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dataman: extend for double storage geofence and safe points

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This commit is contained in:
Konrad
2024-01-30 11:25:37 -05:00
committed by Daniel Agar
parent dfa56d474a
commit 50f1abaef1
8 changed files with 79 additions and 60 deletions
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src/modules/dataman/dataman.cpp
+9 -9
View File
@@ -129,8 +129,12 @@ static unsigned g_func_counts[DM_NUMBER_OF_FUNCS];
/* Table of the len of each item type including HDR size */
static constexpr size_t g_per_item_size_with_hdr[DM_KEY_NUM_KEYS] = {
g_per_item_size[DM_KEY_SAFE_POINTS] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_FENCE_POINTS] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_SAFE_POINTS_0] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_SAFE_POINTS_1] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_SAFE_POINTS_STATE] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_FENCE_POINTS_0] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_FENCE_POINTS_1] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_FENCE_POINTS_STATE] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_WAYPOINTS_OFFBOARD_0] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_WAYPOINTS_OFFBOARD_1] + DM_SECTOR_HDR_SIZE,
g_per_item_size[DM_KEY_MISSION_STATE] + DM_SECTOR_HDR_SIZE,
@@ -564,7 +568,7 @@ _file_initialize(unsigned max_offset)
PX4_ERR("Failed writing compat: %d", ret);
}
for (uint32_t item = DM_KEY_SAFE_POINTS; item <= DM_KEY_MISSION_STATE; ++item) {
for (uint32_t item = DM_KEY_SAFE_POINTS_0; item <= DM_KEY_MISSION_STATE; ++item) {
g_dm_ops->clear((dm_item_t)item);
}
@@ -582,8 +586,8 @@ _file_initialize(unsigned max_offset)
stats.opaque_id = 0;
g_dm_ops->write(DM_KEY_MISSION_STATE, 0, reinterpret_cast<uint8_t *>(&mission), sizeof(mission_s));
g_dm_ops->write(DM_KEY_FENCE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));
g_dm_ops->write(DM_KEY_SAFE_POINTS, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));
g_dm_ops->write(DM_KEY_FENCE_POINTS_STATE, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));
g_dm_ops->write(DM_KEY_SAFE_POINTS_STATE, 0, reinterpret_cast<uint8_t *>(&stats), sizeof(mission_stats_entry_s));
}
dm_operations_data.running = true;
@@ -877,10 +881,6 @@ Each type has a specific type and a fixed maximum amount of storage items, so th
### Implementation
Reading and writing a single item is always atomic.
**DM_KEY_FENCE_POINTS** and **DM_KEY_SAFE_POINTS** items: the first data element is a `mission_stats_entry_s` struct,
which stores the number of items for these types. These items are always updated atomically in one transaction (from
the mavlink mission manager).
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("dataman", "system");
src/modules/dataman/dataman.h
+21 -3
View File
@@ -44,8 +44,12 @@
/** 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_SAFE_POINTS_0 = 0, ///< Safe points storage 0
DM_KEY_SAFE_POINTS_1, ///< Safe points storage 1 (alternate between 0 and 1)
DM_KEY_SAFE_POINTS_STATE, ///< Persistent safe point state
DM_KEY_FENCE_POINTS_0, ///< Fence vertex storage 0
DM_KEY_FENCE_POINTS_1, ///< Fence vertex storage 1 (alternate between 0 and 1)
DM_KEY_FENCE_POINTS_STATE, ///< Persistent fence vertex state
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
@@ -66,7 +70,9 @@ typedef enum {
#if defined(MEMORY_CONSTRAINED_SYSTEM)
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
DM_KEY_SAFE_POINTS_STATE_MAX = 1,
DM_KEY_FENCE_POINTS_MAX = 16,
DM_KEY_FENCE_POINTS_STATE_MAX = 1,
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_MISSION_STATE_MAX = 1,
@@ -75,7 +81,9 @@ enum {
#else
enum {
DM_KEY_SAFE_POINTS_MAX = 32,
DM_KEY_SAFE_POINTS_STATE_MAX = 1,
DM_KEY_FENCE_POINTS_MAX = 64,
DM_KEY_FENCE_POINTS_STATE_MAX = 1,
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_MISSION_STATE_MAX = 1,
@@ -86,7 +94,11 @@ enum {
/* 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_SAFE_POINTS_MAX,
DM_KEY_SAFE_POINTS_STATE_MAX,
DM_KEY_FENCE_POINTS_MAX,
DM_KEY_FENCE_POINTS_MAX,
DM_KEY_FENCE_POINTS_STATE_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX,
DM_KEY_MISSION_STATE_MAX,
@@ -98,7 +110,9 @@ struct dataman_compat_s {
};
constexpr uint32_t MISSION_SAFE_POINT_SIZE = sizeof(struct mission_item_s);
constexpr uint32_t MISSION_SAFE_POINT_STATE_SIZE = sizeof(struct mission_stats_entry_s);
constexpr uint32_t MISSION_FENCE_POINT_SIZE = sizeof(struct mission_fence_point_s);
constexpr uint32_t MISSION_FENCE_POINT_STATE_SIZE = sizeof(struct mission_stats_entry_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 dataman_compat_s);
@@ -106,7 +120,11 @@ constexpr uint32_t DATAMAN_COMPAT_SIZE = sizeof(struct dataman_compat_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_SAFE_POINT_SIZE,
MISSION_SAFE_POINT_STATE_SIZE,
MISSION_FENCE_POINT_SIZE,
MISSION_FENCE_POINT_SIZE,
MISSION_FENCE_POINT_STATE_SIZE,
MISSION_ITEM_SIZE,
MISSION_ITEM_SIZE,
MISSION_SIZE,
@@ -114,7 +132,7 @@ static constexpr size_t g_per_item_size[DM_KEY_NUM_KEYS] = {
};
/* increment this define whenever a binary incompatible change is performed */
#define DM_COMPAT_VERSION 4ULL
#define DM_COMPAT_VERSION 5ULL
#define DM_COMPAT_KEY ((DM_COMPAT_VERSION << 32) + (sizeof(struct mission_item_s) << 24) + \
(sizeof(struct mission_s) << 16) + (sizeof(struct mission_stats_entry_s) << 12) + \