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18b6a61788
Signed-off-by: Silvan <silvan@auterion.com> boards: increase max mission items for boards with >=1kb RAM to 1000 Signed-off-by: Silvan <silvan@auterion.com> boards: increase NUM_MISSION_ITMES_SUPPORTED for SITL to 10000 Signed-off-by: Silvan <silvan@auterion.com>
128 lines
5.0 KiB
C++
128 lines
5.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2023 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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/**
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* @file dataman.h
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*
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* DATAMANAGER driver.
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*/
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#pragma once
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#include <string.h>
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#include <navigator/navigation.h>
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#include <uORB/topics/mission.h>
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/** Types of items that the data manager can store */
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typedef enum {
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DM_KEY_SAFE_POINTS_0 = 0, ///< Safe points storage 0
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DM_KEY_SAFE_POINTS_1, ///< Safe points storage 1 (alternate between 0 and 1)
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DM_KEY_SAFE_POINTS_STATE, ///< Persistent safe point state
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DM_KEY_FENCE_POINTS_0, ///< Fence vertex storage 0
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DM_KEY_FENCE_POINTS_1, ///< Fence vertex storage 1 (alternate between 0 and 1)
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DM_KEY_FENCE_POINTS_STATE, ///< Persistent fence vertex state
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DM_KEY_WAYPOINTS_OFFBOARD_0, ///< Mission way point coordinates sent over mavlink
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DM_KEY_WAYPOINTS_OFFBOARD_1, ///< (alternate between 0 and 1)
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DM_KEY_MISSION_STATE, ///< Persistent mission state
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DM_KEY_COMPAT,
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DM_KEY_NUM_KEYS ///< Total number of item types defined
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} dm_item_t;
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/** Types of function calls supported by the worker task */
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typedef enum {
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DM_GET_ID = 0, ///< Get dataman client ID
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DM_WRITE, ///< Write index for given item
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DM_READ, ///< Read index for given item
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DM_CLEAR, ///< Clear all index for given item
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DM_NUMBER_OF_FUNCS
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} dm_function_t;
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/** The maximum number of instances for each item type */
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enum {
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DM_KEY_SAFE_POINTS_MAX = 32,
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DM_KEY_SAFE_POINTS_STATE_MAX = 1,
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DM_KEY_FENCE_POINTS_MAX = 64,
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DM_KEY_FENCE_POINTS_STATE_MAX = 1,
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DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = CONFIG_NUM_MISSION_ITMES_SUPPORTED,
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DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = CONFIG_NUM_MISSION_ITMES_SUPPORTED,
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DM_KEY_MISSION_STATE_MAX = 1,
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DM_KEY_COMPAT_MAX = 1
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};
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/* table of maximum number of instances for each item type */
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static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = {
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DM_KEY_SAFE_POINTS_MAX,
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DM_KEY_SAFE_POINTS_MAX,
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DM_KEY_SAFE_POINTS_STATE_MAX,
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DM_KEY_FENCE_POINTS_MAX,
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DM_KEY_FENCE_POINTS_MAX,
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DM_KEY_FENCE_POINTS_STATE_MAX,
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DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
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DM_KEY_WAYPOINTS_OFFBOARD_1_MAX,
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DM_KEY_MISSION_STATE_MAX,
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DM_KEY_COMPAT_MAX
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};
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struct dataman_compat_s {
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uint64_t key;
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};
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constexpr uint32_t MISSION_SAFE_POINT_SIZE = sizeof(struct mission_item_s);
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constexpr uint32_t MISSION_SAFE_POINT_STATE_SIZE = sizeof(struct mission_stats_entry_s);
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constexpr uint32_t MISSION_FENCE_POINT_SIZE = sizeof(struct mission_fence_point_s);
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constexpr uint32_t MISSION_FENCE_POINT_STATE_SIZE = sizeof(struct mission_stats_entry_s);
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constexpr uint32_t MISSION_ITEM_SIZE = sizeof(struct mission_item_s);
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constexpr uint32_t MISSION_SIZE = sizeof(struct mission_s);
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constexpr uint32_t DATAMAN_COMPAT_SIZE = sizeof(struct dataman_compat_s);
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/** The table of the size of each item type */
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static constexpr size_t g_per_item_size[DM_KEY_NUM_KEYS] = {
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MISSION_SAFE_POINT_SIZE,
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MISSION_SAFE_POINT_SIZE,
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MISSION_SAFE_POINT_STATE_SIZE,
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MISSION_FENCE_POINT_SIZE,
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MISSION_FENCE_POINT_SIZE,
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MISSION_FENCE_POINT_STATE_SIZE,
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MISSION_ITEM_SIZE,
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MISSION_ITEM_SIZE,
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MISSION_SIZE,
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DATAMAN_COMPAT_SIZE
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};
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/* increment this define whenever a binary incompatible change is performed */
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#define DM_COMPAT_VERSION 5ULL
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#define DM_COMPAT_KEY ((DM_COMPAT_VERSION << 32) + (sizeof(struct mission_item_s) << 24) + \
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(sizeof(struct mission_s) << 16) + (sizeof(struct mission_stats_entry_s) << 12) + \
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(sizeof(struct mission_fence_point_s) << 8) + (sizeof(struct mission_item_s) << 4) + \
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sizeof(struct dataman_compat_s))
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