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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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mavlink & system: add events interface
- sending protocol - uorb event message & template methods for argument packing - libevents submodule to send common events and handle json files - cmake maintains a list of all (PX4) source files for the current build (PX4 modules + libs), which is used to extract event metadata and generate a json file
This commit is contained in:
Beat Küng
@@ -41,6 +41,7 @@ endif()
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add_library(px4_platform
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board_identity.c
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events.cpp
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external_reset_lockout.cpp
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i2c.cpp
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i2c_spi_buses.cpp
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@@ -0,0 +1,70 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <pthread.h>
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/events.h>
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#include <uORB/uORB.h>
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static orb_advert_t orb_event_pub = nullptr;
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static pthread_mutex_t publish_event_mutex = PTHREAD_MUTEX_INITIALIZER;
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static uint16_t event_sequence{events::initial_event_sequence};
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namespace events
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{
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void send(EventType &event)
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{
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event.timestamp = hrt_absolute_time();
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// We need some synchronization here because:
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// - modifying orb_event_pub
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// - the update of event_sequence needs to be atomic
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// - we need to ensure ordering of the sequence numbers: the sequence we set here
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// has to be the one published next.
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pthread_mutex_lock(&publish_event_mutex);
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event.sequence = ++event_sequence; // Set the sequence here so we're able to detect uORB queue overflows
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if (orb_event_pub != nullptr) {
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orb_publish(ORB_ID(event), orb_event_pub, &event);
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} else {
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orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH);
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}
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pthread_mutex_unlock(&publish_event_mutex);
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}
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} /* namespace events */
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@@ -0,0 +1,48 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* This header defines the events::EventType type.
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*/
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#pragma once
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#include <uORB/topics/event.h>
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namespace events
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{
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using EventType = event_s;
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} // namespace events
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@@ -0,0 +1,132 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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// Console event output can be enabled if needed.
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// Note: this will only print custom (PX4) events, not from common.
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// Helpful for debugging and to ensure the system is not spammed with events.
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// It does not print arguments.
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#if 0
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#include <px4_platform_common/log.h>
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#define CONSOLE_PRINT_EVENT(log_level, id, str) PX4_INFO_RAW("Event 0x%08x: %s\n", id, str)
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#else
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#define CONSOLE_PRINT_EVENT(log_level, id, str)
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#endif
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#include <events/events_generated.h>
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#include <libevents_definitions.h>
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#include <stdint.h>
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namespace events
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{
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namespace util
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{
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// source: https://gist.github.com/ruby0x1/81308642d0325fd386237cfa3b44785c
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constexpr uint32_t val_32_const = 0x811c9dc5;
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constexpr uint32_t prime_32_const = 0x1000193;
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constexpr uint64_t val_64_const = 0xcbf29ce484222325;
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constexpr uint64_t prime_64_const = 0x100000001b3;
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inline constexpr uint32_t hash_32_fnv1a_const(const char *const str, const uint32_t value = val_32_const) noexcept
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{
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return (str[0] == '\0') ? value : hash_32_fnv1a_const(&str[1], (value ^ uint32_t(str[0])) * prime_32_const);
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}
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template<typename T>
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inline constexpr void fillEventArguments(uint8_t *buf, T arg)
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{
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// This assumes we're on little-endian
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memcpy(buf, &arg, sizeof(T));
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}
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template<typename T, typename... Args>
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inline constexpr void fillEventArguments(uint8_t *buf, T arg, Args... args)
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{
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fillEventArguments(buf, arg);
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fillEventArguments(buf + sizeof(T), args...);
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}
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constexpr unsigned sizeofArguments() { return 0; }
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template <typename T, typename... Args>
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constexpr unsigned sizeofArguments(const T &t, const Args &... args)
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{
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return sizeof(T) + sizeofArguments(args...);
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}
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} // namespace util
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/**
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* publish/send an event
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*/
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void send(EventType &event);
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/**
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* Generate event ID from an event name
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*/
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template<size_t N>
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constexpr uint32_t ID(const char (&name)[N])
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{
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// Note: the generated ID must match with the python generator under Tools/px4events
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uint32_t component_id = 1u << 24; // autopilot component
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return (0xffffff & util::hash_32_fnv1a_const(name)) | component_id;
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}
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template<typename... Args>
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inline void send(uint32_t id, const LogLevels &log_levels, const char *message, Args... args)
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{
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EventType e{};
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e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
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e.id = id;
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static_assert(util::sizeofArguments(args...) <= sizeof(e.arguments), "Too many arguments");
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util::fillEventArguments((uint8_t *)e.arguments, args...);
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CONSOLE_PRINT_EVENT(e.log_level_external, e.id, message);
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send(e);
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}
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inline void send(uint32_t id, const LogLevels &log_levels, const char *message)
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{
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EventType e{};
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e.log_levels = ((uint8_t)log_levels.internal << 4) | (uint8_t)log_levels.external;
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e.id = id;
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CONSOLE_PRINT_EVENT(e.log_level_external, e.id, message);
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send(e);
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}
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static constexpr uint16_t initial_event_sequence = 65535 - 10; // initialize with a high number so it wraps soon
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} // namespace events
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