mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-17 06:50:34 +08:00
Igor Mišić
126 lines
3.8 KiB
C++
126 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 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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#include <uORB/uORB.h>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/dataman_request.h>
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#include <uORB/topics/dataman_response.h>
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#include <dataman/dataman.h>
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#include <lib/perf/perf_counter.h>
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using namespace time_literals;
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class DatamanClient
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{
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public:
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DatamanClient();
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~DatamanClient();
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DatamanClient(const DatamanClient &) = delete;
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DatamanClient &operator=(const DatamanClient &) = delete;
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bool readSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 1000_ms);
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bool writeSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 1000_ms);
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bool clearSync(dm_item_t item, hrt_abstime timeout = 1000_ms);
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bool lockSync(dm_item_t item, hrt_abstime timeout = 1000_ms);
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bool unlockSync(dm_item_t item, hrt_abstime timeout = 1000_ms);
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bool readAsync(dm_item_t item, uint32_t index, uint8_t *buffer);
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bool writeAsync(dm_item_t item, uint32_t index, uint8_t *buffer);
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void update();
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bool lastOperationCompleted(bool &success);
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private:
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enum class State {
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Idle,
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RequestSent
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};
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struct Request {
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dm_item_t item;
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unsigned index;
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uint8_t *buffer;
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};
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/* Synchronous response/request handler */
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bool syncHandler(const dataman_request_s &request, dataman_response_s &response,
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const hrt_abstime &start_time, hrt_abstime timeout);
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//State _state{State::Idle};
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//Request _active_request{};
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int32_t _dataman_response_sub{};
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uORB::Publication<dataman_request_s> _dataman_request_pub{ORB_ID(dataman_request)};
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px4_pollfd_struct_t _fds;
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uint8_t _client_id{0};
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static constexpr uint8_t CLIENT_ID_NOT_SET{0};
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};
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class DatamanCache
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{
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public:
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DatamanCache(int num_items);
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~DatamanCache() = default;
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void resize(int num_items);
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void invalidate();
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bool load(dm_item_t item, unsigned index);
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bool loadWait(dm_item_t item, unsigned index, uint8_t *buffer, hrt_abstime timeout);
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void update();
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DatamanClient &client() { return _client; }
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private:
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struct Item {
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dataman_response_s data;
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//State cache_state;
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};
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Item *_items{nullptr};
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DatamanClient _client;
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};
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