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84 lines
3.8 KiB
C++
84 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2025-2026 ModalAI, inc. 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 <modal_pipe.h>
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#pragma once
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class MPA
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{
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public:
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static int Initialize();
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typedef void (*mpa_data_cb_t)(char *data, int bytes);
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typedef void (*mpa_control_cb_t)(int ch, char *data, int bytes, void *context);
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static int PipeClient(const char *pipe_name, int size, mpa_data_cb_t cb);
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static int PipeCreate(char *pipe_name, int flags = 0);
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static int PipeWrite(int ch, const void *data, int bytes);
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static int PipeServerSetControlCb(int ch, mpa_control_cb_t cb, void *context);
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static void PipeServerClose(int ch);
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private:
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static void HelperCB(__attribute__((unused)) int ch, char *data, int bytes, __attribute__((unused)) void *context);
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static void DisconnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
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static void ConnectCB(__attribute__((unused)) int ch, __attribute__((unused)) void *context);
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typedef int (*pipe_client_set_simple_helper_cb_t)(int ch, client_simple_cb *cb, void *context);
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typedef int (*pipe_client_set_connect_cb_t)(int ch, client_connect_cb *cb, void *context);
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typedef int (*pipe_client_set_disconnect_cb_t)(int ch, client_disc_cb *cb, void *context);
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typedef int (*pipe_client_open_t)(int ch, const char *name_or_location, const char *client_name, int flags, int buf_len);
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typedef int (*pipe_server_create_t)(int ch, pipe_info_t info, int flags);
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typedef int (*pipe_server_write_t)(int ch, const void *data, int bytes);
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typedef int (*pipe_server_set_control_cb_t)(int ch, server_control_cb *cb, void *context);
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typedef void (*pipe_server_close_t)(int ch);
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static pipe_client_set_simple_helper_cb_t helper_cb;
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static pipe_client_set_connect_cb_t connect_cb;
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static pipe_client_set_disconnect_cb_t disconnect_cb;
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static pipe_client_open_t open_pipe;
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static pipe_server_create_t create_pipe;
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static pipe_server_write_t write_pipe;
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static pipe_server_set_control_cb_t set_control_cb;
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static pipe_server_close_t close_pipe;
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static bool initialized;
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static void *handle;
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static int current_client;
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static int current_server;
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static const int MAX_MPA_CLIENTS{8};
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static mpa_data_cb_t data_cb[MAX_MPA_CLIENTS];
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};
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