ardupilot/libraries/AP_Module/AP_Module.h

93 lines
2.7 KiB
C++

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