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/****************************************************************************
*
* Copyright (c) 2013, 2014 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 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_SYSTEM_STATE, /* Persistent system state storage */
DM_KEY_NUM_KEYS /* Total number of item types defined */
} dm_item_t;
/** 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_SYSTEM_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 */
);
/* NOTE: The following structure defines the persistent system state data stored in the single
entry DM_KEY_SYSTEM_STATE_KEY item type. It contains global system state information that
needs to survive restarts. This definition is application specific so it doesn't really belong
in this header, but till I find it a better home here it is */
typedef struct {
char current_offboard_waypoint_id; /* the index of the active offboard waypoint data */
/* (DM_KEY_WAYPOINTS_OFFBOARD_n) or -1 for none */
} persistent_system_state_t;
#ifdef __cplusplus
}
#endif
#endif
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