mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 13:37:34 +08:00
Anton Babushkin
137 lines
4.7 KiB
C
137 lines
4.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 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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#ifndef _DATAMANAGER_H
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#define _DATAMANAGER_H
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#include <uORB/topics/mission.h>
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#include <uORB/topics/fence.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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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, /* Safe points coordinates, safe point 0 is home point */
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DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */
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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, /* (alernate between 0 and 1) */
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DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */
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DM_KEY_MISSION_STATE, /* Persistent mission state */
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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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#define DM_KEY_WAYPOINTS_OFFBOARD(_id) (_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1)
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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 = 8,
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DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
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DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
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DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
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DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,
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DM_KEY_MISSION_STATE_MAX = 1
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};
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/** Data persistence levels */
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typedef enum {
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DM_PERSIST_POWER_ON_RESET = 0, /* Data survives all resets */
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DM_PERSIST_IN_FLIGHT_RESET, /* Data survives in-flight resets only */
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DM_PERSIST_VOLATILE /* Data does not survive resets */
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} dm_persitence_t;
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/** The reason for the last reset */
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typedef enum {
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DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */
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DM_INIT_REASON_IN_FLIGHT, /* Data survives in-flight resets only */
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DM_INIT_REASON_VOLATILE /* Data does not survive reset */
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} dm_reset_reason;
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/** Maximum size in bytes of a single item instance */
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#define DM_MAX_DATA_SIZE 124
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/** Retrieve from the data manager store */
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__EXPORT ssize_t
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dm_read(
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dm_item_t item, /* The item type to retrieve */
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unsigned char index, /* The index of the item */
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void *buffer, /* Pointer to caller data buffer */
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size_t buflen /* Length in bytes of data to retrieve */
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);
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/** write to the data manager store */
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__EXPORT ssize_t
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dm_write(
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dm_item_t item, /* The item type to store */
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unsigned char index, /* The index of the item */
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dm_persitence_t persistence, /* The persistence level of this item */
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const void *buffer, /* Pointer to caller data buffer */
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size_t buflen /* Length in bytes of data to retrieve */
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);
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/** Lock all items of this type */
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__EXPORT void
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dm_lock(
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dm_item_t item /* The item type to clear */
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);
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/** Unlock all items of this type */
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__EXPORT void
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dm_unlock(
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dm_item_t item /* The item type to clear */
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);
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/** Erase all items of this type */
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__EXPORT int
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dm_clear(
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dm_item_t item /* The item type to clear */
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);
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/** Tell the data manager about the type of the last reset */
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__EXPORT int
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dm_restart(
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dm_reset_reason restart_type /* The last reset type */
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);
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#ifdef __cplusplus
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}
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#endif
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#endif
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