dataman.h

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 *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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#pragma once

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

#ifdef __cplusplus
extern "C" {
#endif

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

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

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;

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_save_point_s) << 4) + \
               sizeof(struct dataman_compat_s))

__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 */
);

__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 */
);

__EXPORT int
dm_lock(
    dm_item_t item          /* The item type to lock */
);

__EXPORT int
dm_trylock(
    dm_item_t item          /* The item type to lock */
);

__EXPORT void
dm_unlock(
    dm_item_t item          /* The item type to unlock */
);

__EXPORT int
dm_clear(
    dm_item_t item          /* The item type to clear */
);

__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;

__EXPORT int
dm_flash_sector_description_set(
    const dm_sector_descriptor_t *description
);
#endif

#ifdef __cplusplus
}
#endif