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/**
* @file dataman.h
*
* DATAMANAGER driver.
*/
#ifndef _DATAMANAGER_H
#define _DATAMANAGER_H
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
#ifdef __cplusplus
extern "C" {
#endif
/** Types of items that the data manager can store */
typedef enum {
DM_KEY_SAFE_POINTS = 0, /* Safe points coordinates, safe point 0 is home point */
DM_KEY_FENCE_POINTS, /* Fence vertex coordinates */
DM_KEY_WAYPOINTS_OFFBOARD_0, /* Mission way point coordinates sent over mavlink */
DM_KEY_WAYPOINTS_OFFBOARD_1, /* (alernate between 0 and 1) */
DM_KEY_WAYPOINTS_ONBOARD, /* Mission way point coordinates generated onboard */
DM_KEY_MISSION_STATE, /* Persistent mission state */
DM_KEY_NUM_KEYS /* Total number of item types defined */
} dm_item_t;
#define DM_KEY_WAYPOINTS_OFFBOARD(_id) (_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1)
/** The maximum number of instances for each item type */
enum {
DM_KEY_SAFE_POINTS_MAX = 8,
DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,
DM_KEY_MISSION_STATE_MAX = 1
};
/** Data persistence levels */
typedef enum {
DM_PERSIST_POWER_ON_RESET = 0, /* Data survives all resets */
DM_PERSIST_IN_FLIGHT_RESET, /* Data survives in-flight resets only */
DM_PERSIST_VOLATILE /* Data does not survive resets */
} dm_persitence_t;
/** The reason for the last reset */
typedef enum {
DM_INIT_REASON_POWER_ON = 0, /* Data survives resets */
DM_INIT_REASON_IN_FLIGHT, /* Data survives in-flight resets only */
DM_INIT_REASON_VOLATILE /* Data does not survive reset */
} dm_reset_reason;
/** Maximum size in bytes of a single item instance */
#define DM_MAX_DATA_SIZE 124
/** Retrieve from the data manager store */
__EXPORT ssize_t
dm_read(
dm_item_t item, /* The item type to retrieve */
unsigned char index, /* The index of the item */
void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
);
/** write to the data manager store */
__EXPORT ssize_t
dm_write(
dm_item_t item, /* The item type to store */
unsigned char index, /* The index of the item */
dm_persitence_t persistence, /* The persistence level of this item */
const void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
);
/** Lock all items of this type */
__EXPORT void
dm_lock(
dm_item_t item /* The item type to clear */
);
/** Unlock all items of this type */
__EXPORT void
dm_unlock(
dm_item_t item /* The item type to clear */
);
/** Erase all items of this type */
__EXPORT int
dm_clear(
dm_item_t item /* The item type to clear */
);
/** Tell the data manager about the type of the last reset */
__EXPORT int
dm_restart(
dm_reset_reason restart_type /* The last reset type */
);
#ifdef __cplusplus
}
#endif
#endif
