flight/uavobjects/inc/uavobjectprivate.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       uavobjectprivate.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
   6  * @brief      Private declarations for uavobject manager and persistence handler.
   7  *             --
   8  * @see        The GNU Public License (GPL) Version 3
   9  *
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26 #ifndef UAVOBJECTPRIVATE_H_
  27 #define UAVOBJECTPRIVATE_H_
  28
  29
  30 #if (defined(__MACH__) && defined(__APPLE__))
  31 #include <mach-o/getsect.h>
  32 #endif
  33
  34 // Constants
  35
  36 // Private types
  37
  38 // Macros
  39 #define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
  40
  41 // Mach-o: dummy segment to calculate ASLR offset in sim_osx
  42 #if (defined(__MACH__) && defined(__APPLE__))
  43 static long _aslr_offset __attribute__((section("__DATA,_aslr")));
  44 #endif
  45
  46 /* Table of UAVO handles */
  47 #if (defined(__MACH__) && defined(__APPLE__))
  48 /* Mach-o format */
  49 static struct UAVOData * *__start__uavo_handles;
  50 static struct UAVOData * *__stop__uavo_handles;
  51 #else
  52 /* ELF format: automagically defined at compile time */
  53 extern struct UAVOData *__start__uavo_handles[] __attribute__((weak));
  54 extern struct UAVOData *__stop__uavo_handles[] __attribute__((weak));
  55 #endif
  56
  57 #define UAVO_LIST_ITERATE(_item) \
  58     for (struct UAVOData * *_uavo_slot = __start__uavo_handles; \
  59          _uavo_slot && _uavo_slot < __stop__uavo_handles; \
  60          _uavo_slot++) { \
  61         struct UAVOData *_item = *_uavo_slot; \
  62         if (_item == NULL) { continue; }
  63
  64 /**
  65  * List of event queues and the eventmask associated with the queue.
  66  */
  67
  68 /** opaque type for instances **/
  69 typedef void *InstanceHandle;
  70
  71 struct ObjectEventEntry {
  72     struct ObjectEventEntry *next;
  73     xQueueHandle queue;
  74     UAVObjEventCallback     cb;
  75     uint8_t eventMask;
  76     bool fast;
  77 };
  78
  79 /*
  80    MetaInstance   == [UAVOBase [UAVObjMetadata]]
  81    SingleInstance == [UAVOBase [UAVOData [InstanceData]]]
  82    MultiInstance  == [UAVOBase [UAVOData [NumInstances [InstanceData0 [next]]]]
  83                                                   ____________________/
  84    \-->[InstanceData1 [next]]
  85                                                   _________...________/
  86    \-->[InstanceDataN [next]]
  87  */
  88
  89 /*
  90  * UAVO Base Type
  91  *   - All Types of UAVObjects are of this base type
  92  *   - The flags determine what type(s) this object
  93  */
  94 struct UAVOBase {
  95     /* Let these objects be added to an event queue */
  96     struct ObjectEventEntry *next_event;
  97
  98     /* Describe the type of object that follows this header */
  99     struct UAVOInfo {
 100         bool isMeta        : 1;
 101         bool isSingle      : 1;
 102         bool isSettings    : 1;
 103         bool isPriority    : 1;
 104     } flags;
 105 } __attribute__((packed));
 106
 107 /* Augmented type for Meta UAVO */
 108 struct UAVOMeta {
 109     struct UAVOBase base;
 110     UAVObjMetadata  instance0;
 111 } __attribute__((packed));
 112
 113 /* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
 114 struct UAVOData {
 115     struct UAVOBase base;
 116     uint32_t id;
 117     /*
 118      * Embed the Meta object as another complete UAVO
 119      * inside the payload for this UAVO.
 120      */
 121     struct UAVOMeta metaObj;
 122     uint16_t instance_size;
 123 } __attribute__((packed, aligned(4)));
 124
 125 /* Augmented type for Single Instance Data UAVO */
 126 struct UAVOSingle {
 127     struct UAVOData uavo;
 128
 129     uint8_t instance0[];
 130     /*
 131      * Additional space will be malloc'd here to hold the
 132      * the data for this instance.
 133      */
 134 } __attribute__((packed));
 135
 136 /* Part of a linked list of instances chained off of a multi instance UAVO. */
 137 struct UAVOMultiInst {
 138     struct UAVOMultiInst *next;
 139     uint8_t instance[];
 140     /*
 141      * Additional space will be malloc'd here to hold the
 142      * the data for this instance.
 143      */
 144 } __attribute__((packed));
 145
 146 /* Augmented type for Multi Instance Data UAVO */
 147 struct UAVOMulti {
 148     struct UAVOData uavo;
 149     uint16_t num_instances;
 150     struct UAVOMultiInst instance0 __attribute__((aligned(4)));
 151     /*
 152      * Additional space will be malloc'd here to hold the
 153      * the data for instance 0.
 154      */
 155 } __attribute__((packed));
 156
 157 /** all information about a metaobject are hardcoded constants **/
 158 #define MetaNumBytes sizeof(UAVObjMetadata)
 159 #define MetaBaseObjectPtr(obj)           ((struct UAVOData *)((obj) - offsetof(struct UAVOData, metaObj)))
 160 #define MetaObjectPtr(obj)               ((struct UAVODataMeta *)&((obj)->metaObj))
 161 #define MetaDataPtr(obj)                 ((UAVObjMetadata *)&((obj)->instance0))
 162 #define LinkedMetaDataPtr(obj)           ((UAVObjMetadata *)&((obj)->metaObj.instance0))
 163
 164 /** all information about instances are dependant on object type **/
 165 #define ObjSingleInstanceDataOffset(obj) ((void *)(&(((struct UAVOSingle *)obj)->instance0)))
 166 #define InstanceDataOffset(inst)         ((void *)&(((struct UAVOMultiInst *)inst)->instance))
 167 #define InstanceData(instance)           ((void *)instance)
 168
 169 // Private functions
 170 int32_t sendEvent(struct UAVOBase *obj, uint16_t instId, UAVObjEventType event);
 171 InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId);
 172
 173 #endif /* UAVOBJECTPRIVATE_H_ */