %d", dm_state_size, sizeof(state));
warnx("dataman MISSION_STATE size invalid: %d, should be %d", dm_state_size, sizeof(state));
}
/* set new dataman storage ID */
state.offboard_waypoint_id = _wpm->current_dataman_id;
/* write back to dataman */
dm_result = dm_write(DM_KEY_SYSTEM_STATE, 0, DM_PERSIST_POWER_ON_RESET, &state, sizeof(state)) != sizeof(state);
dm_result = dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &state, sizeof(state)) != sizeof(state);
dm_unlock(DM_KEY_SYSTEM_STATE);
dm_unlock(DM_KEY_MISSION_STATE);
if (dm_result) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR unable to write storage ID = %d to dataman SYSTEM_STATE", state.offboard_waypoint_id); }
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR unable to write storage ID = %d to dataman MISSION_STATE", state.offboard_waypoint_id); }
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
mavlink_missionlib_send_gcs_string("#audio: Unable to write on micro SD");
src/modules/navigator/navigator_main.cpp
+1 -1
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@@ -605,7 +605,7 @@ Navigator::task_main()
/* Get the last offboard mission id */
persistent_system_state_t sys_state;
if (dm_read(DM_KEY_SYSTEM_STATE, 0, &sys_state, sizeof(sys_state)) == sizeof(sys_state)) {
if (dm_read(DM_KEY_MISSION_STATE, 0, &sys_state, sizeof(sys_state)) == sizeof(sys_state)) {
if ((sys_state.offboard_waypoint_id >= 0) && (sys_state.offboard_waypoint_id <= 1))
_mission.set_offboard_dataman_id(sys_state.offboard_waypoint_id);
}