dataman.h

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/**
 * @file dataman.h
 *
 * DATAMANAGER driver.
 */
#pragma once

#include <string.h>
#include <navigator/navigation.h>
#include <uORB/topics/mission.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,    /* (alternate between 0 and 1) */
    DM_KEY_WAYPOINTS_ONBOARD,   /* Mission way point coordinates generated onboard */
    DM_KEY_MISSION_STATE,       /* Persistent mission state */
    DM_KEY_COMPAT,
    DM_KEY_NUM_KEYS         /* Total number of item types defined */
} dm_item_t;

#if defined(MEMORY_CONSTRAINED_SYSTEM)
enum {
    DM_KEY_SAFE_POINTS_MAX = 8,
    DM_KEY_FENCE_POINTS_MAX = 16,
    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 / 10),
    DM_KEY_MISSION_STATE_MAX = 1,
    DM_KEY_COMPAT_MAX = 1
};
#else
/** The maximum number of instances for each item type */
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
};
#endif
/** 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;

struct dataman_compat_s {
    uint64_t key;
};

/* increment this define whenever a binary incompatible change is performed */
#define DM_COMPAT_VERSION   2ULL

#define DM_COMPAT_KEY ((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))

/** Retrieve from the data manager store */
__EXPORT ssize_t
dm_read(
    dm_item_t item,         /* The item type to retrieve */
    unsigned 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 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 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.
 * @return 0 on success and lock taken, -1 on error (lock not taken, errno set)
 */
__EXPORT int
dm_lock(
    dm_item_t item          /* The item type to lock */
);

/**
 * Try to lock all items of a type (@see sem_trywait()).
 * @return 0 if lock is taken, -1 otherwise (on error or if already locked. errno is set accordingly)
 */
__EXPORT int
dm_trylock(
    dm_item_t item          /* The item type to lock */
);

/** Unlock all items of a type */
__EXPORT void
dm_unlock(
    dm_item_t item          /* The item type to unlock */
);

/** 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 */
);

#if defined(FLASH_BASED_DATAMAN)
typedef struct dm_sector_descriptor_t {
    uint8_t       page;
    uint32_t      size;
    uint32_t      address;
} dm_sector_descriptor_t;

/**
 * Set the flash sector description were data should persist data
 *
 * Important: do not use a Flash sector from the same bank that STM32 read
 * instructions or the CPU will held for sometime during Flash erase and write
 * and this could cause your drone to fall.
 */
__EXPORT int
dm_flash_sector_description_set(
    const dm_sector_descriptor_t *description
);
#endif

#ifdef __cplusplus
}
#endif