src/Blackboard/DeviceBlackboard.hpp

   1 /*
   2 Copyright_License {
   3
   4   XCSoar Glide Computer - http://www.xcsoar.org/
   5   Copyright (C) 2000-2013 The XCSoar Project
   6   A detailed list of copyright holders can be found in the file "AUTHORS".
   7
   8   This program is free software; you can redistribute it and/or
   9   modify it under the terms of the GNU General Public License
  10   as published by the Free Software Foundation; either version 2
  11   of the License, or (at your option) any later version.
  12
  13   This program is distributed in the hope that it will be useful,
  14   but WITHOUT ANY WARRANTY; without even the implied warranty of
  15   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16   GNU General Public License for more details.
  17
  18   You should have received a copy of the GNU General Public License
  19   along with this program; if not, write to the Free Software
  20   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  21 }
  22 */
  23
  24 #ifndef DEVICE_BLACKBOARD_H
  25 #define DEVICE_BLACKBOARD_H
  26
  27 #include "Blackboard/BaseBlackboard.hpp"
  28 #include "Blackboard/ComputerSettingsBlackboard.hpp"
  29 #include "Device/Simulator.hpp"
  30 #include "Device/List.hpp"
  31 #include "Thread/Mutex.hpp"
  32
  33 #include <cassert>
  34
  35 class AtmosphericPressure;
  36 class OperationEnvironment;
  37
  38 /**
  39  * Blackboard used by com devices: can write NMEA_INFO, reads DERIVED_INFO.
  40  * Also provides methods to emulate device updates e.g. from logger replay
  41  *
  42  * The DeviceBlackboard is used as the global ground truth-state
  43  * since it is accessed quickly with only one mutex
  44  */
  45 class DeviceBlackboard:
  46   public BaseBlackboard,
  47   public ComputerSettingsBlackboard
  48 {
  49   friend class MergeThread;
  50
  51   Simulator simulator;
  52
  53   /**
  54    * Data from each physical device.
  55    */
  56   NMEAInfo per_device_data[NUMDEV];
  57
  58   /**
  59    * Merged data from the physical devices.
  60    */
  61   NMEAInfo real_data;
  62
  63   /**
  64    * Data from simulator.
  65    */
  66   NMEAInfo simulator_data;
  67
  68   /**
  69    * Data from replay.
  70    */
  71   NMEAInfo replay_data;
  72
  73 public:
  74   Mutex mutex;
  75
  76 public:
  77   DeviceBlackboard();
  78   void ReadBlackboard(const DerivedInfo &derived_info);
  79   void ReadComputerSettings(const ComputerSettings &settings);
  80
  81 protected:
  82   NMEAInfo &SetBasic() { return gps_info; }
  83   MoreData &SetMoreData() { return gps_info; }
  84
  85 public:
  86   const NMEAInfo &RealState(unsigned i) const {
  87     assert(i < NUMDEV);
  88     return per_device_data[i];
  89   }
  90
  91   NMEAInfo &SetRealState(unsigned i) {
  92     assert(i < NUMDEV);
  93     return per_device_data[i];
  94   }
  95
  96   NMEAInfo &SetSimulatorState() { return simulator_data; }
  97   NMEAInfo &SetReplayState() { return replay_data; }
  98
  99 public:
 100   const NMEAInfo &RealState() const { return real_data; }
 101
 102   /**
 103    * Is the specified device a FLARM?
 104    *
 105    * This method does not lock the blackboard, it is unprotected.  It
 106    * is assumed that this method is not important enough to implement
 107    * proper locking.
 108    */
 109   gcc_pure
 110   bool IsFLARM(unsigned i) const {
 111     return RealState(i).flarm.IsDetected();
 112   }
 113
 114   void SetStartupLocation(const GeoPoint &loc, const fixed alt);
 115   void ProcessSimulation();
 116   void StopReplay();
 117
 118   void SetSimulatorLocation(const GeoPoint &location);
 119   void SetTrack(Angle val);
 120   void SetSpeed(fixed val);
 121   void SetAltitude(fixed alt);
 122
 123   void SetBallast(fixed fraction, fixed overload,
 124                   OperationEnvironment &env);
 125   void SetBugs(fixed bugs, OperationEnvironment &env);
 126   void SetQNH(AtmosphericPressure qnh, OperationEnvironment &env);
 127   void SetMC(fixed mc, OperationEnvironment &env);
 128
 129   /**
 130    * Check the expiry time of the device connection with the wall
 131    * clock time.  This method locks the blackboard, i.e. it may be
 132    * called from any thread.
 133    *
 134    * @return true if the connection has just expired, false if the
 135    * connection status has not changed
 136    */
 137   void ExpireWallClock();
 138
 139   /**
 140    * Trigger the MergeThread, which will call Merge().  Call this
 141    * after a modification.  The caller doesn't need to hold the lock.
 142    */
 143   void ScheduleMerge();
 144
 145   /**
 146    * Copy real_data or simulator_data or replay_data to gps_info.
 147    * Caller must lock the blackboard.
 148    */
 149   void Merge();
 150 };
 151
 152 #endif