dataman.h File Reference

DATAMANAGER driver. More...

#include <string.h>
#include <navigator/navigation.h>
#include <uORB/topics/mission.h>

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Classes
struct	dataman_compat_s

Macros
#define	DM_COMPAT_VERSION   2ULL
#define	DM_COMPAT_KEY

Enumerations
enum	dm_item_t {   DM_KEY_SAFE_POINTS = 0, DM_KEY_FENCE_POINTS, DM_KEY_WAYPOINTS_OFFBOARD_0, DM_KEY_WAYPOINTS_OFFBOARD_1,   DM_KEY_WAYPOINTS_ONBOARD, DM_KEY_MISSION_STATE, DM_KEY_COMPAT, DM_KEY_NUM_KEYS }
	Types of items that the data manager can store. More...
enum	{   DM_KEY_SAFE_POINTS_MAX = 8, DM_KEY_FENCE_POINTS_MAX = 64, 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, DM_KEY_COMPAT_MAX = 1 }
	The maximum number of instances for each item type. More...
enum	dm_persitence_t { DM_PERSIST_POWER_ON_RESET = 0, DM_PERSIST_IN_FLIGHT_RESET, DM_PERSIST_VOLATILE }
	Data persistence levels. More...
enum	dm_reset_reason { DM_INIT_REASON_POWER_ON = 0, DM_INIT_REASON_IN_FLIGHT, DM_INIT_REASON_VOLATILE }
	The reason for the last reset. More...

Functions
__EXPORT ssize_t	dm_read (dm_item_t item, unsigned index, void *buffer, size_t buflen)
	Retrieve from the data manager store. More...
__EXPORT ssize_t	dm_write (dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buffer, size_t buflen)
	write to the data manager store More...
__EXPORT int	dm_lock (dm_item_t item)
	Lock all items of a type. More...
__EXPORT int	dm_trylock (dm_item_t item)
	Try to lock all items of a type (. More...
__EXPORT void	dm_unlock (dm_item_t item)
	Unlock all items of a type. More...
__EXPORT int	dm_clear (dm_item_t item)
	Erase all items of this type. More...
__EXPORT int	dm_restart (dm_reset_reason restart_type)
	Tell the data manager about the type of the last reset. More...

Detailed Description

DATAMANAGER driver.

Definition in file dataman.h.

Macro Definition Documentation

DM_COMPAT_KEY

#define DM_COMPAT_KEY

Value:

((DM_COMPAT_VERSION << 32) + (sizeof(struct mission_item_s) << 24) + \
               (sizeof(struct mission_s) << 16) + (sizeof(struct mission_stats_entry_s) << 12) + \
               (sizeof(struct mission_fence_point_s) << 8) + (sizeof(struct mission_safe_point_s) << 4) + \
               sizeof(struct dataman_compat_s))

Definition at line 104 of file dataman.h.

Referenced by _file_initialize(), and _ram_initialize().

DM_COMPAT_VERSION

#define DM_COMPAT_VERSION   2ULL

Definition at line 102 of file dataman.h.

Enumeration Type Documentation

anonymous enum

anonymous enum

The maximum number of instances for each item type.

Enumerator
DM_KEY_SAFE_POINTS_MAX
DM_KEY_FENCE_POINTS_MAX
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX
DM_KEY_WAYPOINTS_OFFBOARD_1_MAX
DM_KEY_WAYPOINTS_ONBOARD_MAX
DM_KEY_MISSION_STATE_MAX
DM_KEY_COMPAT_MAX

Definition at line 73 of file dataman.h.

dm_item_t

enum dm_item_t

Types of items that the data manager can store.

Enumerator
DM_KEY_SAFE_POINTS
DM_KEY_FENCE_POINTS
DM_KEY_WAYPOINTS_OFFBOARD_0
DM_KEY_WAYPOINTS_OFFBOARD_1
DM_KEY_WAYPOINTS_ONBOARD
DM_KEY_MISSION_STATE
DM_KEY_COMPAT
DM_KEY_NUM_KEYS

Definition at line 50 of file dataman.h.

dm_persitence_t

enum dm_persitence_t

Data persistence levels.

Enumerator
DM_PERSIST_POWER_ON_RESET
DM_PERSIST_IN_FLIGHT_RESET
DM_PERSIST_VOLATILE

Definition at line 84 of file dataman.h.

dm_reset_reason

enum dm_reset_reason

The reason for the last reset.

Enumerator
DM_INIT_REASON_POWER_ON
DM_INIT_REASON_IN_FLIGHT
DM_INIT_REASON_VOLATILE

Definition at line 91 of file dataman.h.

Function Documentation

dm_clear()

__EXPORT int dm_clear

(

dm_item_t

item

)

Erase all items of this type.

Erase all items of this type.

Definition at line 1135 of file dataman.cpp.

References work_q_item_t::clear_params, create_work_item(), dm_clear_func, enqueue_work_item_and_wait_for_result(), work_q_item_t::func, and is_running().

Referenced by Geofence::clearDm().

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dm_lock()

__EXPORT int dm_lock

(

dm_item_t

item

)

Lock all items of a type.

Can be used for atomic updates of multiple items (single items are always updated atomically). Note that this lock is independent from dm_read & dm_write calls.

Returns

0 on success and lock taken, -1 on error (lock not taken, errno set)

Definition at line 1157 of file dataman.cpp.

References DM_KEY_NUM_KEYS, and is_running().

Referenced by MavlinkMissionManager::handle_mission_count(), MavlinkMissionManager::init_offboard_mission(), Mission::on_inactive(), Mission::reset_mission(), Mission::save_mission_state(), MavlinkMissionManager::update_active_mission(), and Geofence::updateFence().

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dm_read()

__EXPORT ssize_t dm_read	(	dm_item_t	item,
		unsigned	index,
		void *	buf,
		size_t	count
	)

Retrieve from the data manager store.

Retrieve from the data manager store.

Definition at line 1104 of file dataman.cpp.

References _dm_read_perf, create_work_item(), dm_read_func, enqueue_work_item_and_wait_for_result(), work_q_item_t::func, is_running(), perf_begin(), perf_end(), and work_q_item_t::read_params.

Referenced by Geofence::_updateFence(), Mission::advance_mission(), MissionFeasibilityChecker::checkDistancesBetweenWaypoints(), MissionFeasibilityChecker::checkDistanceToFirstWaypoint(), MissionFeasibilityChecker::checkFixedWingLanding(), MissionFeasibilityChecker::checkGeofence(), MissionFeasibilityChecker::checkHomePositionAltitude(), MissionFeasibilityChecker::checkMissionItemValidity(), Geofence::checkPolygons(), MissionFeasibilityChecker::checkTakeoff(), RTL::find_RTL_destination(), Mission::index_closest_mission_item(), MavlinkMissionManager::init_offboard_mission(), Geofence::insideCircle(), Geofence::insidePolygon(), MavlinkMissionManager::load_geofence_stats(), MavlinkMissionManager::load_safepoint_stats(), Geofence::loadFromFile(), Commander::mission_init(), Mission::on_inactive(), Mission::read_mission_item(), Mission::reset_mission(), Mission::save_mission_state(), MavlinkMissionManager::send_mission_item(), task_main(), and test_dataman().

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dm_restart()

__EXPORT int dm_restart

(

dm_reset_reason

restart_type

)

Tell the data manager about the type of the last reset.

Definition at line 1220 of file dataman.cpp.

References create_work_item(), dm_restart_func, enqueue_work_item_and_wait_for_result(), work_q_item_t::func, is_running(), and work_q_item_t::restart_params.

Referenced by dataman_main(), and test_dataman().

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dm_trylock()

__EXPORT int dm_trylock

(

dm_item_t

item

)

Try to lock all items of a type (.

See also

sem_trywait()).

Returns

0 if lock is taken, -1 otherwise (on error or if already locked. errno is set accordingly)

Definition at line 1179 of file dataman.cpp.

References DM_KEY_NUM_KEYS, and is_running().

Referenced by Geofence::checkPolygons().

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dm_unlock()

__EXPORT void dm_unlock

(

dm_item_t

item

)

Unlock all items of a type.

Unlock all items of a type.

Definition at line 1202 of file dataman.cpp.

References DM_KEY_NUM_KEYS, and is_running().

Referenced by Geofence::checkPolygons(), MavlinkMissionManager::init_offboard_mission(), Mission::on_inactive(), Mission::reset_mission(), Mission::save_mission_state(), MavlinkMissionManager::switch_to_idle_state(), MavlinkMissionManager::update_active_mission(), and Geofence::updateFence().

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dm_write()

__EXPORT ssize_t dm_write	(	dm_item_t	item,
		unsigned	index,
		dm_persitence_t	persistence,
		const void *	buf,
		size_t	count
	)

write to the data manager store

write to the data manager store

Definition at line 1072 of file dataman.cpp.

References _dm_write_perf, create_work_item(), dm_write_func, enqueue_work_item_and_wait_for_result(), work_q_item_t::func, is_running(), perf_begin(), perf_end(), and work_q_item_t::write_params.

Referenced by MavlinkMissionManager::handle_mission_item_both(), Geofence::loadFromFile(), Commander::mission_init(), Mission::read_mission_item(), Mission::reset_mission(), Mission::save_mission_state(), task_main(), MavlinkMissionManager::update_active_mission(), MavlinkMissionManager::update_geofence_count(), and MavlinkMissionManager::update_safepoint_count().

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