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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
commit | 13fc6703862862f4263d8d5d085b7a16b87190e1 (patch) | |
tree | 47f3a17cb6f38b1aafe22e1cdef085cd73cd3a1d /src/modules/systemlib/bson/tinybson.h | |
parent | f57439b90e23de260259dec051d3e2ead2d61c8c (diff) | |
download | px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.gz px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.bz2 px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.zip |
Moved last libs, drivers and headers, cleaned up IO build
Diffstat (limited to 'src/modules/systemlib/bson/tinybson.h')
-rw-r--r-- | src/modules/systemlib/bson/tinybson.h | 275 |
1 files changed, 275 insertions, 0 deletions
diff --git a/src/modules/systemlib/bson/tinybson.h b/src/modules/systemlib/bson/tinybson.h new file mode 100644 index 000000000..666f8191a --- /dev/null +++ b/src/modules/systemlib/bson/tinybson.h @@ -0,0 +1,275 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** +* @file tinybson.h +* +* A simple subset SAX-style BSON parser and generator. See http://bsonspec.org +* +* Some types and defines taken from the standalone BSON parser/generator +* in the Mongo C connector. +*/ + +#ifndef _TINYBSON_H +#define _TINYBSON_H + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> + +/** subset of the BSON node types we might care about */ +typedef enum { + BSON_EOO = 0, + BSON_DOUBLE = 1, + BSON_STRING = 2, + BSON_OBJECT = 3, + BSON_ARRAY = 4, + BSON_BINDATA = 5, + BSON_UNDEFINED = 6, + BSON_BOOL = 8, + BSON_DATE = 9, + BSON_NULL = 10, + BSON_INT32 = 16, + BSON_INT64 = 18 +} bson_type_t; + +typedef enum bson_binary_subtype { + BSON_BIN_BINARY = 0, + BSON_BIN_USER = 128 +} bson_binary_subtype_t; + +/** + * Maximum node name length. + */ +#define BSON_MAXNAME 32 + +/** + * Buffer growth increment when writing to a buffer. + */ +#define BSON_BUF_INCREMENT 128 + +/** + * Node structure passed to the callback. + */ +typedef struct bson_node_s { + char name[BSON_MAXNAME]; + bson_type_t type; + bson_binary_subtype_t subtype; + union { + int64_t i; + double d; + bool b; + }; +} *bson_node_t; + +typedef struct bson_decoder_s *bson_decoder_t; + +/** + * Node callback. + * + * The node callback function's return value is returned by bson_decoder_next. + */ +typedef int (* bson_decoder_callback)(bson_decoder_t decoder, void *private, bson_node_t node); + +struct bson_decoder_s { + /* file reader state */ + int fd; + + /* buffer reader state */ + uint8_t *buf; + size_t bufsize; + unsigned bufpos; + + bool dead; + bson_decoder_callback callback; + void *private; + unsigned nesting; + struct bson_node_s node; + int32_t pending; +}; + +/** + * Initialise the decoder to read from a file. + * + * @param decoder Decoder state structure to be initialised. + * @param fd File to read BSON data from. + * @param callback Callback to be invoked by bson_decoder_next + * @param private Callback private data, stored in node. + * @return Zero on success. + */ +__EXPORT int bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback callback, void *private); + +/** + * Initialise the decoder to read from a buffer in memory. + * + * @param decoder Decoder state structure to be initialised. + * @param buf Buffer to read from. + * @param bufsize Size of the buffer (BSON object may be smaller). May be + * passed as zero if the buffer size should be extracted from the + * BSON header only. + * @param callback Callback to be invoked by bson_decoder_next + * @param private Callback private data, stored in node. + * @return Zero on success. + */ +__EXPORT int bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_decoder_callback callback, void *private); + +/** + * Process the next node from the stream and invoke the callback. + * + * @param decoder Decoder state, must have been initialised with bson_decoder_init. + * @return -1 if parsing encountered an error, 0 if the BSON stream has ended, + * otherwise the return value from the callback. + */ +__EXPORT int bson_decoder_next(bson_decoder_t decoder); + +/** + * Copy node data. + * + * @param decoder Decoder state, must have been initialised with bson_decoder_init. + */ +__EXPORT int bson_decoder_copy_data(bson_decoder_t decoder, void *buf); + +/** + * Report copyable data size. + * + * @param decoder Decoder state, must have been initialised with bson_decoder_init. + */ +__EXPORT size_t bson_decoder_data_pending(bson_decoder_t decoder); + +/** + * Encoder state structure. + */ +typedef struct bson_encoder_s { + /* file writer state */ + int fd; + + /* buffer writer state */ + uint8_t *buf; + unsigned bufsize; + unsigned bufpos; + + bool realloc_ok; + bool dead; + +} *bson_encoder_t; + +/** + * Initialze the encoder for writing to a file. + * + * @param encoder Encoder state structure to be initialised. + * @param fd File to write to. + * @return Zero on success. + */ +__EXPORT int bson_encoder_init_file(bson_encoder_t encoder, int fd); + +/** + * Initialze the encoder for writing to a buffer. + * + * @param encoder Encoder state structure to be initialised. + * @param buf Buffer pointer to use, or NULL if the buffer + * should be allocated by the encoder. + * @param bufsize Maximum buffer size, or zero for no limit. If + * the buffer is supplied, the size of the supplied buffer. + * @return Zero on success. + */ +__EXPORT int bson_encoder_init_buf(bson_encoder_t encoder, void *buf, unsigned bufsize); + +/** + * Finalise the encoded stream. + * + * @param encoder The encoder to finalise. + */ +__EXPORT int bson_encoder_fini(bson_encoder_t encoder); + +/** + * Fetch the size of the encoded object; only valid for buffer operations. + */ +__EXPORT int bson_encoder_buf_size(bson_encoder_t encoder); + +/** + * Get a pointer to the encoded object buffer. + * + * Note that if the buffer was allocated by the encoder, it is the caller's responsibility + * to free this buffer. + */ +__EXPORT void *bson_encoder_buf_data(bson_encoder_t encoder); + +/** + * Append a boolean to the encoded stream. + * + * @param encoder Encoder state. + * @param name Node name. + * @param value Value to be encoded. + */ +__EXPORT int bson_encoder_append_bool(bson_encoder_t encoder, const char *name, bool value); + +/** + * Append an integer to the encoded stream. + * + * @param encoder Encoder state. + * @param name Node name. + * @param value Value to be encoded. + */ +__EXPORT int bson_encoder_append_int(bson_encoder_t encoder, const char *name, int64_t value); + +/** + * Append a double to the encoded stream + * + * @param encoder Encoder state. + * @param name Node name. + * @param value Value to be encoded. + */ +__EXPORT int bson_encoder_append_double(bson_encoder_t encoder, const char *name, double value); + +/** + * Append a string to the encoded stream. + * + * @param encoder Encoder state. + * @param name Node name. + * @param string Nul-terminated C string. + */ +__EXPORT int bson_encoder_append_string(bson_encoder_t encoder, const char *name, const char *string); + +/** + * Append a binary blob to the encoded stream. + * + * @param encoder Encoder state. + * @param name Node name. + * @param subtype Binary data subtype. + * @param size Data size. + * @param data Buffer containing data to be encoded. + */ +__EXPORT int bson_encoder_append_binary(bson_encoder_t encoder, const char *name, bson_binary_subtype_t subtype, size_t size, const void *data); + + +#endif |