mirror of https://github.com/ArduPilot/ardupilot
93 lines
2.7 KiB
C++
93 lines
2.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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support for external modules
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******************************************************************
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PLEASE NOTE: module hooks are called synchronously from
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ArduPilot. They must not block or make any IO calls. If anything
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could take more than a few 10s of microseconds then you must defer
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it to another thread. Modules are responsible for their own thread
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handling
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******************************************************************
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_AHRS/AP_AHRS.h>
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#ifdef HAVE_LIBDL
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#define AP_MODULE_SUPPORTED 1
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#else
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#define AP_MODULE_SUPPORTED 0
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#endif
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#ifndef AP_MODULE_DEFAULT_DIRECTORY
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#define AP_MODULE_DEFAULT_DIRECTORY "/usr/lib/ardupilot/modules"
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#endif
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class AP_Module {
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public:
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// initialise AP_Module, looking for shared libraries in the given module path
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static void init(const char *module_path);
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// call any setup_start hooks
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static void call_hook_setup_start(void);
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// call any setup_complete hooks
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static void call_hook_setup_complete(void);
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// call any AHRS_update hooks
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static void call_hook_AHRS_update(const AP_AHRS_NavEKF &ahrs);
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// call any gyro_sample hooks
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static void call_hook_gyro_sample(uint8_t instance, float dt, const Vector3f &gyro);
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// call any accel_sample hooks
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static void call_hook_accel_sample(uint8_t instance, float dt, const Vector3f &accel, bool fsync_set);
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private:
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enum ModuleHooks {
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HOOK_SETUP_START = 0,
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HOOK_SETUP_COMPLETE,
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HOOK_AHRS_UPDATE,
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HOOK_GYRO_SAMPLE,
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HOOK_ACCEL_SAMPLE,
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NUM_HOOKS
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};
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// singly linked list per hook
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struct hook_list {
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struct hook_list *next;
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void *symbol; // from dlsym()
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};
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// currently installed hooks
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static struct hook_list *hooks[NUM_HOOKS];
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// table giving the name of the hooks in the external
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// modules. These are passed to dlsym(). The table order must
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// match the ModuleHooks enum
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static const char *hook_names[NUM_HOOKS];
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// scan a module for hooks
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static void module_scan(const char *path);
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};
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