forked from Archive/PX4-Autopilot
258 lines
7.8 KiB
C
258 lines
7.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2015 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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#pragma once
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/**
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* @file uORB.h
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* API for the uORB lightweight object broker.
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*/
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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typedef uint16_t orb_id_size_t;
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/**
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* Object metadata.
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*/
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struct orb_metadata {
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const char *o_name; /**< unique object name */
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const uint16_t o_size; /**< object size */
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const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */
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uint32_t message_hash; /**< Hash over all fields for message compatibility checks */
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orb_id_size_t o_id; /**< ORB_ID enum */
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uint8_t o_queue; /**< queue size */
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};
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typedef const struct orb_metadata *orb_id_t;
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/**
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* Maximum number of multi topic instances. This must be <= 10 (because it's the last char of the node path)
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*/
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#if defined(CONSTRAINED_MEMORY)
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# define ORB_MULTI_MAX_INSTANCES 4
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#else
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# define ORB_MULTI_MAX_INSTANCES 10
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#endif
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/**
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* Generates a pointer to the uORB metadata structure for
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* a given topic.
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*
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* The topic must have been declared previously in scope
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* with ORB_DECLARE().
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*
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* @param _name The name of the topic.
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*/
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#define ORB_ID(_name) &__orb_##_name
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/**
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* Declare (prototype) the uORB metadata for a topic (used by code generators).
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*
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* @param _name The name of the topic.
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*/
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#if defined(__cplusplus)
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# define ORB_DECLARE(_name) extern "C" const struct orb_metadata __orb_##_name __EXPORT
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#else
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# define ORB_DECLARE(_name) extern const struct orb_metadata __orb_##_name __EXPORT
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#endif
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/**
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* Define (instantiate) the uORB metadata for a topic.
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*
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* The uORB metadata is used to help ensure that updates and
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* copies are accessing the right data.
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*
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* Note that there must be no more than one instance of this macro
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* for each topic.
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*
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* @param _name The name of the topic.
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* @param _struct The structure the topic provides.
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* @param _size_no_padding Struct size w/o padding at the end
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* @param _message_hash 32 bit message hash over all fields
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* @param _orb_id_enum ORB ID enum e.g.: ORB_ID::vehicle_status
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* @param _queue_size Queue size from topic definition
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*/
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#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size) \
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const struct orb_metadata __orb_##_name = { \
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#_name, \
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sizeof(_struct), \
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_size_no_padding, \
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_message_hash, \
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_orb_id_enum, \
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_queue_size \
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}; struct hack
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__BEGIN_DECLS
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int uorb_start(void);
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int uorb_status(void);
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int uorb_top(char **topic_filter, int num_filters);
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/**
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* ORB topic advertiser handle.
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*
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* Advertiser handles are global; once obtained they can be shared freely
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* and do not need to be closed or released.
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*
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* This permits publication from interrupt context and other contexts where
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* a file-descriptor-based handle would not otherwise be in scope for the
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* publisher.
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*/
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typedef void *orb_advert_t;
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/**
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* @see uORB::Manager::orb_advertise()
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*/
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extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
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/**
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* @see uORB::Manager::orb_advertise_multi()
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*/
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extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __EXPORT;
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/**
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* @see uORB::Manager::orb_unadvertise()
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*/
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extern int orb_unadvertise(orb_advert_t handle) __EXPORT;
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/**
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* @see uORB::Manager::orb_publish()
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*/
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extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
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/**
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* Advertise as the publisher of a topic.
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*
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* This performs the initial advertisement of a topic; it creates the topic
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* node in /obj if required and publishes the initial data.
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*
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* @see uORB::Manager::orb_advertise_multi() for meaning of the individual parameters
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*/
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static inline int orb_publish_auto(const struct orb_metadata *meta, orb_advert_t *handle, const void *data,
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int *instance)
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{
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if (!*handle) {
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*handle = orb_advertise_multi(meta, data, instance);
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if (*handle) {
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return 0;
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}
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} else {
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return orb_publish(meta, *handle, data);
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}
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return -1;
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}
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/**
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* @see uORB::Manager::orb_subscribe()
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*/
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extern int orb_subscribe(const struct orb_metadata *meta) __EXPORT;
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/**
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* @see uORB::Manager::orb_subscribe_multi()
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*/
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extern int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance) __EXPORT;
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/**
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* @see uORB::Manager::orb_unsubscribe()
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*/
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extern int orb_unsubscribe(int handle) __EXPORT;
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/**
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* @see uORB::Manager::orb_copy()
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*/
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extern int orb_copy(const struct orb_metadata *meta, int handle, void *buffer) __EXPORT;
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/**
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* @see uORB::Manager::orb_check()
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*/
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extern int orb_check(int handle, bool *updated) __EXPORT;
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/**
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* @see uORB::Manager::orb_exists()
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*/
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extern int orb_exists(const struct orb_metadata *meta, int instance) __EXPORT;
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/**
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* Get the number of published instances of a topic group
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*
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* @param meta ORB topic metadata.
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* @return The number of published instances of this topic
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*/
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extern int orb_group_count(const struct orb_metadata *meta) __EXPORT;
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/**
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* @see uORB::Manager::orb_set_interval()
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*/
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extern int orb_set_interval(int handle, unsigned interval) __EXPORT;
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/**
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* @see uORB::Manager::orb_get_interval()
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*/
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extern int orb_get_interval(int handle, unsigned *interval) __EXPORT;
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/**
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* Returns the C type string from a short type in message fields metadata, or nullptr
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* if not a short type
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*/
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const char *orb_get_c_type(unsigned char short_type);
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/**
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* Returns the queue size of a topic
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* @param meta orb topic metadata
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*/
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extern uint8_t orb_get_queue_size(const struct orb_metadata *meta);
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/**
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* Print a topic to console. Do not call this directly, use print_message() instead.
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* @param meta orb topic metadata
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* @param data expected to be aligned to the largest member
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*/
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void orb_print_message_internal(const struct orb_metadata *meta, const void *data, bool print_topic_name);
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__END_DECLS
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/* Diverse uORB header defines */ //XXX: move to better location
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typedef uint8_t arming_state_t;
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typedef uint8_t main_state_t;
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typedef uint8_t hil_state_t;
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typedef uint8_t navigation_state_t;
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typedef uint8_t switch_pos_t;
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